CN114533117B - Remote synchronous ultrasonic system based on force feedback - Google Patents
Remote synchronous ultrasonic system based on force feedback Download PDFInfo
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- CN114533117B CN114533117B CN202210145889.7A CN202210145889A CN114533117B CN 114533117 B CN114533117 B CN 114533117B CN 202210145889 A CN202210145889 A CN 202210145889A CN 114533117 B CN114533117 B CN 114533117B
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 38
- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 238000013016 damping Methods 0.000 claims abstract description 7
- 230000008447 perception Effects 0.000 claims abstract description 6
- 230000015572 biosynthetic process Effects 0.000 claims abstract 2
- 239000002184 metal Substances 0.000 claims description 19
- 239000000428 dust Substances 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 12
- 230000000903 blocking effect Effects 0.000 claims description 10
- 229920005549 butyl rubber Polymers 0.000 claims description 9
- 229920001971 elastomer Polymers 0.000 claims description 9
- 230000029058 respiratory gaseous exchange Effects 0.000 claims description 9
- 238000002604 ultrasonography Methods 0.000 claims description 9
- 238000007789 sealing Methods 0.000 claims description 8
- 239000012530 fluid Substances 0.000 claims description 5
- 238000005452 bending Methods 0.000 claims description 4
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 239000010985 leather Substances 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- 239000000523 sample Substances 0.000 claims description 3
- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 230000002457 bidirectional effect Effects 0.000 claims description 2
- 239000002390 adhesive tape Substances 0.000 claims 1
- 239000000463 material Substances 0.000 claims 1
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- 230000008878 coupling Effects 0.000 abstract 1
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- 238000005859 coupling reaction Methods 0.000 abstract 1
- 201000010099 disease Diseases 0.000 abstract 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/54—Control of the diagnostic device
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/56—Details of data transmission or power supply
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Abstract
The invention provides a force feedback-based remote synchronous ultrasonic system, and belongs to the field of medical remote synchronization. Including base, upper bracket, operating portion, external force feedback ware, upper bracket is arranged in the base top, and correspond through coupling assembling and connect, upper bracket, base formation hollow region, the operating portion is arranged in the upper bracket inboard, and extend to both ends, the operating portion is including the actuating lever that is used for hand manipulation and the conducting head that is used for tip pressure transmission, be provided with a plurality of external force feedback ware on the base, external force feedback ware and conducting head lateral surface correspond the support, external force feedback ware supports the support through wireless transmission, the damping that the conducting head provided external force feedback ware is transmitted to the actuating lever and is formed operation perception, external force feedback ware is annular distribution, the operating portion gyration is arranged in the upper bracket, the inside pressure of conducting head is adjustable, the conducting head can carry out the regulation of inside pressure, adjust and the pressure resistance of long-range disease body surface adaptation, improve remote operation control's hand impression.
Description
Technical Field
The invention provides a force feedback-based remote synchronous ultrasonic system, and belongs to the field of medical remote synchronization.
Background
Currently, telemedicine is a modern product of the combination of internet technology and medical technology, which may include many application parts, such as: remote expert consultation, community medical service, remote guidance, remote training, remote operation and the like, detection control is needed through remote ultrasonic detection in the prior art, the operation end is directly moved on a plate surface at present, a socket is carried out through a synchronous remote mechanical arm, the perception effect of the operation end on the remote end is poor, real feedback is lacking, and when in ultrasonic detection, the force is lack of remote feedback, so that a patient at the remote end is stressed, and the operation end cannot perceive.
Publication number CN107661111a discloses a medical device system, a remote control system of a medical device, and a method, the remote control system including a controller. The controller receives information to be verified, which is sent by the remote terminal, verifies the information to be verified, and when the verification passes, the controller controls the medical equipment to execute an operation command sent by the remote terminal;
Publication number CN205667556U discloses a telemedicine system, which includes an ultrasonic diagnostic device, an IP camera, an ultrasonic image cloud server, a telemedicine service platform, and a telemedicine client; the system uses a video encoding and decoding technology and a TS streaming transmission technology, uses a cloud platform technology to realize infinite capacity expansion storage of big data, and also uses a software client technology to develop a terminal entrance of telemedicine, so that feedback of far-end stress cannot be formed, and the hand perception of an operation end lacks authenticity.
Disclosure of Invention
The invention provides a remote synchronous ultrasonic system based on force feedback, which is a synchronous system for improving the authenticity of synchronous operation by collecting remote pressure, transmitting the pressure to an operation end through wireless transmission, and transmitting the hand feeling through the operation end. Simple structure and convenient use.
The invention discloses a remote synchronous ultrasonic system based on force feedback, which is realized by the following steps: the device comprises a base, an upper fixing frame, an operating part and an external force feedback device, wherein the upper fixing frame is arranged above the base and is correspondingly connected through a connecting component, the upper fixing frame and the base form a hollow area, the operating part is arranged on the inner side of the upper fixing frame and extends to two ends, the operating part comprises a driving rod for hand operation and a conducting head for end pressure transmission, a plurality of external force feedback devices are arranged on the base, the external force feedback devices are correspondingly propped against the outer side surfaces of the conducting head, the external force feedback devices support external force through wireless transmission, the damping provided by the external force feedback devices is transmitted to the driving rod by the conducting head to form operation perception, the external force feedback devices are distributed in a ring shape, the operating part is rotationally arranged in the upper fixing frame, and the internal pressure of the conducting head can be adjusted;
The base comprises a main body plate and a connecting component, wherein the connecting component is arranged on the main body plate at equal angles, an upper pressing plate is arranged on the main body plate, a gap is reserved between the upper pressing plate and the main body plate, an installation groove is formed in the edge of the upper pressing plate, the installation groove is an open groove, the connecting component is correspondingly clamped in the installation groove, the connecting component comprises an outer supporting tube and a pull rod, the pull rod is arranged in the installation groove, the bottom surface of the upper pressing plate is correspondingly abutted against, the outer supporting tube is sleeved on the pull rod, the outer supporting tube is a spring tube, sealing gaskets are arranged at the two ends of the outer supporting tube, the pull rod is formed by turning a rubber rod with a steel wire inside, a pull head abutted against the upper pressing plate is embedded at the lower end of the pull rod, a thread sleeve is arranged at the top end of the pull rod, an inner supporting ring is arranged on the inner edge of the main body plate and extends along the inner supporting ring, the upper pressing plate and the main body plate are connected through conical surfaces, the upper pressing plate, the main body plate and the inner supporting ring are integrally structured, the bottom of the main body plate is provided with an anti-slip rubber strip, and the upper fixing frame is correspondingly sleeved on the connecting component, and is abutted and fixed through the outer supporting tube;
The upper fixing frame comprises a centering ring, a supporting frame and a dust cover, wherein the supporting frame is of a multi-arm structure, the centering ring is arranged in the middle of the supporting frame, the multi-arm end part of the supporting frame is correspondingly sleeved at the end part of the pull rod and is propped against the supporting rod through an outer supporting pipe, the end part of the pull rod is correspondingly provided with a fastening screw, the aperture of a through hole corresponding to the multi-arm end part of the supporting frame is larger than the outer diameter of the pull rod, a ball tile is arranged in the centering ring, a dust cover clamping sleeve is arranged in the centering ring and extends upwards, the dust cover is a silica gel sleeve, an operation part is correspondingly arranged in the middle of the fixing ring and penetrates through the centering ring and the dust cover, the dust cover is in sealing connection with the operation part, and the operation part rotates relative to the centering ring;
The driving rod of the operation part extends upwards through the centering ring, the conducting head is arranged between the upper fixing frame and the base, the conducting head is detachably arranged on the driving rod, the conducting head is an air bag, the outer side wall is provided with a clamping groove, the clamping groove is arranged at equal angles, the bottom of the conducting head is provided with a pressure sensor, the outer circumferential surface of the conducting head is provided with a fixing ring, the fixing ring is equidistantly arranged on the conducting head, the opening part of the conducting head is embedded with a plugging cover, the middle part of the plugging cover is provided with a guide sleeve, the outer side wall of the plugging cover and the inner wall of the opening part of the conducting head are provided with clamping grooves, the middle part of the plugging cover is thick, two sides of the plugging cover are thin, the edge of the plugging cover is bent to form a ring shape, the annular inner wall formed by bending the plugging cover is provided with threads, the driving rod is in screwed connection with the plugging cover, and is in sealing connection with the conducting head, the driving rod is of a hollow structure, the bi-directional pump is arranged in the driving rod, the port of the bi-directional pump extends into the conducting head through the built-in air pipe, the outer side wall of the built-in air pipe is provided with a guide sleeve, the guide sleeve is made of rubber, the storage battery is arranged in the driving rod, the other port of the bi-directional pump extends into the driving rod, the side wall of the driving rod is provided with a breathing window, the inner side of the breathing window is provided with a filter screen, the breathing window corresponds to the other end of the bi-directional pump, the end part of the driving rod is provided with a rubber sleeve, the control unit is arranged in the driving rod, the control button is arranged at the end part of the driving rod, the side wall of the driving rod is provided with an anti-dropping ring, the storage battery, the control unit, the bi-directional pump and the control button are combined to form an electric control circuit, and the control button controls the bi-directional pump to start and stop and suck;
The conducting head is provided with a multilayer structure, the inner layer is made of butyl rubber, the outer side is made of artificial PU leather, a wire body is wound on the outer ring of the butyl rubber, the wire body is wound on the outer side of the butyl rubber in a crossing manner, a pressure sensor at the bottom of the conducting head is a wireless sensor, the wireless sensor and a control unit form data interaction, a memory, a processor and a controller are arranged in the control unit, solid fluid is filled in the conducting head, and the solid fluid is filled to half of the volume of the conducting head;
The external force feedback device comprises a feedback device control module for receiving remote signals and a driver, wherein the driver and the feedback device control module are combined to form a control main body, the control main body is fixedly arranged on a base through a fixing frame, an electromagnetic telescopic assembly is arranged in the driver, a telescopic rod is arranged on the electromagnetic telescopic assembly and penetrates through the driver, a connecting cap is arranged at the end part of the telescopic rod, a hinge lug is arranged at the top of the connecting cap, a reset spring is sleeved on the telescopic rod and is propped between the connecting cap and the driver, a extension sleeve is arranged on the driver, the extension sleeve is sleeved on the telescopic rod, one end of a metal sheet is hinged on a hinge frame on the connecting cap, the other end of the metal sheet is arranged on the side wall of the driver, the metal sheet is bent to form an arc shape and is correspondingly clamped with a clamping groove on a transmission head;
The end part of the metal sheet is adjustably arranged on the driver through a fastening screw, a side guide plate is arranged on the side wall of the driver, a T-shaped groove is formed in the side guide plate, a sliding block is arranged in the T-shaped groove, a threaded hole is formed in the middle of the sliding block, a plurality of groups of limiting strips are arranged on the side wall of the side guide plate, a mounting hole is formed in the end part of the metal sheet, the fastening screw penetrates through the mounting hole and is in threaded connection with the threaded hole in the middle of the sliding block, and the end part of the metal sheet is bent to form an abutting part corresponding to the limiting strips;
The feedback device control module is provided with a wireless transceiver, a processor and a controller, wherein the wireless transceiver and a remote device sensor correspondingly form signal receiving transmission, the processor is used for signal analysis and processing, and the controller controls the corresponding driver to work;
the invention relates to a force feedback-based remote synchronous ultrasonic system, which comprises the following remote synchronous feedback steps:
step one, forming synchronous data connection between a remote ultrasonic detection mechanical arm and a driving rod, so that deflection of the driving rod can control the remote ultrasonic detection mechanical arm to work;
Setting a plurality of pressure sensors at the probe end of the remote ultrasonic detection mechanical arm, carrying out numbering record, correspondingly forming data transmission between the sensors and an external force feedback device, receiving and analyzing sensor pressure signals by the external force feedback device, driving by a driver to bend an elastic sheet, pushing a transmission head, transmitting the pressure at the corresponding position, and feeding back to the hand by a driving rod;
thirdly, the pressure sensor at the bottom of the conducting head conducts change analysis on the pressure of the remote end, conducts the leading-in of a bidirectional pump working signal and conducts pressure adjustment change in the conducting head, changes damping touch sense formed by deflection of a driving rod, and adjusts touch sense mechanisms of remote human body adaptation;
And step four, synchronously operating the external force feedback devices, and feeding back the external force sensed by the remote sensor to the operation part to form synchronous operation.
The beneficial effects are that:
1. Remote pressure sensing is carried out, and the pressure is fed back to an external force feedback device to correspondingly resist the pressure, so that resistance conduction is formed, and the pressure is improved
The authenticity of the handling hand;
2. The conducting head can regulate internal pressure, regulate pressure resistance value matched with the surface of a remote patient, and improve remote operation
A controlled hand feel;
3. Simple structure and convenient use.
Drawings
Fig. 1 is a perspective structure diagram of a remote synchronous ultrasonic system based on force feedback according to the present invention.
Fig. 2 is a schematic structural diagram of a remote synchronous ultrasonic system based on force feedback according to the present invention.
Fig. 3 is a schematic cross-sectional view of a force feedback based remote synchronous ultrasound system of the present invention.
Fig. 4 is a schematic perspective view of an operation part of a remote synchronous ultrasonic system based on force feedback according to the present invention.
Fig. 5 is a perspective view of an external force feedback device of an operation part of a remote synchronous ultrasonic system based on force feedback.
Fig. 6 is a perspective structural diagram of an external force feedback device of a remote synchronous ultrasonic system based on force feedback.
Fig. 7 is a schematic structural diagram of an external force feedback device of a remote synchronous ultrasonic system based on force feedback according to the present invention.
Fig. 8 is a schematic structural view of an operation part of a remote synchronous ultrasonic system based on force feedback, which only shows a schematic temporal part structure.
Fig. 9 is a perspective view of a base plate of a remote synchronous ultrasonic system based on force feedback according to the present invention.
In the accompanying drawings:
1. A base; 2. an upper fixing frame; 3. an operation unit; 4. an external force feedback device; 10. a main body plate; 11. a connection assembly; 20. centering the ring; 21. a support frame; 22. a dust cover; 101. an upper press plate; 102. a mounting groove; 103. an inner support ring; 30. a conductive head; 31. a driving rod; 32. anti-slip ring; 110. an outer support tube; 111. a pull rod; 301. a clamping groove; 302. a pressure sensor; 303. a guide sleeve; 304. a blocking cover; 310. a main body lever; 311. a density backing plate; 312. a storage battery; 313. a control unit; 314. a control button; 315. a filter screen; 316. a bi-directional pump; 317. a built-in air pipe; 40. a control main body; 41. a metal sheet; 42. a return spring; 43. a telescopic rod; 44. a side guide plate; 45. a slide block; 46. a fastening screw; 47. a connecting cap; 48. an extension sleeve; 401. a driver; 402. and a feedback control module.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention discloses a remote synchronous ultrasonic system based on force feedback, which is realized by the following steps of fig. 1-9: the device comprises a base 1, an upper fixing frame 2, an operation part 3 and an external force feedback device 4, wherein the upper fixing frame 2 is arranged above the base 1 and correspondingly connected through a connecting component 11, the upper fixing frame 2 and the base 1 form a hollow area, the operation part 3 is arranged at the inner side of the upper fixing frame 2 and extends to two ends, the operation part 3 comprises a driving rod 31 for hand operation and a conducting head 30 for end pressure transmission, the base 1 is provided with a plurality of external force feedback devices 4, the external force feedback devices 4 are correspondingly abutted against the outer side surfaces of the conducting head 30, the external force feedback devices 4 support external force through wireless transmission, the conducting head 30 transmits damping provided by the external force feedback devices 4 to the driving rod 31 to form operation perception, the external force feedback devices 4 are distributed in a ring shape, the operation part 3 is rotatably arranged in the upper fixing frame 2, and the internal pressure of the conducting head 30 is adjustable;
the base 1 comprises a main body plate 10 and a connecting assembly 11, wherein the connecting assembly 11 is arranged on the main body plate 10 at equal angles, an upper pressing plate 101 is arranged on the main body plate 10, a gap is reserved between the upper pressing plate 101 and the main body plate 10, an installation groove 102 is formed in the edge of the upper pressing plate 101, the installation groove 102 is an open groove, the connecting assembly 11 is correspondingly clamped in the installation groove 102, the connecting assembly 11 comprises an outer supporting tube 110 and a pull rod 111, the pull rod 111 is arranged in the installation groove 102, the bottom surface of the upper pressing plate 101 correspondingly abuts against, the outer supporting tube 110 is sleeved on the pull rod 111, the outer supporting tube 110 is a spring tube, sealing gaskets are arranged at two ends, the pull rod 111 is formed by turning a rubber rod with a steel wire arranged inside, a pull head abutting against the upper pressing plate 101 is pulled at the lower end, a thread sleeve is arranged at the top end of the pull rod 111, an inner supporting ring 103 is arranged in the main body plate 10, the inner supporting ring 103 extends along the edge of the upper pressing plate 101 and the main body plate 10, the upper pressing plate 101, the main body plate 10 and the inner supporting ring 103 are connected through a conical surface, the upper pressing plate 10 and the inner supporting ring 103 are of an integral structure, the bottom of the main body plate 10 is correspondingly provided with an anti-slip cover, and the upper supporting tube 2 is correspondingly arranged on the upper supporting assembly and fixedly abuts against the supporting tube 11;
The upper fixing frame 2 comprises a centering ring 20, a supporting frame 21 and a dust cover 22, the supporting frame 21 is of a multi-arm structure, the centering ring 20 is arranged in the middle of the supporting frame 21, the multi-arm end of the supporting frame 21 is correspondingly sleeved at the end of a pull rod 111 and is propped against the supporting frame through an outer supporting tube 110, the end of the pull rod 111 is correspondingly provided with a fastening screw 46, the aperture of a through hole corresponding to the multi-arm end of the supporting frame 21 is larger than the outer diameter of the pull rod 111, the inner ring of the centering ring 20 is provided with a spherical tile, the dust cover 22 is sleeved in the inner ring of the centering ring 20 and extends upwards, the dust cover 22 is a silica gel sleeve, the operating part 3 is correspondingly arranged in the middle of the fixing ring and penetrates through the centering ring 20 and the dust cover 22, the dust cover 22 is in sealing connection with the operating part 3, and the operating part 3 rotates relatively to the centering ring 20;
The driving rod 31 of the operation part 3 extends upwards through the centering ring 20, the conducting head 30 is arranged between the upper fixing frame 2 and the base 1, the conducting head 30 is detachably arranged on the driving rod 31, the conducting head 30 is an air bag, the outer side wall is provided with a clamping groove 301, the clamping groove 301 is arranged at equal angles, the bottom of the conducting head 30 is provided with a pressure sensor 302, the outer circumferential surface of the conducting head 30 is provided with a fixed ring, the fixed ring is equidistantly arranged on the conducting head 30, the opening part of the conducting head 30 is embedded with a blocking cover 304, the middle part of the blocking cover 304 is provided with a guide sleeve 303, the outer side wall of the blocking cover 304 and the inner wall of the opening part of the conducting head 30 are provided with clamping grooves, the middle part of the blocking cover 304 is thick, the two sides are thin, the edge of the blocking cover 304 is bent to form a ring shape, the ring-shaped inner wall formed by bending the blocking cover 304 is provided with threads, the driving rod 31 is connected on the blocking cover 304 in a screwed manner and is connected with the conducting head 30 in a sealing manner, the driving rod 31 is of a hollow structure, the bi-directional pump 316 is arranged in the driving rod 31, the port of the bi-directional pump extends into the conducting head 30 through the built-in air pipe 317, the outer side wall of the built-in air pipe 317 is provided with the guide sleeve 303, the guide sleeve 303 is made of rubber, the storage battery 312 is arranged in the driving rod 31, the other port of the bi-directional pump 316 extends into the driving rod 31, the side wall of the driving rod 31 is provided with a breathing window, the inner side of the breathing window is provided with a filter screen 315, the breathing window corresponds to the other end of the bi-directional pump 316, the end part of the driving rod 31 is provided with a rubber sleeve, the control unit 313 is arranged in the driving rod 31, the control button 314 is arranged at the end part of the driving rod 31, the side wall of the driving rod 31 is provided with the anti-dropping ring 32, and the storage battery 312, the control unit 313, the bi-directional pump 316 and the control button 314 are combined to form an electric control circuit, and the control button 314 controls the bi-directional pump 316 to start and stop and suck;
The conducting head 30 is provided with a multi-layer structure, the inner layer is made of butyl rubber, the outer side is made of artificial PU leather, a wire body is wound on the outer ring of the butyl rubber, the wire body is wound on the outer side of the butyl rubber in a crossing manner, the pressure sensor 302 at the bottom of the conducting head 30 is a wireless sensor, the wireless sensor and the control unit 313 form data interaction, a memory, a processor and a controller are arranged in the control unit 313, solid fluid is filled in the conducting head 30, and the solid fluid is filled to half of the volume of the conducting head 30;
The external force feedback device 4 comprises a feedback device control module 402 and a driver 401 which are used for receiving remote signals, wherein the driver 401 and the feedback device control module 402 are combined to form a control main body 40, the control main body 40 is fixedly arranged on the base 1 through a fixing frame, an electromagnetic telescopic component is arranged in the driver 401, a telescopic rod 43 is arranged on the electromagnetic telescopic component and penetrates through the driver 401, a connecting cap 47 is arranged at the end part of the telescopic rod 43, a hinge lug is arranged at the top of the connecting cap 47, a reset spring 42 is sleeved on the telescopic rod 43 and is propped against and arranged between the connecting cap 47 and the driver 401, an extension sleeve 48 is arranged on the driver 401, one end of a metal sheet 41 is hinged on a hinge bracket on the connecting cap 47, the other end of the metal sheet 41 is arranged on the side wall of the driver 401, and the metal sheet 41 is bent to form an arc shape and is correspondingly clamped with a clamping groove 301 on a transmission head;
The end part of the metal sheet 41 is adjustably arranged on the driver 401 through a fastening screw 46, a side guide plate 44 is arranged on the side wall of the driver 401, a T-shaped groove is formed in the side guide plate 44, a sliding block 45 is arranged in the T-shaped groove, a threaded hole is formed in the middle of the sliding block 45, a plurality of groups of limit strips are arranged on the side wall of the side guide plate 44, a mounting hole is formed in the end part of the metal sheet 41, the fastening screw 46 penetrates through the mounting hole and the threaded hole in the middle of the sliding block 45 to be in threaded connection, and the end part of the metal sheet 41 is bent to form an abutting part corresponding to the limit strips;
The feedback device control module 402 is provided with a wireless transceiver, a processor and a controller, the wireless transceiver and a remote device sensor correspondingly form signal receiving transmission, the processor is used for signal analysis and processing, and the controller controls the corresponding driver 401 to work;
the invention relates to a force feedback-based remote synchronous ultrasonic system, which comprises the following remote synchronous feedback steps:
Step one, forming synchronous data connection between the remote ultrasonic detection mechanical arm and the driving rod 31, so that the deflection of the driving rod 31 can control the remote ultrasonic detection mechanical arm to work;
Step two, a plurality of pressure sensors 302 are arranged at the probe end of the remote ultrasonic detection mechanical arm, numbering recording is carried out, the sensors and the external force feedback device 4 are correspondingly formed into data transmission, the external force feedback device 4 receives sensor pressure signals and analyzes the sensor pressure signals, the sensor pressure signals are driven by a driver 401 to bend an elastic sheet, the transmission head 30 is pushed against, the pressure at the corresponding position is transmitted, and the pressure is fed back to the hand through a driving rod 31;
step three, the pressure sensor 302 at the bottom of the conducting head 30 conducts the leading-in of the working signal of the bi-directional pump 316 and the pressure regulation and change in the conducting head 30 by analyzing the change of the pressure at the remote end, so as to change the damping touch sense formed by the deflection of the driving rod 31 and regulate the touch sense mechanism matched with the remote human body;
and step four, the external force feedback devices 4 synchronously work, and the remote sensor senses the external force and feeds the external force back to the operation part 3 to form synchronous operation.
The invention and its embodiments have been described above with no limitation, and the actual construction is not limited to the embodiments of the invention as shown in the drawings. In summary, if one of ordinary skill in the art is informed by this disclosure, a structural manner and an embodiment similar to the technical solution should not be creatively devised without departing from the gist of the present invention.
Claims (8)
1. A force feedback based remote synchronous ultrasound system, characterized by: the device comprises a base (1), an upper fixing frame (2), an operation part (3) and an external force feedback device (4), wherein the upper fixing frame (2) is arranged above the base (1) and is correspondingly connected through a connecting component (11), the upper fixing frame (2) and the base (1) form a hollow area, the operation part (3) is arranged at the inner side of the upper fixing frame (2) and extends to two ends, the operation part (3) comprises a driving rod (31) for hand operation and a conducting head (30) for end pressure transmission, the base (1) is provided with a plurality of external force feedback devices (4), the external force feedback devices (4) are correspondingly abutted against the outer side surfaces of the conducting head (30), the external force feedback devices (4) support external force through wireless transmission, the damping provided by the external force feedback devices (4) is transmitted to the driving rod (31) to form operation perception, the external force feedback devices (4) are distributed in a ring shape, the operation part (3) is rotatably arranged in the upper fixing frame (2), and the inside of the conducting head (30) is adjustable;
The driving rod (31) of the operating part (3) extends upwards through the centering ring (20), the conducting head (30) is arranged between the upper fixing frame (2) and the base (1), the conducting head (30) is detachably arranged on the driving rod (31), the conducting head (30) is an air bag, the outer side wall is provided with a clamping groove (301), the clamping groove (301) is arranged at equal angles, the bottom of the conducting head (30) is provided with a pressure sensor (302), the outer circumferential surface of the conducting head (30) is provided with a fixing ring, the fixing ring is equidistantly arranged on the conducting head (30), the mouth of the conducting head (30) is embedded with a blocking cover (304), the middle part of the blocking cover (304) is provided with a guide sleeve (303), the outer side wall of the plugging cover (304) and the inner wall of the opening of the conducting head (30) are provided with clamping grooves, the middle part of the plugging cover (304) is thick, the two sides are thin, the edge of the plugging cover (304) is bent to form a ring shape, the ring-shaped inner wall formed by bending the plugging cover (304) is provided with threads, a driving rod (31) is in screwed connection with the plugging cover (304) and is in sealed connection with the conducting head (30), the driving rod (31) is of a hollow structure, a bidirectional pump (316) is arranged in the driving rod (31), the port of the double-cavity pump extends into the conducting head (30) through an inner air pipe (317), the outer side wall of the inner air pipe (317) is provided with a guide sleeve (303), the guide sleeve (303) is made of rubber material, the utility model provides a driving rod (31) is arranged in to battery (312), another port of bi-directional pump (316) extends to in driving rod (31), driving rod (31) lateral wall is provided with the breathing window, the breathing window inboard is provided with filter screen (315), the other end of breathing window and bi-directional pump (316) corresponds, the tip of driving rod (31) is provided with the gum cover, in driving rod (31) is arranged in to control unit (313), driving rod (31) tip is arranged in to control button (314), driving rod (31) lateral wall is provided with anticreep ring (32), battery (312) and control unit (313), bi-directional pump (316), control button (314) combination formation electronic circuit, control button (314) control bi-directional pump (316) start and stop, suction.
2. A force feedback based remote synchronized ultrasound system according to claim 1, wherein: the base (1) comprises a main body plate (10) and a connecting component (11), wherein the connecting component (11) is arranged on the main body plate (10) at equal angles, an upper pressing plate (101) is arranged on the main body plate (10), a gap is reserved between the upper pressing plate (101) and the main body plate (10), an installation groove (102) is arranged at the edge of the upper pressing plate (101), the installation groove (102) is an open groove, the connecting component (11) is correspondingly clamped in the installation groove (102), the connecting component (11) comprises an outer supporting tube (110) and a pull rod (111), the pull rod (111) is arranged in the installation groove (102), the bottom surface of the upper pressing plate (101) correspondingly abuts against, the outer supporting tube (110) is sleeved on the pull rod (111), the outer support tube (110) is a spring tube, sealing gaskets are arranged at two ends of the outer support tube, the pull rod (111) is formed by turning a rubber rod with a steel wire arranged inside, a pull head which is abutted against the upper pressing plate (101) is embedded at the lower end of the pull rod, a threaded wire sleeve is arranged at the top end of the pull rod (111), an inner support ring (103) is arranged at the inner edge of the main body plate (10), the inner support ring (103) extends along the inner edge, the upper pressing plate (101) and the main body plate (10) are connected through conical surfaces, the upper pressing plate (101), the main body plate (10) and the inner support ring (103) are of an integrated structure, an anti-slip adhesive tape is arranged at the bottom of the main body plate (10), the upper fixing frame (2) is correspondingly sleeved on the connecting component (11) and is propped and fixed by the outer supporting tube (110).
3. A force feedback based remote synchronized ultrasound system according to claim 1, wherein: the upper fixing frame (2) comprises a centering ring (20), a supporting frame (21) and a dust cover (22), wherein the supporting frame (21) is of a multi-arm structure, the centering ring (20) is arranged in the middle of the supporting frame (21), the multi-arm end part of the supporting frame (21) is correspondingly sleeved at the end part of a pull rod (111), and is propped by an outer supporting tube (110), a fastening screw (46) is correspondingly arranged at the end part of the pull rod (111), the aperture of a through hole corresponding to the multi-arm end part of the supporting frame (21) is larger than the outer diameter of the pull rod (111), a ball tile is arranged on the inner ring of the centering ring (20), the dust cover (22) is sleeved on the inner ring of the centering ring and extends upwards, the dust cover (22) is a silica gel sleeve, the operating part (3) is correspondingly arranged in the middle of the fixing ring and penetrates through the centering ring (20), the dust cover (22) and the operating part (3) is in sealing connection.
4. A force feedback based remote synchronized ultrasound system according to claim 1, wherein: the utility model discloses a high-pressure solid-state heat exchanger, including conducting head (30), wire body, pressure sensor (302), control unit (313), memory, treater, controller, conducting head (30) intussuseption is filled with solid-state fluid, and fills to conducting head (30) half volume, conducting head (30) are provided with multilayer structure, and the inlayer is butyl rubber, and the outside is artificial PU leather, and the butyl rubber outer lane is twined the wire body, and the wire body is alternately twined in the butyl rubber outside, and pressure sensor (302) of conducting head (30) bottom is wireless sensor, and wireless sensor and control unit (313) form data interaction.
5. A force feedback based remote synchronized ultrasound system according to claim 1, wherein: the external force feedback device (4) comprises a feedback device control module (402) for receiving remote signals, a driver (401), the driver (401) and the feedback device control module (402) are combined to form a control main body (40), the control main body (40) is fixedly arranged on a base (1) through a fixing frame, an electromagnetic telescopic component is arranged in the driver (401), the telescopic rod (43) is arranged on the electromagnetic telescopic component and penetrates through the driver (401), a connecting cap (47) is arranged at the end part of the telescopic rod (43), a hinge lug is arranged at the top of the connecting cap (47), a reset spring (42) is sleeved on the telescopic rod (43) and is propped between the connecting cap (47) and the driver (401), a lengthening sleeve (48) is sleeved on the telescopic rod (43), one end of the metal sheet (41) is hinged on the hinge frame on the connecting cap (47), the other end of the metal sheet (41) is arranged on the side wall of the driver (401), and the metal sheet (41) is bent to form an arc shape and is correspondingly clamped with a clamping groove (301) on a transmission head.
6. A force feedback based remote synchronized ultrasound system according to claim 5, wherein: the end of the metal sheet (41) is arranged on the driver (401) in an adjustable mode through a fastening screw (46), a side guide plate (44) is arranged on the side wall of the driver (401), a T-shaped groove is formed in the side guide plate (44), a sliding block (45) is arranged in the T-shaped groove, a threaded hole is formed in the middle of the sliding block (45), a plurality of groups of limiting strips are arranged on the side wall of the side guide plate (44), a mounting hole is formed in the end of the metal sheet (41), the fastening screw (46) penetrates through the mounting hole and the threaded hole in the middle of the sliding block (45) in a threaded mode, and the end of the metal sheet (41) is bent to form an abutting portion corresponding to the limiting strips.
7. A force feedback based remote synchronized ultrasound system according to claim 5, wherein: the feedback device control module (402) is provided with a wireless transceiver, a processor and a controller, the wireless transceiver and a remote device sensor correspondingly form signal receiving transmission, the processor is used for signal analysis processing, and the controller controls the corresponding driver (401) to work.
8. A force feedback based remote synchronized ultrasound system according to claim 1, wherein: the synchronous feedback step system comprises the following working steps:
Step one, forming synchronous data connection between a remote ultrasonic detection mechanical arm and a driving rod (31) so that deflection of the driving rod (31) can control the remote ultrasonic detection mechanical arm to work;
Step two, arranging a plurality of pressure sensors (302) at the probe end of the remote ultrasonic detection mechanical arm, carrying out numbering record, correspondingly forming data transmission between the sensors and an external force feedback device (4), receiving sensor pressure signals by the external force feedback device (4), carrying out analysis, driving by a driver (401), bending an elastic sheet, pushing a transmission head (30), transmitting pressure at a corresponding position, and feeding back to a hand by a driving rod (31);
Thirdly, a pressure sensor (302) at the bottom of the conducting head (30) conducts change analysis on pressure at a remote end, conducts leading-in of a working signal of a bi-directional pump (316) and conducts pressure regulation change in the conducting head (30), changes damping touch sense formed by deflection of a driving rod (31), and adjusts a touch sense mechanism matched with a remote human body;
and fourthly, synchronously operating the external force feedback devices (4), and feeding back the external force sensed by the remote sensor to the operation part (3) to form synchronous operation.
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| KR100200933B1 (en) * | 1996-07-22 | 1999-06-15 | 김형벽 | Excavator remote control system |
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| CN108994861B (en) * | 2018-06-14 | 2021-01-05 | 昆山华大智造云影医疗科技有限公司 | Remote ultrasonic manipulator device and remote ultrasonic detection system |
| CN109407849A (en) * | 2018-11-01 | 2019-03-01 | 深圳岱仕科技有限公司 | Hand motion acquisition equipment with force feedback |
| CN211015405U (en) * | 2020-01-08 | 2020-07-14 | 北京仙进机器人有限公司 | Force feedback device for operating shaft of remote operating device |
| CN112316268A (en) * | 2020-11-27 | 2021-02-05 | 无锡市人民医院 | One-lung ventilation management catheter |
| CN113116519B (en) * | 2021-04-26 | 2022-09-20 | 武汉联影智融医疗科技有限公司 | A force feedback main operator and puncture surgery robot system |
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| CN211704775U (en) * | 2019-10-15 | 2020-10-20 | 广州市美太贸易有限公司 | Force feedback type control device and puncture needle control system |
| CN113907788A (en) * | 2021-10-14 | 2022-01-11 | 合肥合滨智能机器人有限公司 | Portable teleoperation handheld device for remote ultrasonic examination |
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