CN206166940U - Automatic ultrasonic diagnosis arm and supersound diagnostic system - Google Patents
Automatic ultrasonic diagnosis arm and supersound diagnostic system Download PDFInfo
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- CN206166940U CN206166940U CN201620942031.3U CN201620942031U CN206166940U CN 206166940 U CN206166940 U CN 206166940U CN 201620942031 U CN201620942031 U CN 201620942031U CN 206166940 U CN206166940 U CN 206166940U
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- 238000005452 bending Methods 0.000 claims description 13
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- 238000005516 engineering process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
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- 238000006073 displacement reaction Methods 0.000 description 1
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- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
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Abstract
The utility model belongs to the technical field of medical instrument, a automatic ultrasonic diagnosis arm and supersound diagnostic system is provided, including ultrasonic probe, regulation the position adjustment assembly of three degrees of freedom of ultrasonic probe position adjusts with being used for the posture adjustment subassembly of three degrees of freedom of ultrasonic probe gesture, position adjustment assembly includes the fixed bolster and connects can drive on the fixed bolster the drive assembly that ultrasonic probe removed along X axle, Y axle or Z axle direction accuracy, drive assembly can drive ultrasonic probe removes or removes along a plurality of dimension directions simultaneously along a certain dimension direction, ultrasonic probe swing joint is in the end of posture adjustment subassembly, the posture adjustment subassembly swing joint be in drive assembly is last, replace the doctor to control the probe in the scanning of patient's body surface through the arm, the doctor only need can accomplish specific scan task through operating virtual probe, and then has full -automatic nature and to patient and diagnosis position universality.
Description
Technical field
The utility model belongs to technical field of medical instruments, more particularly to a kind of automatic ultrasonic diagnostic machinery arm and ultrasound are examined
Disconnected system.
Background technology
In prior art, Ultrasonic Diagnosis has been widely used in medical domain, and Ultrasonic Diagnosis is should by ultrasonic detecting technology
For human body, the data and form of physiology or institutional framework are understood by measurement, find disease, make a kind of diagnosis side of prompting
Method.At this stage ultrasonic probe great majority are free-hand scanning, and random than larger, this can affect image quality and follow-up diagnosis point
Analysis.In addition, though have some mechanical arms to be utilized in Ultrasonic Diagnosis, but its positioning is not accurate enough, and can only be probably true
Fixed a certain position, or precision fine setting can only be carried out, but on a large scale transfer needs in use doctor to carry out closely
Manual manipulation realizing, so cause the doctor cannot be while pay close attention to testing result, thus, it can be difficult to reach the effect required for doctor
Really.
Utility model content
The purpose of this utility model is to provide a kind of automatic ultrasonic diagnostic machinery arm, it is intended to solves existing mechanical arm and determines
Doctor is also needed to during position additionally to aid in, cause doctor at any time to pay close attention to the problem of testing result.
The utility model is so to solve：A kind of automatic ultrasonic diagnostic machinery arm, including ultrasonic probe, adjust described super
The position adjustments component of the Three Degree Of Freedom of sonic probe position and the Three Degree Of Freedom for adjusting the ultrasonic probe attitude
Pose adjustment component, the position adjustments component includes fixed support and is connected on the fixed support and can drive described super
Along the drive component of X-axis, Y-axis or Z-direction accurate movement, the drive component can drive the ultrasonic probe along certain to sonic probe
One dimension direction movement while is moved, the ultrasonic probe is movably connected in the pose adjustment group along multiple dimension directions
The end of part, the pose adjustment component is movably connected on the drive component.
The first screw component that further, the drive component includes driving the ultrasonic probe to move along Z-direction,
Drive the second screw component and drive what the ultrasonic probe was moved along X-direction that the ultrasonic probe moved along Y direction
3rd screw component, first screw component, the second screw component and the 3rd screw component independently drive.
Further, first screw component includes the first support member being connected on the fixed support, is connected to
The first screw mandrel on first support member and it is movably connected on first support member and coordinates with first screw mandrel
First slide block, and drive the first actuator of the first screw mandrel rotation；Second screw component is described including being connected to
The second support member on first slide block, the second screw mandrel being connected on second support member and it is movably connected in described second
The second slide block coordinated in support member and with second screw mandrel, and drive the second actuator of the second screw mandrel rotation；Institute
State the 3rd screw component include the 3rd support member being connected on second slide block, be connected on the 3rd support member the
Three screw mandrels and the 3rd slide block for being movably connected on the 3rd support member and coordinating with the 3rd screw mandrel, and drive described
The 3rd actuator that 3rd screw mandrel is rotated.
Further, first support member is provided with the first slide rail, and first slide block is provided with to be slided with described first
The first chute that rail coordinates；Second support member is provided with the second slide rail, and second slide block is provided with to be slided with described second
The second chute that rail coordinates；3rd support member is provided with the 3rd slide rail, and the 3rd slide block is provided with and the 3rd cunning
The 3rd chute that rail coordinates.
Further, the pose adjustment component is connected on the 3rd slide block, and the pose adjustment component includes
Drive the ultrasonic probe with examined patient body-surface normal vector and be rotated by 360 ° around patient body-surface normal vector is examined in first angle
The first pose adjustment part, be connected to the end of the first pose adjustment part and for adjusting the ultrasonic probe axis and quilt
The second pose adjustment part of angle between patient body-surface normal vector is examined, and for driving the ultrasonic probe to turn around own axes
The 3rd dynamic pose adjustment part.
Further, the first pose adjustment part includes the first connecting seat being connected with the 3rd slide block, is connected to
The fourth drive member of patient body-surface setting is examined on first connecting seat and perpendicular to described, and is connected the described 4th and driven
Part it is outer and under the drive of the fourth drive member around the first cursor of fourth drive member axis rotation.
Further, the second pose adjustment part include be connected to the first cursor end the second connecting seat,
Be arranged on second connecting seat and with fiveth actuator of the normal vector for being examined patient body-surface in second angle, and
It is connected on the 5th actuator and for rotating around the 5th actuator axis under the drive of the 5th actuator
The second cursor.
Further, the 3rd pose adjustment part includes being connected to the second cursor end and being examined trouble with described
The normal vector of person's body surface in the first angle the 6th actuator, the ultrasonic probe the 6th actuator drive under around
Own axes are moved, and are also associated between the ultrasonic probe and second cursor for controlling the ultrasonic probe and institute
State the pressure sensor of the contact forces for being examined patient body-surface.
Further, first cursor and second cursor are the folding that the interior angle formed after bending is 150 °
Bent plate, the connecting shaft between first cursor and second cursor for ease of cabling hollow shaft.
The utility model provide automatic ultrasonic diagnostic machinery arm be relative to the technique effect that existing technology has：It is logical
Crossing the position adjustments component of the Three Degree Of Freedom for arranging remote controlled can realize the long-range control mobile on a large scale of ultrasonic probe,
Simultaneously drive component can realize ultrasonic probe along X-axis, Y-axis or Z-direction accurate movement, and the pose adjustment of Three Degree Of Freedom
The setting of component, so as to ensure that the precise control of ultrasonic probe, and then it is preferably right to allow doctor to pass through said apparatus
Patient is diagnosed.
The utility model also provides a kind of compuscan, including aforesaid automatic ultrasonic diagnostic machinery arm, remote control institute
The control rocking bar and the fixture vehicle of the support automatic ultrasonic diagnostic machinery arm of drive component and the pose adjustment component are stated, with
And display, main frame and the control system for being connected on the fixture vehicle and using cooperatively with the automatic ultrasonic diagnostic machinery arm
System.
The utility model provide compuscan be relative to the technique effect that existing technology has：By control
The setting of rocking bar, doctor can be sitting in by display, by controlling rocking bar come remotely control drive component and pose adjustment component
Transfer on a large scale and small range accurate movement, while the setting of the controllable system of fixture vehicle causes the suitable of whole compuscan
Answering property is higher.
Description of the drawings
Fig. 1 is that drive component is barish one in the automatic ultrasonic diagnostic machinery arm that the utility model embodiment is provided
Structure chart on direction.
Fig. 2 is that drive component is barish another in the automatic ultrasonic diagnostic machinery arm that the utility model embodiment is provided
Structure chart on direction.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to the utility model.It should be appreciated that specific embodiment described herein is only to explain
The utility model, is not used to limit the utility model.
It should be noted that when element is referred to as " being fixed on " or " being arranged at " another element, it can be directly another
On one element or it is connected on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
Also, it should be noted that the orientation term such as left and right, upper and lower in the utility model embodiment, is only relative each other
Concept or be reference with the normal operating condition of product, and should not be regarded as restrictive.
Refer to shown in accompanying drawing 1 and Fig. 2, in the utility model embodiment, there is provided a kind of automatic ultrasonic diagnostic machinery arm,
Including ultrasonic probe 10, position adjustments component 1 and pose adjustment component 2.Wherein, the position adjustments component 1 surpasses for adjusting this
The movement in the Three Degree Of Freedom direction of the position of sonic probe 10；The pose adjustment component 2 is used to adjust the attitude of ultrasonic probe 10
Three Degree Of Freedom direction activity, the position adjustments component 1 includes fixed support 80 and drive component, and the drive component is connected to
On the fixed support 80, and the drive component can drive the ultrasonic probe 10 and pose adjustment component 2 together along X-axis, Y-axis
Or the drive component of Z-direction accurate movement, the drive component can drive the ultrasonic probe 10 along the movement of some dimension directions
Or while the big of ultrasonic probe 10 and pose adjustment component 2 can be realized along the movement of multiple dimension directions, namely the drive component
While scope is three-dimensional mobile, it can also be ensured that mobile fine degree, the ultrasonic probe 10 is movably connected in the pose adjustment
The end of component 2, the pose adjustment component 2 is movably connected on the drive component.
The automatic ultrasonic diagnostic machinery arm for designing above, by the position adjustments group for arranging remote controlled Three Degree Of Freedom
Part 1 can realize the long-range control mobile on a large scale of ultrasonic probe 10, while drive component can realize ultrasonic probe 10 along X
Axle, Y-axis or Z-direction accurate movement, and the setting of the pose adjustment component 2 of Three Degree Of Freedom, so as to ensure that ultrasonic probe
10 precise control, and then doctor is preferably diagnosed by said apparatus to patient.
Specifically, as depicted in figs. 1 and 2, in the utility model embodiment, the drive component includes driving the ultrasound to visit
10 and pose adjustment component 2 move along Z-direction the first screw component 20, drive the ultrasonic probe 10 and pose adjustment group
The second screw component 30 that part 2 is moved along Y direction, and the ultrasonic probe 10 and pose adjustment component 2 are driven along X-direction
The 3rd mobile screw component 40, first screw component 20, the second screw component 30 and the 3rd screw component 40 are independently
Drive, namely the ultrasonic probe 10 and pose adjustment component 2 need to some dimension and multiple dimensions move when, this
Mutually it does not interfere with each other between one screw component 20, the second screw component 30 and the actuator of the 3rd screw component 40, while all of
Screw component realizes quantitative movement by screw thread cooperation, and then can ensure that the precision control of displacement, while silk
The length of bar assembly determines the size of moving range.Then herein this can be realized by digitized drive rod, by pre-
Control software is first set, then the quantitative movement of drive rod is fed back to after coordinate input.
Specifically, as depicted in figs. 1 and 2, in the utility model embodiment, first screw component 20 includes being connected to
The first support member 201 on the fixed support 80, the first screw mandrel 202 being connected on first support member 201 and it is flexibly connected
The first slide block 203 coordinated on the support member and with first screw mandrel 202, and drive what first screw mandrel 202 was rotated
First actuator 204；First support member 201 is vertically arranged, while the rotation-limited of the first screw mandrel 202 is connected to first support
On part 201, and first screw mandrel 202 is vertically arranged, and can be directly connected between the screw mandrel 202 of the first actuator 204 and first
It is driven, it is also possible to driven indirectly by gear engagement, first slide block 203 is movably connected in first support member 201
On surface, and as the rotation of the first screw mandrel 202 is moved up and down.
Meanwhile, as depicted in figs. 1 and 2, second screw component 30 includes second be connected on first slide block 203
Support member 301, the second screw mandrel 302 being connected on second support member 301 and it is movably connected on second support member 301 simultaneously
The second slide block 303 coordinated with second screw mandrel 302, and drive the second actuator 304 of the rotation of second screw mandrel 302；Should
Second support member 301 is horizontally disposed with along the longitudinal direction, and the side of second support member 301 is fixed on first slide block 203
On, the rotation-limited of the second screw mandrel 302 is connected on second support member 301, same second screw mandrel 302 water along the longitudinal direction
It is flat to arrange, can be directly connected to be driven between the screw mandrel 302 of the second actuator 304 and second, it is also possible to nibble by gear
Close to drive indirectly, second slide block 303 is movably connected on the surface of the second support member 301, and with the second screw mandrel 302
Rotate movable.
Meanwhile, as depicted in figs. 1 and 2, the 3rd screw component 40 includes the 3rd be connected on second slide block 303
Support member 401, the 3rd screw mandrel 402 being connected on the 3rd support member 401 and be movably connected on the 3rd support member 401 and with
The 3rd slide block 403 that 3rd screw mandrel 402 coordinates, and drive the 3rd actuator 404 of the rotation of the 3rd screw mandrel 402；This
Three support members 401 are horizontally disposed with left-right direction, and one end of the 3rd support member 401 is fixed on second slide block 303,
The rotation-limited of 3rd screw mandrel 402 is connected on the 3rd support member 401, same 3rd screw mandrel 402 level in left-right direction
Arrange, can be directly connected to be driven between the 3rd actuator 404 and the 3rd screw mandrel 402, it is also possible to engaged by gear
To drive indirectly, the 3rd slide block 403 is movably connected on the surface of the 3rd support member 401, and turning with the 3rd screw mandrel 402
It is dynamic movable.
Specifically, as depicted in figs. 1 and 2, in the utility model embodiment, first support member 201 is provided with first
Slide rail, first slide block 203 is provided with the first chute coordinated with first slide rail, by matching somebody with somebody for the first chute and the first slide rail
Close, it is ensured that the stability of the movement on the first slide block 203 on first support member 201；Second support member 301 is provided with second
Slide rail, second slide block 303 is provided with the second chute coordinated with second slide rail, by matching somebody with somebody for the second chute and the second slide rail
Close, it is ensured that the stability of the movement on the second slide block 303 on second support member 301；3rd support member 401 is provided with the 3rd
Slide rail, the 3rd slide block 403 is provided with the 3rd chute coordinated with the 3rd slide rail, by matching somebody with somebody for the 3rd chute and the 3rd slide rail
Close, it is ensured that the stability of the movement on the 3rd slide block 403 on the 3rd support member 401.
Specifically, as shown in figure 1, in the utility model embodiment, the pose adjustment component 2 is connected to the 3rd slide block
On 403, and the pose adjustment component 2 includes the first pose adjustment part 50, the second pose adjustment part 60 and the 3rd pose adjustment
Part 70.The first pose adjustment part 50 can drive the ultrasonic probe 10 to carry out 0~360 ° of rotation, the central shaft of the rotation be by
Examine patient body-surface normal vector, and the ultrasonic probe 10 and this examined in first angle between patient body-surface normal vector, this first
Angle is in 30 ° to 60 ° rotations；The second pose adjustment part 60 is connected to the end of the first pose adjustment part 50, and this
Two pose adjustment parts 60 are used for the size of the first angle, and now the first angle is bigger, and the ultrasonic probe 10 is with the first attitude
The circumferential area of the rotation of adjustment part 50 is bigger, so detection to be examined patient body surface areas bigger；3rd pose adjustment part 70 is used
In the ultrasonic probe 10 is controlled around own axis, so can be designed so that the front end of ultrasonic probe 10 with more preferable angle
To contact the body surface for being examined patient.
Specifically, as shown in figure 1, in the utility model embodiment, the first pose adjustment part 50 includes and the 3rd
Slide block 403 connection the first connecting seat 501, be connected to the fourth drive member 502 of first connecting seat 501 and connect the 4 wheel driven
The first cursor 503 on moving part 502.The fourth drive member 502 is examined patient body-surface and is arranged perpendicular to this, and the 4 wheel driven
The drive end of moving part 502 is connected through first connecting seat 501 with the first cursor 503, while the fourth drive member 502 drives
The drive end drives first cursor 503 to rotate in the range of 0 °~360 ° when rotating, and first cursor 503 is preferably one
The interior angle formed after individual bending is 150 ° of bending plate, namely the one end of the first cursor 503 is connected horizontally on the 4th driving
The lower end of part 502, relatively 30 ° of downward bending forms the first bending parts 5031 to the other end.
Meanwhile, as shown in figure 1, the second pose adjustment part 60 includes being connected to the second of the end of the first cursor 503
Connecting seat 601, the 5th actuator 602 being connected on second connecting seat 601 and be connected on the 5th actuator 602
Two cursors 603.Second connecting seat 601 is connected on the first bending part 5031 of first cursor 503, while the 5th
Actuator 602 is connected on second connecting seat 601 and perpendicular to first bending part 5031, and then the 5th actuator 602
This is examined the normal vector of patient body-surface in second angle, and the second angle is 30 ° on the premise of the sizing of the first bending part 5031；
Second cursor 603 is connected to the lower section of the 5th actuator 602, and the 5th actuator 602 drive when rotating this second
Cursor 603 is rotated in the range of 0 °~180 °, and second cursor 603 is identical with the structure of the first cursor 503, namely should
The one end of second cursor 603 is connected horizontally on the lower end of the 5th actuator 602, the other end pair relative to the second connecting seat 601
30 ° of second bending parts 6031 of formation of ground downward bending.
Meanwhile, as shown in figure 1, the 3rd pose adjustment part 70 include being connected to the end of the second cursor 603 and with this
Examined sixth actuator 701 of the normal vector in the first angle of patient body-surface, namely the 6th actuator 701 and ultrasonic probe
10 are parallel to each other, and the 6th actuator 701 is connected on second bending part 6031, and the ultrasonic probe 10 drives the 6th
Moving part 701 is moved under driving around own axes, is mutually nibbled by two between the 6th actuator 701 and ultrasonic probe 10 herein
The gear drive of conjunction is completed to drive and coordinated, and is also associated with surpassing for controlling this between the cursor 603 of ultrasonic probe 10 and second
Sonic probe 10 with examined patient body-surface contact forces pressure sensor 90.
Specifically, the company in the utility model embodiment, between first cursor 503 and second cursor 603
Spindle is so designed and causes the whole outward appearance of pose adjustment component 2 more beautiful for ease of the hollow shaft of cabling.
The utility model also provides a kind of compuscan, including aforesaid automatic ultrasonic diagnostic machinery arm, remote control should
The control rocking bar of drive component and the pose adjustment component 2 and the fixture vehicle for supporting the automatic ultrasonic diagnostic machinery arm, Yi Jilian
Display, main frame and the control system for being connected on the fixture vehicle and using cooperatively with the automatic ultrasonic diagnostic machinery arm.
The compuscan for designing above, by the setting for controlling rocking bar, doctor can be sitting in by display, by control
Rocking bar processed carrys out remotely control drive component and pose adjustment component 2 is shifted on a large scale and small range accurate movement, while fixture vehicle
The setting of controllable system causes the adaptability of whole compuscan higher.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (10)
1. a kind of automatic ultrasonic diagnostic machinery arm, it is characterised in that：Including ultrasonic probe, adjust the ultrasonic probe position
Three Degree Of Freedom position adjustments component and the pose adjustment component for adjusting the Three Degree Of Freedom of the ultrasonic probe attitude, institute
Rheme is put adjusting part including fixed support and is connected on the fixed support and can drive the ultrasonic probe along X-axis, Y-axis
Or the drive component of Z-direction accurate movement, the drive component can drive the ultrasonic probe to move along some dimension directions
Move or while along the movement of multiple dimension directions, the ultrasonic probe is movably connected in the end of the pose adjustment component, described
Pose adjustment component is movably connected on the drive component.
2. automatic ultrasonic diagnostic machinery arm as claimed in claim 1, it is characterised in that：The drive component includes that driving is described
The first screw component that ultrasonic probe is moved along Z-direction, drive the second screw mandrel group that the ultrasonic probe moves along Y direction
The 3rd screw component that part and the driving ultrasonic probe are moved along X-direction, first screw component, the second screw component
Independently drive with the 3rd screw component.
3. automatic ultrasonic diagnostic machinery arm as claimed in claim 2, it is characterised in that：First screw component includes connection
The first support member on the fixed support, the first screw mandrel being connected on first support member and it is movably connected in described
The first slide block coordinated on first support member and with first screw mandrel, and drive the first driving of the first screw mandrel rotation
Part；Second screw component includes the second support member being connected on first slide block, is connected to second support member
On the second screw mandrel and the second slide block for being movably connected on second support member and coordinating with second screw mandrel, and drive
The second actuator that dynamic second screw mandrel is rotated；3rd screw component includes the 3rd be connected on second slide block
Support member, the 3rd screw mandrel being connected on the 3rd support member and it is movably connected on the 3rd support member and with described
The 3rd slide block that three screw mandrels coordinate, and drive the 3rd actuator of the 3rd screw mandrel rotation.
4. automatic ultrasonic diagnostic machinery arm as claimed in claim 3, it is characterised in that：First support member is provided with first
Slide rail, first slide block is provided with the first chute coordinated with first slide rail；Second support member is provided with second
Slide rail, second slide block is provided with the second chute coordinated with second slide rail；3rd support member is provided with the 3rd
Slide rail, the 3rd slide block is provided with the 3rd chute coordinated with the 3rd slide rail.
5. automatic ultrasonic diagnostic machinery arm as claimed in claim 3, it is characterised in that：The pose adjustment component is connected to institute
State on the 3rd slide block, and the pose adjustment component include driving the ultrasonic probe with examined patient body-surface normal vector in the
One angle is around being examined the first pose adjustment part that patient body-surface normal vector is rotated by 360 °, be connected to the first pose adjustment part
End and for adjusting the ultrasonic probe axis and being examined the second pose adjustment part of angle between patient body-surface normal vector,
And for driving the ultrasonic probe around the 3rd pose adjustment part of own axis.
6. automatic ultrasonic diagnostic machinery arm as claimed in claim 5, it is characterised in that：The first pose adjustment part include with
First connecting seat of the 3rd slide block connection, it is connected on first connecting seat and is examined patient body-surface and set perpendicular to described
The fourth drive member put, and connect the fourth drive member it is outer and under the drive of the fourth drive member around described the
First cursor of four actuator axis rotation.
7. automatic ultrasonic diagnostic machinery arm as claimed in claim 6, it is characterised in that：The second pose adjustment part includes connecting
The second connecting seat of the first cursor end is connected to, is arranged on second connecting seat and is examined patient body-surface with described
Fiveth actuator of the normal vector in second angle, and be connected on the 5th actuator and in the 5th driving
The second cursor rotated around the 5th actuator axis under the drive of part.
8. automatic ultrasonic diagnostic machinery arm as claimed in claim 7, it is characterised in that：The 3rd pose adjustment part includes connecting
Be connected on the second cursor end and with the normal vector for being examined patient body-surface in the first angle the 6th actuator,
The ultrasonic probe is under the 6th actuator drive around own axes motion, the ultrasonic probe and second cursor
Between be also associated with for controlling the ultrasonic probe and the contact forces for being examined patient body-surface pressure sensor.
9. automatic ultrasonic diagnostic machinery arm as claimed in claim 8, it is characterised in that：First cursor and described second
Cursor is the bending plate that the interior angle formed after bending is 150 °, between first cursor and second cursor
Connecting shaft for ease of cabling hollow shaft.
10. a kind of compuscan, it is characterised in that：Diagnose including the automatic ultrasonic as described in any one of claim 1-9
The control rocking bar and the support automatic ultrasonic diagnostic machinery of drive component described in mechanical arm, remote control and the pose adjustment component
The fixture vehicle of arm, and be connected on the fixture vehicle and use cooperatively with the automatic ultrasonic diagnostic machinery arm display,
Main frame and control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620942031.3U CN206166940U (en) | 2016-08-25 | 2016-08-25 | Automatic ultrasonic diagnosis arm and supersound diagnostic system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620942031.3U CN206166940U (en) | 2016-08-25 | 2016-08-25 | Automatic ultrasonic diagnosis arm and supersound diagnostic system |
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| CN206166940U true CN206166940U (en) | 2017-05-17 |
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| CN201620942031.3U Active CN206166940U (en) | 2016-08-25 | 2016-08-25 | Automatic ultrasonic diagnosis arm and supersound diagnostic system |
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| CN107019526A (en) * | 2017-05-23 | 2017-08-08 | 哈尔滨理工大学 | A kind of ultrasonic probe pose adjusting apparatus intervened for prostate |
| CN107693050A (en) * | 2017-11-23 | 2018-02-16 | 复旦大学附属中山医院 | A kind of telemedicine ultrasonic examination system and method |
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| CN110251160A (en) * | 2019-06-05 | 2019-09-20 | 深圳瀚维智能医疗科技有限公司 | Mammary gland automatic scanning equipment |
| CN110420395A (en) * | 2019-08-14 | 2019-11-08 | 广州中科医疗美容仪器有限公司 | A kind of laser cosmetic instrument for treating scar |
| CN110488745A (en) * | 2019-07-23 | 2019-11-22 | 上海交通大学 | A kind of human body automatic ultrasonic scanning machine people, controller and control method |
| CN111358532A (en) * | 2018-12-25 | 2020-07-03 | 无锡祥生医疗科技股份有限公司 | Auxiliary moving support device for ultrasonic transducer |
| CN112057105A (en) * | 2020-09-11 | 2020-12-11 | 中国科学院长春光学精密机械与物理研究所 | Ultrasonic probe pressure adjusting device |
| CN113855071A (en) * | 2021-09-28 | 2021-12-31 | 核工业总医院 | Improved ultrasonic diagnostic apparatus and method of displaying ultrasonic image |
| CN114947950A (en) * | 2022-08-01 | 2022-08-30 | 中国科学院自动化研究所 | Parallel ultrasonic robot and ultrasonic diagnosis and treatment system |
| CN115177210A (en) * | 2022-07-05 | 2022-10-14 | 重庆医科大学 | Photoacoustic tomography system and method |
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| CN107019526B (en) * | 2017-05-23 | 2023-10-20 | 哈尔滨理工大学 | Ultrasonic probe pose adjusting device for prostate intervention |
| CN107019526A (en) * | 2017-05-23 | 2017-08-08 | 哈尔滨理工大学 | A kind of ultrasonic probe pose adjusting apparatus intervened for prostate |
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