US 12,138,119 B2
Portable teleoperation hand-held devices for remote ultrasound examination
Zhen Liu, Hefei (CN); and Dongliang Cheng, Hefei (CN)
Assigned to HEFEI HEBIN INTELLIGENT ROBOTS CO., LTD., Hefei (CN)
Filed by HEFEI HEBIN INTELLIGENT ROBOTS CO., LTD., Anhui (CN)
Filed on Jan. 28, 2024, as Appl. No. 18/424,851.
Application 18/424,851 is a continuation in part of application No. PCT/CN2022/117693, filed on Sep. 8, 2022.
Claims priority of application No. 202111197455.3 (CN), filed on Oct. 14, 2021.
Prior Publication US 2024/0164749 A1, May 23, 2024
Int. Cl. A61B 8/00 (2006.01)
CPC A61B 8/4427 (2013.01) [A61B 8/4218 (2013.01); A61B 8/46 (2013.01); A61B 8/56 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A portable teleoperation hand-held device for remote ultrasound examination, wherein the hand-held device comprises a housing, a velocity collection module disposed on the housing, an angular velocity collection module disposed on the housing, a force collection module disposed on the housing, a data processing microcontroller disposed on the housing, a pressing module disposed on the housing, and a force feedback module disposed on the housing; wherein
the velocity collection module is configured to obtain velocity information of the hand-held device moving on a working surface;
the angular velocity collection module at least includes a posture angular velocity sensor and is configured to obtain angular velocity information of the hand-held device rotating in space; and the angular velocity collection module is fixed to an angular velocity collection module fixing plate disposed on the housing by a nut to ensure that when the hand-held device is rotated in space, the angular velocity collection module is capable of collecting the angular velocity information;
the force collection module at least includes a force sensor and a data transmitter and is connected to the pressing module, and is configured to obtain a pressing force to which the pressing module is subjected, the pressing force to which the pressing module is subjected being a pressing force of the hand-held device;
the velocity collection module, the angular velocity collection module, and the force collection module are all connected to the data processing microcontroller, which respectively sends the velocity information of the hand-held device moving on the working surface, the angular velocity information of the hand-held device rotating in space, and the pressing force of the hand-held device to the data processing microcontroller, and sends the velocity information of the hand-held device moving on the working surface, the angular velocity information of the hand-held device rotating in space, and the pressing force of the hand-held device to a sub-terminal scanning examination robot through the data processing microcontroller, to realize a remote control of the sub-terminal scanning examination robot;
the data processing microcontroller is further configured to receive an actual contact force between an ultrasound probe on an end of the sub-terminal scanning examination robot and a scanning portion of a human body, and send the actual contact force of the ultrasound probe to the force feedback module;
the force feedback module is configured to provide real-time feedback on the actual contact force of the ultrasound probe;
the hand-held device moves on the working surface, and the working surface is any working surface; the hand-held device is an imitation ultrasound probe, the pressing module includes an end cover disposed on one end of the housing, and an outer surface of the end cover is a pressing surface of the hand-held device;
the velocity collection module includes a photoelectric velocity sensor, a velocity detection window is opened on the outer surface of the end cover, that is, and on the pressing surface of the hand-held device, and a photoelectric detecting end of the photoelectric velocity sensor performs a photoelectric detection through the velocity detection window to obtain the velocity information of the hand-held device moving on the working surface;
the force feedback module includes a display; the display is connected to the data processing microcontroller to obtain the pressing force of the hand-held device and the actual contact force of the ultrasound probe; the display is configured to display in real time the pressing force of the hand-held device, the actual contact force of the ultrasound probe, and a difference between the pressing force of the hand-held device and the actual contact force of the ultrasound probe;
the force feedback module is further configured to obtain the difference between the pressing force of the hand-held device and the actual contact force of the ultrasound probe, generate a vibration according to the difference if the difference is greater than a set threshold, and the greater the difference is, the greater a vibration intensity of the vibration is.