公开(公告)号：US20130023899A1

公开(公告)日：2013-01-24

申请号：US13281342

申请日：2011-10-25

申请人： Philip S. Green

发明人： Philip S. Green

IPC分类号： A61B19/00

CPC分类号： A61B34/76 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  B25J3/04 ,  B25J9/1689 ,  B25J19/023 ,  G03C1/0053 ,  G05B2219/35506 ,  G05B2219/39389 ,  G05B2219/40158 ,  G05B2219/40161 ,  G05B2219/40169 ,  G05B2219/45123 ,  G06T1/0014 ,  G06T3/00 ,  H04N13/189 ,  H04N13/194 ,  H04N13/239 ,  H04N13/246 ,  H04N13/296 ,  H04N13/337 ,  H04N13/341 ,  H04N13/398

摘要： In a telemanipulation system for manipulating objects located in a workspace at a remote worksite by an operator from an operator's station, such as in a remote surgical system, the remote worksite having a manipulator with an end effector for manipulating an object at the workspace, such as a body cavity, a controller including a hand control at the control operator's station for remote control of the manipulator, an image capture device, such as a camera, and image output device for reproducing a viewable real-time image, the improvement wherein a position sensor associated with the image capture device senses position relative to the end effector and a processor transforms the viewable real-time image into a perspective image with correlated manipulation of the end effector by the hand controller such that the operator can manipulate the end effector and the manipulator as if viewing the workspace in true presence.

摘要翻译： 在用于操作位于远程工作场所的工作空间中的物体的遥控操作系统中，操作者从操作员站（例如在远程外科系统中）操纵远程工作现场，具有操纵器，其具有用于在工作空间操纵物体的端部执行器， 作为体腔，控制器包括在控制操作员站处的用于遥控操纵器的手控制，诸如照相机的图像捕获装置和用于再现可视实时图像的图像输出装置，其中， 与图像捕获装置相关联的位置传感器感测相对于末端执行器的位置，并且处理器通过手动控制器的末端执行器的相关操作将可视实时图像转换为透视图像，使得操作者可以操纵末端执行器和 操纵器就好像在真实的存在下查看工作空间。

公开(公告)号：US20100160930A1

公开(公告)日：2010-06-24

申请号：US12633972

申请日：2009-12-09

申请人： Philip S. Green ,  Joel F. Jensen

发明人： Philip S. Green ,  Joel F. Jensen

IPC分类号： A61B19/00

CPC分类号： A61B19/2203 ,  A61B17/29 ,  A61B34/30 ,  A61B34/35 ,  A61B34/70 ,  A61B34/71 ,  A61B90/50 ,  A61B2017/00477 ,  A61B2017/3445 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2090/0813 ,  A61B2090/506 ,  B25J3/04 ,  B25J15/04 ,  B25J18/04 ,  Y10T403/581 ,  Y10T403/587

摘要： The invention is directed to mainpulator assembly (2) for holding and manipulating a surgical instrument (14) in a telerobotic system. The assembly comprises a base (6) fixable by passive or power driven positioning devices to a surface, such as an operating table, and an instrument holder (4) movably mounted on the base. The instrument holder comprises a chassis (6) and an instrument support (70) movably mounted on the body and having an interface engageable with the surgical instrument to releasably mount the instrument to the instrument holder. A drive assembly (7) is operatively coupled to the instrument holder for providing the instrument with at least two degrees of freedom. The instrument holder is separable from the base and the drive assembly so that the holder can be sterilized. The assembly further includes a force sensing element (52) mounted distal to the holder and the drive assembly for detecting forces exerted on the surgical instrument and providing feedback to the surgeon. The assembly is attached to a remote center positioner (300) for constraining the instrument to rotate a point coincident with the entry incision and an inclinometer (350) for preventing gravitational forces acting on the system's mechanisms from being felt by the surgeon.

摘要翻译： 本发明涉及用于在远程操作系统中保持和操纵外科器械（14）的主体组件（2）。 该组件包括可由被动或动力驱动的定位装置固定到诸如手术台的表面的基座（6）和可移动地安装在基座上的器械支架（4）。 仪器夹持器包括底盘（6）和可移动地安装在主体上并具有可与外科器械接合的界面的仪器支架（70），以将仪器可释放地安装到仪器架上。 驱动组件（7）可操作地联接到仪器保持器，用于为仪器提供至少两个自由度。 仪器架可与基座和驱动组件分离，以便保持器可以消毒。 组件还包括安装在保持器的远侧的力感测元件（52）和用于检测施加在外科器械上的力并向外科医生提供反馈的驱动组件。 组件附接到远程中心定位器（300），用于约束仪器以旋转与入口切口重合的点和用于防止作用在系统机构上的重力被外科医生感觉到的倾斜计（350）。

公开(公告)号：US06963792B1

公开(公告)日：2005-11-08

申请号：US08709930

申请日：1996-09-09

申请人： Philip S. Green

发明人： Philip S. Green

IPC分类号： A61B17/00 ,  A61B19/00 ,  B25J3/04 ,  B25J19/02 ,  H04N13/00 ,  G05B19/04 ,  A61B1/04 ,  H04N7/18

CPC分类号： A61B1/00193 ,  A61B17/00234 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/72 ,  A61B34/76 ,  A61B34/77 ,  A61B90/36 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2090/371 ,  B25J3/04 ,  B25J13/025 ,  B25J19/023 ,  H04N13/189 ,  H04N13/194 ,  H04N13/239 ,  H04N13/246 ,  H04N13/296 ,  H04N13/337 ,  H04N13/341 ,  H04N13/398

摘要： A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and 72L) for control of right and left manipulators (24R and 24L) through use of a servomechanism that includes computer. The teleoperator system comprises a surgical system suited for endoscopic surgery. The surgical system includes a surgical instrument, a servomechanism and a controller. The surgical includes an insertion section and a control section. The insertion section comprises a forearm, a wrist and an end effector in the form of a surgical instrument head selected from the group consisting of retractors, electrosurgical cutters, electrosurgical coagulators, forceps, needle holders, scissors, blades and irrigators. The control section comprises a plurality of motors and linkages which operate to insert and retract the forearm, rotate the forearm, pivot the forearm, and pivot the wrist link about the wrist joint.

摘要翻译： 示出了具有远程呈现的远程操作系统，其包括通过使用包括计算机的伺服机构来控制右和左操纵器（24R和24L）的左右控制器（72R和72L）。 远程手术器系统包括适合内窥镜手术的手术系统。 手术系统包括手术器械，伺服机构和控制器。 手术包括插入部和控制部。 所述插入部分包括前臂，手腕和末端执行器，所述末端执行器为选自包括牵开器，电外科切割器，电外科凝结器，镊子，针架，剪刀，刀片和冲洗器的组的外科器械头部形式。 控制部分包括多个电动机和联动装置，其操作以插入和缩回前臂，旋转前臂，枢转前臂，并使腕关节绕腕关节枢转。

公开(公告)号：US06850817B1

公开(公告)日：2005-02-01

申请号：US09607758

申请日：2000-06-29

申请人： Philip S. Green

发明人： Philip S. Green

IPC分类号： A61B17/00 ,  A61B19/00 ,  B25J3/04 ,  B25J19/02 ,  H04N13/00 ,  G06F19/00 ,  A61B1/04

CPC分类号： A61B1/00193 ,  A61B17/00234 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/72 ,  A61B34/76 ,  A61B34/77 ,  A61B90/36 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2090/371 ,  B25J3/04 ,  B25J13/025 ,  B25J19/023 ,  H04N13/189 ,  H04N13/194 ,  H04N13/239 ,  H04N13/246 ,  H04N13/296 ,  H04N13/337 ,  H04N13/341 ,  H04N13/398

摘要： A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and 72L) for control of right and left manipulators (24R and 24L) through use of a servomechanism that includes computer (42). Cameras (46R and 46L) view workspace (30) from different angles for production of stereoscopic signal outputs at lines (48R and 48L). In response to the camera outputs a 3-dimensional top-to-bottom inverted image (30I) is produced which, is reflected by mirror (66) toward the eyes of operator (18). A virtual image (30V) is produced adjacent control arms (76R and 76L) which is viewed by operator (18) looking in the direction of the control arms. By locating the workspace image (30V) adjacent the control arms (76R and 76L) the operator is provided with a sense that end effectors (40R and 40L) carried by manipulator arms (34R and 34L) and control arms (76R and 76L) are substantially integral. This sense of connection between the control arms (76R and 76L) and end effectors (40R and 40L) provide the operator with the sensation of directly controlling the end effectors by hand. By locating visual display (246) adjacent control arms (244R and 244L) image (240I) of the workspace is directly viewable by the operator. (FIGS. 12 and 13.) Use of the teleoperator system for surgical procedures also is disclosed. (FIGS. 7-9 and FIG. 13.)

摘要翻译： 示出了具有远程呈现的远程操作器系统，其包括用于通过使用包括计算机（42）的伺服机构来控制右操纵器（24R和24L）的左右控制器（72R和72L）。 相机（46R和46L）从不同的角度观看工作空间（30），用于在线（48R和48L）处产生立体信号输出。 响应于相机输出，产生三维顶部到底部倒置图像（30I），其被反射镜（66）反射到操作者（18）的眼睛。 在控制臂（76R和76L）附近产生虚拟图像（30V），由操作者（18）看到控制臂的方向。 通过将工作空间图像（30V）定位在与控制臂（76R和76L）相邻的位置，操作者具有由操纵臂（34R和34L）和控制臂（76R和76L）承载的末端执行器（40R和40L）和控制臂 基本一体。 控制臂（76R和76L）与末端执行器（40R和40L）之间的连接感为操作者提供了用手直接控制末端执行器的感觉。 通过定位相邻控制臂（244R和244L）的视觉显示（246），工作空间的图像（240I）可由操作员直接查看。 （图12和图13）。还公开了用于外科手术的远程手术器系统的使用。 （图7-9和图13）

公开(公告)号：US06788999B2

公开(公告)日：2004-09-07

申请号：US10379302

申请日：2003-03-03

申请人： Philip S. Green

发明人： Philip S. Green

IPC分类号： H04N718

CPC分类号： B25J3/04 ,  A61B17/00234 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/76 ,  A61B34/77 ,  A61B90/361 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2090/064 ,  B25J19/023 ,  H04N13/189 ,  H04N13/194 ,  H04N13/239 ,  H04N13/246 ,  H04N13/296 ,  H04N13/337 ,  H04N13/341 ,  H04N13/398

摘要： A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and 72L) for control of right and left manipulators (24R and 24L) through use of a servomechanism that includes computer (42). Cameras (46R and 46L) view workspace (30) from different angles for production of stereoscopic signal outputs at lines (48R and 48L). In response to the camera outputs a 3-dimensional top-to-bottom inverted image (30I) is produced which, is reflected by mirror (66) toward the eyes of operator (18). A virtual image (30V) is produced adjacent control arms (76R and 76L) which is viewed by operator (18) looking in the direction of the control arms. By locating the workspace image (30V) adjacent the control arms (76R and 76L) the operator is provided with a sense that end effectors (40R and 40L) carried by manipulator arms (34R and 34L) and control arms (76R and 76L) are substantially integral. This sense of connection between the control arms (76R and 76L) and end effectors (40R and 40L) provide the operator with the sensation of directly controlling the end effectors by hand. By locating visual display (246) adjacent control arms (244R and 244L) image (240I) of the workspace is directly viewable by the operator. (FIGS. 12 and 13.) Use of the teleoperator system for surgical procedures also is disclosed. (FIGS. 7-9 and FIG. 13.)

摘要翻译： 示出了具有远程呈现的远程操作器系统，其包括用于通过使用包括计算机（42）的伺服机构来控制右操纵器（24R和24L）的左右控制器（72R和72L）。 相机（46R和46L）从不同的角度观看工作空间（30），用于在线（48R和48L）处产生立体信号输出。 响应于相机输出，产生三维顶部到底部倒置图像（30I），其被反射镜（66）反射到操作者（18）的眼睛。 在控制臂（76R和76L）附近产生虚拟图像（30V），由操作者（18）看到控制臂的方向。 通过将工作空间图像（30V）定位在与控制臂（76R和76L）相邻的位置，操作者具有由操纵臂（34R和34L）和控制臂（76R和76L）承载的末端执行器（40R和40L）和控制臂 基本一体。 控制臂（76R和76L）与末端执行器（40R和40L）之间的连接感为操作者提供了用手直接控制末端执行器的感觉。 通过定位相邻控制臂（244R和244L）的视觉显示（246），工作空间的图像（240I）可由操作员直接查看。 （图12和图13）。还公开了用于外科手术的远程手术器系统的使用。 （图7-9和图13）

公开(公告)号：US06574355B2

公开(公告)日：2003-06-03

申请号：US09813506

申请日：2001-03-21

申请人： Philip S. Green

发明人： Philip S. Green

IPC分类号： G06K900

CPC分类号： A61B34/76 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  B25J3/04 ,  B25J9/1689 ,  B25J19/023 ,  G03C1/0053 ,  G05B2219/35506 ,  G05B2219/39389 ,  G05B2219/40158 ,  G05B2219/40161 ,  G05B2219/40169 ,  G05B2219/45123 ,  G06T1/0014 ,  G06T3/00 ,  H04N13/189 ,  H04N13/194 ,  H04N13/239 ,  H04N13/246 ,  H04N13/296 ,  H04N13/337 ,  H04N13/341 ,  H04N13/398

摘要： In a telemanipulation system for manipulating objects located in a workspace at a remote worksite by an operator from an operator's station, such as in a remote surgical system, the remote worksite having a manipulator with an end effector for manipulating an object at the workspace, such as a body cavity, a controller including a hand control at the control operator's station for remote control of the manipulator, an image capture device, such as a camera, and image output device for reproducing a viewable real-time image, the improvement wherein a position sensor associated with the image capture device senses position relative to the end effector and a processor transforms the viewable real-time image into a perspective image with correlated manipulation of the end effector by the hand controller such that the operator can manipulate the end effector and the manipulator as if viewing the workspace in true presence. Image transformation according to the invention includes translation, rotation and perspective correction.

摘要翻译： 在用于操作位于远程工作场所的工作空间中的物体的遥控操作系统中，操作者从操作员站（例如在远程外科系统中）操纵远程工作现场，具有操纵器，其具有用于在工作空间操纵物体的末端执行器， 作为体腔，控制器包括在控制操作员站处的用于遥控操纵器的手控制，诸如照相机的图像捕获装置和用于再现可视实时图像的图像输出装置，其中， 与图像捕获装置相关联的位置传感器感测相对于末端执行器的位置，并且处理器通过手动控制器的末端执行器的相关操作将可视实时图像转换为透视图像，使得操作者可以操纵末端执行器和 操纵器就好像在真实的存在下查看工作空间。 根据本发明的图像变换包括平移，旋转和透视校正。

公开(公告)号：US5357962A

公开(公告)日：1994-10-25

申请号：US826507

申请日：1992-01-27

申请人： Philip S. Green

发明人： Philip S. Green

IPC分类号： G01N29/06 ,  A61B8/00 ,  G01S7/52 ,  G01S7/523 ,  G01S15/89 ,  G06T1/00 ,  G10K11/34 ,  G01N29/00

CPC分类号： G10K11/346 ,  G01S7/52049

摘要： Ultrasonic imaging apparatus and method are shown which include electronic correction of focus defects produced by acoustic refractive index inhomogeneities within an object (14) being imaged. The region of interest (38) within which focus correction takes place is selected by the operator using control (42 or 84). The imaging system includes adjustable time delays (28-l through 28-c) through which return signals from transducers (10-l through 10-n) pass. Outputs from the delays are summed (30) and the resultant signal is envelope detected (32). The envelope detector output is prepared for display at display (36) by scan converter (34). The output from a focus correction delay control circuit (64) is used to control delay times of individual delays (28-l through 28-c) to provide for a delay profile across operative elements of transducer array (10), which delay profile includes delay profile components that correspond to low order terms of a series expansion, such as a Fourier series (FIG. 4). The adjustable signal delays (28-l through 28-c) are simultaneously adjusted by the focus correction delay control (64) during selection of delay profile component amplitudes which reduce focus defects within the region of interest 38. Either manual (FIG. 1) or automatic (FIG. 5) focus correction is provided.

摘要翻译： 示出了超声成像设备和方法，其包括由被成像的物体（14）内的声折射率不均匀性产生的聚焦缺陷的电子校正。 由操作员使用控制（42或84）选择进行聚焦校正的感兴趣区域（38）。 成像系统包括可调节的时间延迟（28-1至28-c），来自换能器（10-1至10-n）的返回信号通过该时间延迟。 来自延迟的输出被相加（30），并且所得到的信号被包络检测（32）。 包络检测器输出准备用于通过扫描转换器（34）在显示器（36）处显示。 来自聚焦校正延迟控制电路（64）的输出用于控制单个延迟（28-1至28-c）的延迟时间以提供跨越换能器阵列（10）的操作元件的延迟分布，该延迟分布包括 对应于串联扩展的低阶项的延迟分布分量，例如傅立叶级数（图4）。 在选择延迟分布分量幅度的同时通过聚焦校正延迟控制（64）同时调节可调信号延迟（28-1至28-c），这减少了感兴趣区域内的焦点缺陷38.手动（图1） 或自动（图5）聚焦校正。

公开(公告)号：US4862892A

公开(公告)日：1989-09-05

申请号：US220520

申请日：1988-07-18

申请人： Philip S. Green

发明人： Philip S. Green

IPC分类号： A61B8/00 ,  G01S7/52 ,  G01S7/539

CPC分类号： G01S7/5206 ,  G01S7/52025 ,  G01S7/52036

摘要： A reflex transmission ultrasonic imaging system and method are shown which include a transducer (10) for pulse insonification (14) of an object (12) and for receiving echo signals from within the object. Echo signals are converted to electrical signals at the transducer (10) and the electrical signals are supplied to a signal processor (38) through a switching matrix (20), delays (22), and transmit-receive switches (18). The signal processor includes a detector (46) and integrator (48) for integrating the detector output. Echo signals obtained from a range zone (BZ) opposite a focal point (F) are processed by processor (38) and supplied to hold circuit (60) to provide an image pixel signal value. A compensation pixel signal value for hold circuit (64) is obtained by repeating the transmitting-receiving operation using a beam which is unfocused at any point along the beam axis between the transducer (10) and backscatter zone (BZ). The image and compensation pixel signals from hold circuits (60) and (64) are combined at combiner (68) to provide for a compensated image pixel signal output from the combiner. Artifacts which other wise would result from non-uniform reflective properties of the beackscatter zone (BZ) are removed by this process. Compensated image pixel signals are displayed at display (72).

摘要翻译： 示出了反射透射超声成像系统和方法，其包括用于物体（12）的脉冲非离子化（14）的换能器（10）并且用于从物体内接收回波信号。 回波信号在换能器（10）处被转换为电信号，并且电信号通过开关矩阵（20），延迟（22）和发射 - 接收开关（18）提供给信号处理器（38）。 信号处理器包括用于对检测器输出进行积分的检测器（46）和积分器（48）。 从与焦点（F）相对的范围区域（BZ）获得的回波信号由处理器（38）处理并提供给保持电路（60）以提供图像像素信号值。 通过使用在换能器（10）和反向散射区（BZ）之间的沿着光束轴的任何点处未聚焦的光束重复发送接收操作，获得用于保持电路（64）的补偿像素信号值。 来自保持电路（60）和（64）的图像和补偿像素信号在组合器（68）处组合以提供从组合器输出的补偿图像像素信号。 通过该过程除去其他方面由于Beack散射区（BZ）的不均匀反射性质产生的物体。 补偿图像像素信号在显示器（72）处显示。

公开(公告)号：US4327738A

公开(公告)日：1982-05-04

申请号：US86354

申请日：1979-10-19

申请人： Philip S. Green ,  Dilip G. Saraf ,  James F. Havlice

发明人： Philip S. Green ,  Dilip G. Saraf ,  James F. Havlice

IPC分类号： A61B1/04 ,  A61B8/12 ,  G10K11/30 ,  A61B10/00

CPC分类号： A61B8/12 ,  A61B1/042 ,  A61B8/445 ,  A61B8/4488 ,  A61B8/5238 ,  G10K11/30

摘要： Endoscopic method and apparatus are provided for the simultaneous visual and ultrasonic imaging of internal body parts through use of a probe insertable into a body cavity. The probe includes a rectilinear transducer array acoustically coupled to the body through a cylindrical focusing lens having an outer face which conforms to the probe contour. The transducer array is included in a pulsed ultrasonic imaging system of the B-scan type. A tube, which includes a flexible portion adjacent the probe, connects the probe to a control housing containing manually operated control mechanism for bending the flexible tube portion. A control handle extends from the side of the housing for control of bending by the operator. The pulsed ultrasonic imaging system includes pulse generator and pulse receiver means connected to individual elements of the transducer array by coaxial cables extending through the tube. Electronic beam focusing and scanning means for rectilinear B-scan operation are provided for imaging of objects at close distances adjacent the probe. Visual display means are provided for visual display of the ultrasonic image from the B-scan receiver. An optical illuminating and viewing system is provided for optically viewing internal body parts through the probe, which system includes an objective lens and illuminating means adjacent the distal ends of the probe and transducer array. A removable eyepiece at the housing is used for direct viewing by the operator while guiding the probe into desired position in the body cavity. Means also are provided for viewing the optical image by a video camera having an output connected to a monitor adjacent the ultrasonic image display. Consequently, both the optical and ultrasonic images are simultaneously displayable and viewable by the operator.

摘要翻译： 提供内窥镜方法和装置，用于通过使用可插入体腔的探针来同时进行视觉和超声波成像内部身体部位。 探头包括通过具有符合探针轮廓的外表面的圆柱形聚焦透镜，声学耦合到身体的直线传感器阵列。 传感器阵列包括在B扫描型的脉冲超声成像系统中。 包括邻近探针的柔性部分的管将探针连接到包含用于弯曲柔性管部分的手动操作的控制机构的控制壳体。 控制手柄从壳体的侧面延伸以控制操作者的弯曲。 脉冲超声波成像系统包括通过延伸穿过管的同轴电缆连接到换能器阵列的各个元件的脉冲发生器和脉冲接收器装置。 提供用于直线B扫描操作的电子束聚焦和扫描装置，用于在探头附近的近距离处对物体进行成像。 提供视觉显示装置用于从B扫描接收机可视显示超声波图像。 提供光学照明和观察系统，用于通过探头光学观察内部身体部分，该系统包括物镜和邻近探针和换能器阵列的远端的照明装置。 在壳体处的可拆卸的目镜被用于操作者直接观察，同时将探针引导到体腔中的期望位置。 提供了用于通过具有连接到与超声波图像显示器相邻的监视器的输出的摄像机来观看光学图像的装置。 因此，光学和超声波图像同时可由操作者显示和观看。

公开(公告)号：US4141347A

公开(公告)日：1979-02-27

申请号：US725178

申请日：1976-09-21

申请人： Philip S. Green ,  Louis F. Schaefer ,  Jon C. Taenzer ,  John F. Holzemer ,  S. David Ramsey, Jr. ,  Joe R. Suarez

发明人： Philip S. Green ,  Louis F. Schaefer ,  Jon C. Taenzer ,  John F. Holzemer ,  S. David Ramsey, Jr. ,  Joe R. Suarez

IPC分类号： A61B8/00 ,  A61B8/06 ,  A61B8/14 ,  G01S7/52 ,  G01S15/89 ,  H01B7/04 ,  H04N7/18 ,  A61B5/02

CPC分类号： G01S15/8979 ,  A61B8/06 ,  A61B8/13 ,  A61B8/465 ,  A61B8/467 ,  G01N29/0645 ,  G01S7/52074 ,  G01S7/52084

摘要： Pulsed real-time B-scan ultrasonic method and apparatus are disclosed together with pulsed Doppler Ulrasonic method and apparatus. The B-scan apparatus includes a pulse operated transmitter and receiver operating at a first frequency, and the Doppler apparatus includes a pulse operated transmitter and receiver operating at a second frequency sufficiently far removed from the B-scan frequency to avoid interference therebetween. A synchronous pulse operation of the B-scan and Doppler systems is provided. The sysem includes a visual display means to which the receiver outputs are connected through a multiplexer operated to pass the B-scan receiver output to the visual display means whenever such B-scan output is present. The Doppler apparatus includes means for temporarily storing the Doppler receiver output, which stored Doppler signals subsequently are read out through the multiplexer to the visual display means between select lines of B-scan display. A simultaneous display of the B-scan image and a Doppler profile is provided when desired. A control stick unit, under one-hand control of the operator, is used to select the position of the line along which the Doppler profile is obtained and displayed. A cursor generator, under control stick control, is used to generate a cursor signal for display of a cursor along which the Doppler profile is displayed. The B-scan apparatus is operable with a normal or magnified display of a section of the object under investigation. Also, a reticle signal generator is included for tORIGIN OF INVENTIONThe invention described herein was made in the course of a contract with the Department of Health, Education and Welfare.

摘要翻译： 脉冲实时B扫描超声波方法和装置与脉冲多普勒超声方法和装置一起公开。 B扫描装置包括以第一频率操作的脉冲操作的发射器和接收器，并且多普勒装置包括在与B扫描频率足够远的第二频率下工作的脉冲操作的发射器和接收器，以避免它们之间的干扰。 提供B扫描和多普勒系统的同步脉冲操作。 该系统包括视觉显示装置，接收器输出端通过多路复用器连接到该多路复用器，以便每当存在这种B扫描输出时将B扫描接收机输出传递到视觉显示装置。 多普勒仪器包括临时存储多普勒接收器输出的装置，其中存储的多普勒信号随后通过多路复用器被读出到B扫描显示的选择线之间的视觉显示装置。 当需要时，提供B扫描图像和多普勒轮廓的同时显示。 在操作员的单手控制下的控制棒单元用于选择获得并显示多普勒轮廓的线的位置。 在控制棒控制下的光标发生器用于产生用于显示多普勒轮廓显示的光标的光标信号。 B扫描装置可以正常或放大显示被调查物体的一部分。 此外，包括掩模版信号发生器，用于在视觉显示装置处显示刻度线。