公开(公告)号：US20240164749A1

公开(公告)日：2024-05-23

申请号：US18424851

申请日：2024-01-28

申请人： HEFEI HEBIN INTELLIGENT ROBOTS CO., LTD.

发明人： Zhen LIU ,  Dongliang CHENG

IPC分类号： A61B8/00

CPC分类号： A61B8/4427 ,  A61B8/4218 ,  A61B8/46 ,  A61B8/56

摘要： The present disclosure provides a portable teleoperation hand-held device for remote ultrasound examination. The portable teleoperation hand-held device includes 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 module disposed on the housing, a pressing module disposed on the housing, and a force feedback module disposed on the housing. The velocity collection module, the angular velocity collection module, and the force collection module may be all connected to the data processing module, and 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 module, to realize a remote control of the sub-terminal scanning examination robot.

公开(公告)号：US20240164759A1

公开(公告)日：2024-05-23

申请号：US18425261

申请日：2024-01-29

申请人： HEFEI HEBIN INTELLIGENT ROBOTS CO., LTD.

发明人： Dongliang CHENG ,  Zhen LIU

IPC分类号： A61B8/00 ,  A61B90/00 ,  B25J3/04 ,  B25J9/16 ,  B25J13/02 ,  B25J13/08 ,  G16H40/67

CPC分类号： A61B8/54 ,  A61B8/4218 ,  A61B8/4254 ,  A61B8/429 ,  A61B8/4416 ,  A61B8/4427 ,  A61B8/461 ,  A61B8/56 ,  B25J3/04 ,  B25J9/1666 ,  B25J13/025 ,  B25J13/085 ,  G16H40/67 ,  A61B2090/065 ,  A61B2090/066

摘要： A portable remote ultrasound scanning system is disclosed. A master device includes a handheld device and a master computer. A slave device includes a slave scanning robot, a slave ultrasound device, a slave environment sensing unit, and a data transceiver unit. The handheld device is configured to send velocity information of a movement of the handheld device, angular velocity information of a rotation of the handheld device, and a pressing force to a controller of the slave scanning robot through the master computer and the data transceiver unit. The controller is configured to control a movement of the robotic arm in a horizontal plane, an orientation movement of the robotic arm in space, and a movement of the robotic arm along a normal direction of a scanning surface. The master computer displays an ultrasound scanning image. An entire movement process of the robotic arm is performed through a compliance control.