CN114983471A - Automatic robot of looking into of supersound - Google Patents
Automatic robot of looking into of supersound Download PDFInfo
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- CN114983471A CN114983471A CN202210935069.8A CN202210935069A CN114983471A CN 114983471 A CN114983471 A CN 114983471A CN 202210935069 A CN202210935069 A CN 202210935069A CN 114983471 A CN114983471 A CN 114983471A
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- 239000000523 sample Substances 0.000 claims abstract description 87
- 230000033001 locomotion Effects 0.000 claims abstract description 75
- 230000007246 mechanism Effects 0.000 claims description 125
- 230000005540 biological transmission Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 5
- 241000446313 Lamella Species 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 238000002604 ultrasonography Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000005483 Hooke's law Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000481 breast Anatomy 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 210000005075 mammary gland Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
- 238000006467 substitution reaction 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
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
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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
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0825—Detecting organic movements or changes, e.g. tumours, cysts, swellings for diagnosis of the breast, e.g. mammography
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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
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
- A61B8/4218—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames characterised by articulated arms
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention belongs to the field of medical instruments, and particularly relates to an automatic ultrasonic scanning robot which comprises a probe clamping assembly, a movement driving assembly and a rotation driving assembly, wherein the probe clamping assembly is used for clamping an ultrasonic probe, the movement driving assembly is used for driving the probe clamping assembly to realize XYZ three-axis movement, and the rotation driving assembly is used for driving the probe clamping assembly to realize XYZ three-axis rotation. The invention adopts the mobile driving component to realize the three-axis movement function of the ultrasonic probe, and adopts the rotary driving component to realize the three-axis rotation function of the ultrasonic probe, so that the invention can realize 360-degree panoramic no-dead-angle ultrasonic scanning of multiple parts of the whole body of a human body, and solves the problems that the whole body scanning cannot be carried out and the scanning cannot be carried out from bottom to top in the prior art.
Description
Technical Field
The invention belongs to the field of medical instruments, and particularly relates to an automatic ultrasonic scanning robot.
Background
The ultrasound examination of a conventional medical institution is a manual scan performed by an sonographer based on subjective experience, and it is difficult to obtain standardized scan images. Meanwhile, the requirement of ultrasound as a routine examination is large, the culture period of an ultrasonographer is long, the front-end scanning process is completed by using the automatic scanning robot instead of the ultrasonographer, and the ultrasonographer only needs to analyze and diagnose the scanning data, so that the scanning is separated, the examination time is greatly saved, and meanwhile, the standardized scanning data for diagnosis are obtained.
Chinese patent publication No. CN111700641A discloses a breast ultrasound examination robot, which comprises; the device comprises an ultrasonic probe position adjusting module and an attitude adjusting module. The ultrasonic probe position adjusting module comprises an arc-shaped sliding rail, a sliding block, a feeding screw rod, a feeding sliding table, a lifting screw rod, a lifting sliding table, a screw rod motor and a lifting rod; the ultrasonic probe posture adjustment module comprises a ball joint sleeve, a ball joint, an inner swing ring, an outer swing ring, a driving motor, a swing rod and a tail end clamping plate. The robot can realize the automation of mammary gland ultrasonic scanning, can enable the ultrasonic probe to keep hovering at any position in a working range without being held by a doctor in the whole process, improves the scanning efficiency and reduces the labor intensity of the doctor.
However, the robot still has the following problems:
1) the system does not have the Y-axis moving function, and cannot realize whole-body scanning;
2) the rotation range is small, and scanning cannot be performed from bottom to top;
3) the probe adopts a common spring to provide buffer when the probe is contacted with a human body, but the force of the common spring is linearly increased, so that the constant force cannot be ensured, and the probe cannot be kept in good contact with the human body and the inspection precision cannot be ensured.
Disclosure of Invention
In order to make up for the defects of the prior art, the invention provides a technical scheme of an ultrasonic automatic scanning robot.
An ultrasonic automated scanning robot comprising:
the probe clamping assembly is used for clamping the ultrasonic probe;
the movement driving assembly is used for driving the probe clamping assembly to realize XYZ three-axis movement; and
and the rotary driving assembly is used for driving the probe clamping assembly to realize XYZ three-axis rotation.
Further, the movement driving assembly comprises an X-axis movement driving mechanism, a Y-axis movement driving mechanism and a Z-axis movement driving mechanism;
the X-axis movement driving mechanism is used for driving the probe clamping assembly to move along the X-axis direction;
the Y-axis movement driving mechanism is used for driving the probe clamping assembly to move along the Y-axis direction;
and the Z-axis movement driving mechanism is used for driving the probe clamping assembly to move along the Z-axis direction.
Further, the rotary driving assembly comprises an X-axis rotary driving mechanism, a Y-axis movement driving mechanism and a Z-axis movement driving mechanism;
the X-axis rotation driving mechanism is used for driving the probe clamping assembly to rotate by taking the X axis as an axis;
the Y-axis rotation driving mechanism is used for driving the probe clamping assembly to rotate by taking a Y axis as an axis;
the Z-axis rotation driving mechanism is used for driving the probe clamping assembly to rotate by taking the Z axis as an axis.
Furthermore, an X-axis rotation driving mechanism is arranged on the Y-axis movement driving mechanism, the Y-axis movement driving mechanism is used for driving the X-axis rotation driving mechanism to move along the Y-axis direction, an X-axis movement driving mechanism is arranged on the X-axis rotation driving mechanism, the X-axis rotation driving mechanism is used for driving the X-axis movement driving mechanism to rotate by taking the X-axis as the axis, a Z-axis movement driving mechanism is arranged on the X-axis movement driving mechanism, the X-axis movement driving mechanism is used for driving the Z-axis movement driving mechanism to move along the X-axis direction, a Y-axis rotation driving mechanism is arranged on the Z-axis movement driving mechanism, the Z-axis movement driving mechanism is used for driving the Y-axis rotation driving mechanism to move along the Z-axis direction, a Z-axis rotation driving mechanism is arranged on the Y-axis rotation driving mechanism, and the Y-axis rotation driving mechanism is used for driving the Z-axis rotation driving mechanism to rotate by taking the Y-axis as the axis, the Z-axis rotary driving mechanism is provided with a probe clamping assembly and is used for driving the probe clamping assembly to rotate by taking the Z axis as an axis.
Furthermore, the probe clamping assembly comprises a probe clamp, a fixed support, a movable support, a constant force spring and a variable pressure spring, the fixed support is used for being connected with the movable driving assembly or the rotary driving assembly, the movable support is connected to the fixed support in an up-and-down sliding manner, the probe clamp is installed with the movable support in a matching manner, the constant force spring is installed on the fixed support in a matching manner and connected with the movable support, and the variable pressure spring is installed between the fixed support and the movable support in a matching manner;
in the whole upward moving stroke of the movable support relative to the fixed support, the movable support is provided with a constant force stage and a variable pressure stage in sequence:
when the movable support is in the constant force stage, the movable support enables the constant force spring to deform and does not enable the variable pressure spring to deform;
when the movable support is in the variable pressure stage, the movable support simultaneously deforms the constant force spring and the variable pressure spring.
Further, when the movable support is in a constant force stage, the variable pressure spring is supported on the movable support and does not abut against the fixed support; when the movable support is in a variable pressure stage, the variable pressure spring is supported on the movable support and is abutted against the fixed support;
or when the movable bracket is in a constant force stage, the variable pressure spring is hung on the fixed bracket and does not abut against the movable bracket; when the movable support is in a pressure-variable stage, the pressure-variable spring is hung on the fixed support and is abutted against the movable support.
Further, the fixed bolster includes last backup pad and the bottom suspension fagging that sets up from top to bottom, the movable support includes slide bar, intermediate lamella and gliding rod, it slides to articulate in last backup pad to go up the slide bar, the intermediate lamella sets up in last slide bar lower extreme, and it is located between backup pad and the bottom suspension fagging, the slide bar sets up in the intermediate lamella lower extreme down, and it and bottom suspension fagging sliding fit, the probe anchor clamps are connected in the gliding rod lower extreme.
Furthermore, a spring seat is arranged on the upper sliding rod, and the variable pressure spring is sleeved on the upper sliding rod and is positioned between the spring seat and the upper supporting plate.
Furthermore, the fixed support also comprises a side plate connected between the upper supporting plate and the lower supporting plate, and a sliding groove used for being in sliding connection with the spring seat is formed in the side plate.
Further, the probe clamping assembly further comprises a pressure sensor, and the pressure sensor is used for detecting the pressure of the probe clamp or the movable support.
Compared with the prior art, the invention has the beneficial effects that:
1) the three-axis movement function of the ultrasonic probe is realized by adopting the movement driving assembly, and the three-axis rotation function of the ultrasonic probe is realized by adopting the rotation driving assembly, so that the whole body 360-degree panoramic no-dead-angle ultrasonic scanning of the whole body of a human body can be realized, and the problems that the whole body scanning cannot be carried out and the scanning cannot be carried out from bottom to top in the prior art are solved;
2) the constant force spring, the variable pressure spring and the pressure sensor are combined, the constant force spring is used for realizing good contact between the ultrasonic probe and a human body, the inspection precision is improved, the variable pressure spring is used for providing buffering, the pressure sensor is used for detecting pressure data, faults of the machine are found in time, and accidents are avoided.
Drawings
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2 is an enlarged view of FIG. 1 at A;
FIG. 3 is an enlarged view of FIG. 1 at B;
FIG. 4 is a schematic view of a probe clamping assembly according to the present invention;
FIG. 5 is a second schematic view of the probe clamping assembly of the present invention.
Detailed Description
In the description of the present invention, it is to be understood that the terms "one end", "the other end", "outside", "upper", "inside", "horizontal", "coaxial", "central", "end", "length", "outer end", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.
The invention will be further explained with reference to the drawings.
Referring to fig. 1-5, an automatic ultrasonic scanning robot includes a probe clamping assembly 1, a movement driving assembly and a rotation driving assembly, wherein the probe clamping assembly 1 is used for clamping an ultrasonic probe, the movement driving assembly is used for driving the probe clamping assembly 1 to realize XYZ three-axis movement, and the rotation driving assembly is used for driving the probe clamping assembly 1 to realize XYZ three-axis rotation.
In the technical scheme, the mobile driving assembly is adopted to realize the three-axis movement function of the ultrasonic probe, and the rotary driving assembly is adopted to realize the three-axis rotation function of the ultrasonic probe, so that the ultrasonic scanning device can realize 360-degree full-view and dead-angle-free ultrasonic scanning of multiple parts of the whole body of a human body, and solves the problems that the whole body scanning cannot be carried out and the scanning cannot be carried out from bottom to top in the prior art.
The movement driving assembly comprises an X-axis movement driving mechanism 2, a Y-axis movement driving mechanism 3 and a Z-axis movement driving mechanism 4, the X-axis movement driving mechanism 2 is used for driving the probe clamping assembly 1 to move along the X-axis direction, the Y-axis movement driving mechanism 3 is used for driving the probe clamping assembly 1 to move along the Y-axis direction, and the Z-axis movement driving mechanism 4 is used for driving the probe clamping assembly 1 to move along the Z-axis direction. The rotation driving assembly comprises an X-axis rotation driving mechanism 5, a Y-axis movement driving mechanism 6 and a Z-axis movement driving mechanism 7, the X-axis rotation driving mechanism 5 is used for driving the probe clamping assembly 1 to rotate by taking an X axis as an axis, the Y-axis rotation driving mechanism 6 is used for driving the probe clamping assembly 1 to rotate by taking a Y axis as an axis, and the Z-axis rotation driving mechanism 7 is used for driving the probe clamping assembly 1 to rotate by taking a Z axis as an axis.
The X-axis movement driving mechanism 2, the Y-axis movement driving mechanism 3, and the Z-axis movement driving mechanism 4 of the movement driving unit may be selectively provided as needed, and may not be provided when not necessary, for example, the U-axis movement driving mechanism may not be provided when the Y-axis movement function is not required. Similarly, the X-axis rotation driving mechanism 5, the Y-axis movement driving mechanism 6, and the Z-axis movement driving mechanism 7 of the rotation driving unit may be selectively provided as needed, and may not be provided when not necessary, for example, the X-axis rotation driving mechanism 5 may not be provided when the X-axis rotation function is not required.
With continued reference to fig. 1-3, the present invention further includes a support post 8, a cross beam 9, a traversing seat 10, and a lifting seat 11, the Y-axis motion driving mechanism 3 is known in the art, which comprises two linear sliding tables laid along the Y-axis direction, wherein each linear sliding table is provided with a supporting column 8 in a matching way, the two supporting columns 8 are provided with an X-axis rotation driving mechanism 5 together, the X-axis rotation driving mechanism 5 is the known technology, it comprises a first motor 500, a first coupler 501, two bearing seats 502 and other structures, wherein the two bearing seats 502 are respectively arranged on two support columns 8, a cross beam 9 is positioned between the upper ends of the two support columns 8, the left end and the right end of the support frame are respectively fixed with a connecting shaft 900, the two connecting shafts 900 are respectively and rotatably installed with the corresponding bearing seats 502, the cross beam 9 is rotatably installed at the upper ends of the two support columns 8 in the way, one of the connecting shafts 900 is also in transmission fit with the output shaft of the first motor 500 through the first coupling 501. The cross beam 9 is provided with an X-axis movement driving mechanism 2, the X-axis movement driving mechanism 2 is a known technology, and is specifically a linear sliding table laid along the X-axis direction, the X-axis movement driving mechanism is matched with a transverse moving seat 10, the transverse moving seat 10 is provided with a Z-axis movement driving mechanism 4, the Z-axis movement driving mechanism 4 is a known technology, is specifically a linear sliding table laid along the Z-axis direction, and the X-axis movement driving mechanism 2 and the Z-axis movement driving mechanism 4 form a cross sliding table mechanism. The Z-axis movement driving mechanism 4 is matched with the lifting seat 11, the Y-axis rotation driving mechanism 6 is installed on the lifting seat 11, the Y-axis rotation driving mechanism 6 is a known technology and comprises a second motor 600, a gear box 601 and the like, the gear box 601 is installed on the lifting seat 11, the second motor 600 is installed at the upper end of the gear box 601, an output shaft of the second motor 600 is in transmission fit with an input end of the gear box 601, an output end of the gear box 601 is fixedly connected with the rotary drum 602, and the output end outputs torque taking the Y axis as an axis and can drive the rotary drum 602 to rotate. The rotating drum 602 is provided with a Z-axis rotation driving mechanism 7, the Z-axis rotation driving mechanism 7 is a well-known technology and includes a third motor 700, a second coupling 701, a transmission shaft 702 and the like, the third motor 700 is mounted on the upper end of the rotating drum 602, the second coupling 701 is located in the rotating drum 602 and is used for connecting an output shaft of the third motor 700 and the transmission shaft 702, and the transmission shaft 702 penetrates through the rotating drum 602 and is used for connecting with the probe clamping assembly 1.
In the above structure, the Y-axis moving driving mechanism 3 is configured to drive the X-axis rotating driving mechanism 5 to move along the Y-axis direction, the X-axis rotating driving mechanism 5 is configured to drive the X-axis moving driving mechanism 2 to rotate with the X-axis as an axis, the X-axis moving driving mechanism 2 is configured to drive the Z-axis moving driving mechanism 4 to move along the X-axis direction, the Z-axis moving driving mechanism 4 is configured to drive the Y-axis rotating driving mechanism 6 to move along the Z-axis direction, the Y-axis rotating driving mechanism 6 is configured to drive the Z-axis rotating driving mechanism 7 to rotate with the Y-axis as an axis, and the Z-axis rotating driving mechanism 7 is configured to drive the probe clamping assembly 1 to rotate with the Z-axis as an axis.
It should be noted that the above-mentioned moving driving assembly and rotating driving assembly are not limited to the above-mentioned structure; the linear sliding table can be an electric linear sliding table, a pneumatic linear sliding table or a hydraulic linear sliding table, and can also be replaced by other mechanisms capable of realizing movement, such as a nut-screw pair, a transmission belt, a gear-rack travelling mechanism and the like; the X-axis rotation driving mechanism 5, the Y-axis movement driving mechanism 6 and the Z-axis movement driving mechanism 7 can adopt pneumatic or hydraulic driving structures besides motor driving, and can be adaptively adjusted as required on the transmission structure; the X-axis movement driving mechanism 2, the Y-axis movement driving mechanism 3, the Z-axis movement driving mechanism 4, the X-axis rotation driving mechanism 5, the Y-axis movement driving mechanism 6, and the Z-axis movement driving mechanism 7 described above can also be adjusted adaptively in terms of the mounting positional relationship.
With continued reference to fig. 4 and 5, the probe clamping assembly 1 includes a probe clamp 100, a fixed bracket 101, a movable bracket 102, a constant force spring 103 and a variable pressure spring 104, the fixed bracket 101 is used for connecting with a mobile driving assembly or a rotary driving assembly, the movable bracket 102 is connected to the fixed bracket 101 in a vertical sliding manner, the probe clamp 100 is installed in cooperation with the movable bracket 102, the constant force spring 103 is installed in cooperation on the fixed bracket 101 and connected with the movable bracket 102 through a fastener, the fixed bracket 101 is provided with two pin shafts for installing the constant force spring 103, the variable pressure spring 104 is installed between the fixed bracket 101 and the movable bracket 102 in cooperation, the variable pressure spring 104 is a common spring and accords with hooke's law, and the pressure increases with the increase of the compression amount. During the whole travel of the movable support 102 moving upwards relative to the fixed support 101, the movable support 102 has a constant force phase and a variable pressure phase in sequence:
when the movable support 102 is in the constant force stage, the movable support 102 deforms the constant force spring 103, the movable support 102 does not deform the variable pressure spring 104, and the movable support 102 is subjected to the pressure of the constant force; when the movable bracket 102 is in the variable pressure stage, the movable bracket 102 deforms the constant force spring 103 and the variable pressure spring 104 at the same time, and the movable bracket 102 is subjected to variable pressure.
In some embodiments, when the movable bracket 102 is in the constant force stage, the variable pressure spring 104 is supported on the movable bracket 102 without interfering with the fixed bracket 101; when the movable bracket 102 is in the variable pressure stage, the variable pressure spring 104 is supported on the movable bracket 102 and interferes with the fixed bracket 101.
In some embodiments, when the movable bracket 102 is in the constant force phase, the variable pressure spring 104 is hung from the fixed bracket 101, which does not interfere with the movable bracket 102; when the movable bracket 102 is in the variable pressure stage, the variable pressure spring 104 is hung on the fixed bracket 101 and is abutted against the movable bracket 102.
In some embodiments, variable pressure spring 104 is replaced by a variable tension spring, which should be considered an equivalent replacement for variable pressure spring 104.
Further, the fixed support 101 includes an upper support plate 1010, a lower support plate 1011 and a side plate 1012, the upper support plate 1010 and the lower support plate 1011 are disposed opposite to each other in the up-down direction, the side plate 1012 is connected between the upper support plate 1010 and the transmission shaft, the movable support 102 includes an upper slide bar 1020, a middle plate 1021 and a lower slide bar 1022, two upper slide bars 1020 are slidably connected to the upper support plate 1010, the upper end of each upper slide bar has a stopper with a diameter larger than the main body of the upper slide bar and can be connected to the upper support plate 1010, the middle plate 1021 is disposed at the lower end of the upper slide bar 1020 and is disposed between the upper support plate 1010 and the lower support plate 1011, the lower slide bar 1022 is disposed at the lower end of the middle plate 1021 and is slidably inserted into the lower support plate 1011, and the probe clamp 100 is connected to the lower end of the lower slide bar 1022.
The upper sliding rod 1020 is provided with a spring seat 1023, the variable pressure spring 104 is sleeved on the upper sliding rod 1020 and is positioned between the spring seat 1023 and the upper supporting plate 1010, and the side plate 1012 is provided with a sliding chute 10120 which is in sliding connection with the spring seat 1023.
In addition, the probe clamping assembly 1 of the present invention further includes a pressure sensor 105, and the pressure sensor 105 is mounted on the movable bracket 102 and is used for detecting the pressure of the movable bracket 102. In some embodiments, a pressure sensor 105 can also be mounted on probe fixture 100 to detect pressure of probe fixture 100.
When in use, the ultrasonic probe is clamped on the probe clamp 100, and the human body part is scanned through the ultrasonic probe.
Taking the example that the ultrasonic probe contacts the human body from top to bottom, the movable support 102 is in a constant force stage during normal use, and the constant force spring 103 gives constant pressure to the movable support 102, so that the ultrasonic probe can be in good contact with the human body, and the inspection precision can be improved. Once the ultrasonic probe breaks down and continues to move towards the human body and exceeds the working range of the constant force spring 103, at the moment, the movable support 102 enters a pressure changing stage, the pressure changing spring 104 plays a role, the pressure changing spring 10 applies continuously increased pressure to the movable support 102 along with the upward movement of the movable support 102 relative to the fixed support 101, when the pressure sensor 105 detects that the pressure of the movable support 102 reaches a certain set value, the pressure sensor 105 sends a stop signal to the control system, so that the ultrasonic probe stops working, the damage of the ultrasonic probe to the human body is avoided, the pressure sensor 105 detects that the set value reaches the control system, the reaction time is required for stopping the ultrasonic probe, and the pressure changing spring 104 can provide buffer in the time.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An automatic scanning robot of supersound, characterized in that includes:
the probe clamping assembly (1), the probe clamping assembly (1) is used for clamping the ultrasonic probe;
the movement driving assembly is used for driving the probe clamping assembly (1) to realize XYZ three-axis movement; and
the rotary driving assembly is used for driving the probe clamping assembly (1) to realize XYZ three-axis rotation.
2. An ultrasonic automatic scanning robot according to claim 1, characterized in that the movement driving assembly comprises an X-axis movement driving mechanism (2), a Y-axis movement driving mechanism (3) and a Z-axis movement driving mechanism (4);
the X-axis movement driving mechanism (2) is used for driving the probe clamping assembly (1) to move along the X-axis direction;
the Y-axis movement driving mechanism (3) is used for driving the probe clamping assembly (1) to move along the Y-axis direction;
and the Z-axis movement driving mechanism (4) is used for driving the probe clamping assembly (1) to move along the Z-axis direction.
3. An ultrasonic automatic scanning robot according to claim 2, characterized in that the rotary driving assembly comprises an X-axis rotary driving mechanism (5), a Y-axis moving driving mechanism (6) and a Z-axis moving driving mechanism (7);
the X-axis rotation driving mechanism (5) is used for driving the probe clamping assembly (1) to rotate by taking the X axis as an axis;
the Y-axis rotation driving mechanism (6) is used for driving the probe clamping assembly (1) to rotate by taking the Y axis as an axis;
and the Z-axis rotation driving mechanism (7) is used for driving the probe clamping assembly (1) to rotate by taking the Z axis as an axis.
4. The automatic ultrasonic scanning robot according to claim 3, wherein the Y-axis moving driving mechanism (3) is provided with an X-axis rotating driving mechanism (5), the Y-axis moving driving mechanism (3) is used for driving the X-axis rotating driving mechanism (5) to move along the Y-axis direction, the X-axis rotating driving mechanism (5) is provided with an X-axis moving driving mechanism (2), the X-axis rotating driving mechanism (5) is used for driving the X-axis moving driving mechanism (2) to rotate by taking the X-axis as the axis, the X-axis moving driving mechanism (2) is provided with a Z-axis moving driving mechanism (4), the X-axis moving driving mechanism (2) is used for driving the Z-axis moving driving mechanism (4) to move along the X-axis direction, the Z-axis moving driving mechanism (4) is provided with a Y-axis rotating driving mechanism (6), the Z-axis moving driving mechanism (4) is used for driving the Y-axis rotating driving mechanism (6) to move along the Z-axis direction, set up Z axle rotary driving mechanism (7) on Y axle rotary driving mechanism (6), Y axle rotary driving mechanism (6) are used for driving Z axle rotary driving mechanism (7) and use the Y axle to rotate as the axis, set up probe centre gripping subassembly (1) on Z axle rotary driving mechanism (7), Z axle rotary driving mechanism (7) are used for driving probe centre gripping subassembly (1) and use the Z axle to rotate as the axis.
5. The automatic ultrasonic scanning robot according to any one of claims 1-4, wherein the probe clamping assembly (1) comprises a probe clamp (100), a fixed support (101), a movable support (102), a constant force spring (103) and a variable pressure spring (104), the fixed support (101) is used for being connected with a movable driving assembly or a rotary driving assembly, the movable support (102) is connected to the fixed support (101) in a vertical sliding manner, the probe clamp (100) is installed in a matching manner with the movable support (102), the constant force spring (103) is installed in a matching manner on the fixed support (101) and is connected with the movable support (102), and the variable pressure spring (104) is installed between the fixed support (101) and the movable support (102) in a matching manner;
during the whole travel of the movable support (102) moving upwards relative to the fixed support (101), the movable support (102) has a constant force stage and a variable pressure stage in sequence:
when the movable support (102) is in a constant force stage, the movable support (102) enables the constant force spring (103) to deform and does not enable the variable pressure spring (104) to deform;
when the movable support (102) is in a variable pressure stage, the movable support (102) simultaneously deforms the constant force spring (103) and the variable pressure spring (104).
6. The automatic ultrasonic scanning robot according to claim 5, wherein when the movable support (102) is in a constant force stage, the variable pressure spring (104) is supported on the movable support (102) and does not interfere with the fixed support (101); when the movable support (102) is in a variable pressure stage, the variable pressure spring (104) is supported on the movable support (102) and is abutted against the fixed support (101);
or, when the movable bracket (102) is in a constant force stage, the variable pressure spring (104) is hung on the fixed bracket (101) and does not collide with the movable bracket (102); when the movable support (102) is in a variable pressure stage, the variable pressure spring (104) is hung on the fixed support (101) and is abutted against the movable support (102).
7. The automatic ultrasonic scanning robot of claim 5, wherein the fixed support (101) comprises an upper support plate (1010) and a lower support plate (1011) which are arranged up and down, the movable support (102) comprises an upper slide bar (1020), a middle plate (1021) and a lower slide bar (1022), the upper slide bar (1020) is slidably hung on the upper support plate (1010), the middle plate (1021) is arranged at the lower end of the upper slide bar (1020) and located between the upper support plate (1010) and the lower support plate (1011), the lower slide bar (1022) is arranged at the lower end of the middle plate (1021) and slidably matched with the lower support plate (1011), and the probe clamp (100) is connected to the lower end of the lower slide bar (1022).
8. The ultrasonic automatic scanning robot of claim 7, wherein a spring seat (1023) is disposed on the upper slide bar (1020), and the variable pressure spring (104) is sleeved on the upper slide bar (1020) and located between the spring seat (1023) and the upper support plate (1010).
9. The ultrasonic automatic scanning robot according to claim 8, wherein the fixing bracket (101) further comprises a side plate (1012) connected between the upper support plate (1010) and the lower support plate (1011), and a sliding groove (10120) for sliding connection with the spring seat (1023) is formed in the side plate (1012).
10. An ultrasonic automated scanning robot according to claim 5, characterized in that the probe gripping assembly (1) further comprises a pressure sensor (105), the pressure sensor (105) being used to detect the pressure of the probe gripper (100) or the movable support (102).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN117860206A (en) * | 2024-03-12 | 2024-04-12 | 北京森之高科科技有限公司 | Muscle bone ultrasonic force position detection mechanism, detection device and detection equipment |
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