CN210784417U - Scanning motion system for ultrasonic scanning examination - Google Patents
Scanning motion system for ultrasonic scanning examination Download PDFInfo
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- CN210784417U CN210784417U CN201920842390.5U CN201920842390U CN210784417U CN 210784417 U CN210784417 U CN 210784417U CN 201920842390 U CN201920842390 U CN 201920842390U CN 210784417 U CN210784417 U CN 210784417U
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Abstract
The utility model discloses a scanning motion system of ultrasonic scanning inspection, which is applied to a mammary gland detector and comprises a base, a first scanning device and a second scanning device which are arranged on the base, wherein the first scanning device comprises a first mounting platform and a first mechanical arm which is arranged on the first mounting platform through a linear motion mechanism and moves in the front-back direction and the left-right direction; the second scanning device comprises a second mounting table and a second mechanical arm which is mounted on the second mounting table through a linear motion mechanism and moves in the front-back direction and the left-right direction; the first mechanical arm and the second mechanical arm are both in a lifting state from top to bottom, and the free ends of the first mechanical arm and the second mechanical arm are used for mounting the ultrasonic probe. The utility model discloses a motion of two arms of full mechanized equipment accurate control, the laminating degree of in time adjustment ultrasonic probe and breast avoids because of the detection error that factors such as probe shake caused to the accurate detection of accomplishing the breast acquires standardized scan data and assists the diagnosis treatment.
Description
Technical Field
The utility model relates to a mammary gland detection area, concretely relates to scanning motion system of ultrasonic scanning inspection.
Background
Mammary gland diseases are common gynecological diseases and seriously threaten the health and even the life of women all over the world. With the development of science and technology, the diagnosis technology and treatment method of breast diseases are greatly improved. The common main points are molybdenum target soft X-ray examination, ultrasonic imaging examination, near infrared scanning examination, CT examination and the like.
Ultrasonic examination is one of the important imaging examination methods for diagnosing breast diseases, and can identify the focus of cyst, hyperplasia and the like in the breast. In the prior art, the ultrasonic detection is generally carried out on the breast by the medical staff holding the ultrasonic probe by hands, but because the scanning action of a user is not standard during manual detection, the scanning angle and stress change between the ultrasonic probe and the breast easily increase the error of the ultrasonic detection, and the accurate scanning diagnosis is not facilitated.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a scanning motion system of ultrasonic scanning inspection aims at solving the great problem of data error that adopts artifical the measuring among the prior art.
In order to achieve the above object, the present invention provides a scanning motion system for ultrasonic scanning examination, which is applied to a breast detecting instrument, and comprises a base, a first scanning device and a second scanning device, wherein the first scanning device and the second scanning device are arranged on the base, the first scanning device comprises a first mounting platform and a first mechanical arm which is mounted on the first mounting platform through a linear motion mechanism and moves in the front-back direction and the left-right direction; the second scanning device comprises a second mounting table and a second mechanical arm which is mounted on the second mounting table through a linear motion mechanism and moves in the front-back direction and the left-right direction; the first mechanical arm and the second mechanical arm are both in a lifting state from top to bottom, and the free ends of the first mechanical arm and the second mechanical arm are used for mounting an ultrasonic probe; the first installation platform is located above the second installation platform, and the second installation platform is provided with an avoidance space for the first mechanical arm to pass through.
Preferably, the linear motion mechanisms on the first mounting table and the second mounting table respectively comprise a first linear guide rail arranged in the left-right direction and a second linear guide rail arranged in the front-back direction, a support used for mounting the second linear guide rail is arranged on the first linear guide rail, a first driving assembly used for driving the support to move along the first linear guide rail is further arranged on the first linear guide rail, and a second driving assembly used for driving the first mechanical arm or the second mechanical arm to move along the second linear guide rail is arranged on the second linear guide rail.
Preferably, the first mounting table and the second mounting table both include two parallel cantilever beams, the linear motion mechanism includes two first linear guide rails respectively disposed on the two cantilever beams and a second linear guide rail perpendicularly straddled on the two first linear guide rails, one or both of the two first linear guide rails are provided with the first driving assembly, and the avoidance space is formed between the two cantilever beams of the second mounting table.
Preferably, the first driving assembly includes a first motor fixed on the first mounting platform, a first lead screw connected to an output shaft of the first motor, and a first lead screw nut sleeved on the first lead screw, the first lead screw nut is slidably connected to the first linear guide rail, and the support is fixedly connected to the first linear guide rail.
Preferably, the second driving assembly includes a second motor fixed to the support, a second lead screw connected to an output shaft of the second motor, and a second lead screw nut sleeved on the second lead screw, the second lead screw nut is slidably connected to the second linear guide rail, and the upper ends of the first mechanical arm and the second mechanical arm are fixed to second lead screw nuts of the second driving assembly respectively corresponding thereto.
Preferably, the first mechanical arm and the second mechanical arm both comprise, from top to bottom, in sequence:
the first connecting seat is connected with the linear motion mechanism;
a body of the first steering engine is arranged on the first connecting seat, and an output shaft of the first steering engine faces downwards vertically;
the vertical driving assembly is connected with an output shaft of the first steering engine and is driven by the first steering engine to rotate on a horizontal plane;
and the probe fixing arm is driven by the vertical driving assembly to move in the vertical direction, and the lower end of the probe fixing arm is used for mounting an ultrasonic probe.
Preferably, the vertical drive assembly comprises:
the second connecting seat is connected with an output shaft of the first steering engine;
a second steering engine, the body of which is arranged on the second connecting seat, and an output shaft is horizontally arranged;
the upper end of the first rotating arm is vertically connected to an output shaft of the second steering engine;
a third steering engine, the body of which is fixed with the lower end of the first rotating arm, and the output shaft of which is horizontally arranged and vertical to the first rotating arm;
the upper end of the second rotating arm is vertically connected with an output shaft of the third steering engine;
and the machine body of the fourth steering engine is fixed with the lower end of the second rotating arm, and the output shaft of the fourth steering engine is horizontally arranged and connected with the probe fixing arm.
The utility model discloses a scanning motion system utilizes two linear motion mechanisms to drive respectively and installs ultrasonic probe's first arm and second arm to correspond the ultrasonic testing data of gathering two breasts about the patient, the utility model discloses a motion of two arms of full mechanized equipment accurate control, the detection error of avoiding causing because of factors such as probe shake in the laminating degree of adjustment ultrasonic probe and breast, thereby the accurate detection of accomplishing the breast acquires standardized scanning data and comes the auxiliary diagnosis treatment.
Drawings
Fig. 1 is a schematic structural diagram of a scanning motion system at a first viewing angle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of the scanning motion system at a second viewing angle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the linear motion mechanism and the first robot shown in FIG. 1;
FIG. 4 is a schematic structural view of the first driving assembly shown in FIG. 1;
FIG. 5 is a schematic structural view of the linear motion mechanism and the second mechanical arm shown in FIG. 1;
fig. 6 is a schematic structural diagram of the first robot arm shown in fig. 1.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same elements or elements having the same function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention, and all other embodiments obtained by those skilled in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
In order to solve the above technical problem, as shown in fig. 1 and 2, the present invention provides a scanning motion system for ultrasonic scanning examination, which is applied to a breast detecting instrument, and comprises a base 100, a first scanning device and a second scanning device, which are arranged on the base 100, wherein the first scanning device comprises a first mounting platform 200 and a first mechanical arm 500, which is mounted on the first mounting platform 200 through a linear motion mechanism 400 and moves in the front-back direction and the left-right direction; the second scanning device includes a second mount 300 and a second robot arm 600 mounted on the second mount 300 through a linear motion mechanism 400 to move in the front-rear and right-left directions; the first mechanical arm 500 and the second mechanical arm 600 are both in a lifting state from top to bottom, and the free ends of the first mechanical arm and the second mechanical arm are used for mounting the ultrasonic probe 700; the first mounting stage 200 is located above the second mounting stage 300, and the second mounting stage 300 has an avoidance space through which the first robot 500 passes.
In this embodiment, the breast testing apparatus correspondingly acquires ultrasound images of the left and right breasts of a user through the first scanning device and the ultrasound probe 700 installed in the second scanning device, wherein the first mechanical arm 500 in the first scanning device and the second mechanical arm 600 in the second scanning device each have at least three degrees of freedom in three directions perpendicular to each other. The first robot arm 500 and the second robot arm 600 are driven by the linear motion mechanism 400 to move in the front-rear and left-right directions. For convenience of description, the following mechanical arms are referred to as the first mechanical arm 500 and the second mechanical arm 600, and the first mechanical arm 500 and the second mechanical arm 600 may have the same structure or a slightly different structure, but both have at least the function of driving the ultrasonic probe 700 to move in a specific direction.
In the first scanning device, first arm 500 sets up on first mount table 200 through linear motion mechanism 400, and in the second scanning device, second arm 600 sets up on second mount table 300 through linear motion mechanism 400, and first mount table 200 and second mount table 300 are arranged from top to bottom separately, and second mount table 300 has the space of dodging that supplies first arm 500 to pass, consequently, the utility model discloses both realized arranging from top to bottom and practicing thrift two scanning device shared spaces on the horizontal plane on the whole, made first arm 500 again in the motion process, can not receive the restriction of second mount table 300, two arms do not mutually interfere in respective motion working process.
The utility model discloses during the use, the patient lies in the below of base 100 side, second mount table 300, and first arm 500 and second arm 600 hang in patient's chest top to drive ultrasonic probe 700 respectively, with the ultrasonic testing data of two breasts about corresponding the gathering patient. The breast detecting instrument further comprises a control module, wherein the control module is electrically connected with the linear driving mechanism 400, the first mechanical arm 500 and the second mechanical arm 600 to control the movement of the two mechanical arms, so that the fitting degree of the ultrasonic probe 700 and the breast is adjusted to complete full-automatic scanning detection of the breast, and standardized scanning data is acquired to assist diagnosis and treatment.
In a preferred embodiment, as shown in fig. 3 and 4, each of the linear motion mechanisms 400 of the first mounting stage 200 and the second mounting stage 300 includes a first linear guide 410 disposed in the left-right direction and a second linear guide 430 disposed in the front-rear direction, a bracket 450 for mounting the second linear guide 430 is disposed on the first linear guide 410, a first driving assembly 420 for driving the bracket 450 to move along the first linear guide 410 is further disposed on the first linear guide 410, and a second driving assembly 440 for driving the first robot arm 500 or the second robot arm 600 to move along the second linear guide 430 is disposed on the second linear guide 430.
The support 450 and the second linear guide 430 disposed on the support 450 move along the first linear guide 410, i.e., in the left-right direction, under the driving of the first driving unit 420, and the robot moves along the second linear guide 430, i.e., in the front-back direction perpendicular to the first linear guide 410, under the driving of the second driving unit 440 (the first robot 500 is driven by the second driving unit 440 in the first scanning apparatus, and the second robot 600 is driven by the second driving unit 440 in the second scanning apparatus, which will be described below in the same way), so as to form linear driving of the robot (the first robot 500 and the second robot 600) in the front-back and left-right directions on the horizontal plane.
The first driving assembly 420 has a driving member, such as an air cylinder, a motor, etc., fixed on the first linear guide 410, and a sliding member slidably connected to the first linear guide 410, the sliding member being fixed to the bracket 450, the second linear guide 430 being fixed to the bracket 450, the driving member driving the sliding member to slide along the first linear guide 410, so as to drive the bracket 450 and the second linear guide 430 to slide along the first linear guide 410; similarly, the second driving assembly 440 has a driving member fixed to the second linear guide 430 and a sliding member slidably connected to the second linear guide 430, the sliding member is fixed to the robot, and the driving member drives the sliding member to slide along the second linear guide 430, so as to drive the robot to slide along the second linear guide 430.
In a preferred embodiment, as shown in fig. 1 and 3, the first mounting stage 200 and the second mounting stage 300 each include two parallel cantilever beams, the linear motion mechanism 400 includes two first linear guides 410 respectively disposed on the two cantilever beams and a second linear guide 430 vertically straddling the two first linear guides 410 and disposed on the bracket 450, one or both of the two first linear guides 410 is provided with a first driving assembly 420, and an escape space is formed between the two cantilever beams of the second mounting stage 300.
One end of the cantilever beam is fixed with the base 100, the other end extends leftwards or rightwards relative to the base 100 along the horizontal direction, the two parallel cantilever beams are positioned on the same horizontal plane, the linear motion mechanism 400 connected with the first installation platform 200 comprises two first linear guide rails 410, the two first linear guide rails 410 are installed in one-to-one correspondence with the two parallel cantilever beams, the linear motion mechanism 400 connected with the second installation platform 300 also comprises two first linear guide rails 410, and the two first linear guide rails are also arranged in one-to-one correspondence with the two cantilever beams forming the second installation platform 300. An avoidance space for avoiding the first robot arm 500 is formed between the cantilever beams of the second mounting stage 300. The mounting table is formed by separately arranging two parallel cantilever beams to mount the linear motion mechanism 400, so that the material is saved to a certain extent, and the whole weight of the breast detector is reduced. When the first driving assembly 420 is arranged on one first linear guide rail 410 of the two parallel cantilever beams, the bracket 450 is connected with the other first linear guide rail 420 in a sliding way; when the two first linear guides 410 are respectively provided with one first driving assembly 420, the two first driving assemblies 420 synchronously drive the bracket 450 to linearly move back and forth along the second linear guide 430.
In a preferred embodiment, as shown in fig. 3 and 5, the first driving assembly 420 includes a first motor 421 whose body is fixed on the first mounting platform 200, a first lead screw 422 connected to an output shaft of the first motor 421, and a first lead screw nut 423 sleeved on the first lead screw 422, wherein the first lead screw nut 423 is slidably connected to the first linear guide 410, and the bracket 430 is fixedly connected to the first linear guide 410.
In this embodiment, the first linear guide rail 410 is fixed on the first mounting table 200, the body of the first motor 421 is also fixed on the first mounting table 200, the output shaft of the first motor 421 is connected to the first lead screw 422 for driving the first lead screw 422 to rotate, the other end of the first lead screw 422 is inserted into the bearing seat fixed on the first linear guide rail 410, and the first lead screw nut 423 sleeved on the first lead screw 422 slides along the axial direction of the first lead screw 422 in the rotation of the first lead screw 422, that is, in the direction of the output shaft of the first motor 421. First lead screw nut 423 and first linear guide 410 sliding connection, specifically first lead screw nut 423 is equipped with the slider that can match and sliding connection with first linear guide 410 towards one side of first linear guide 410. When the first motor 421 drives the first lead screw 422 to rotate, the first lead screw nut 423 slides on the first linear guide 410 along the first lead screw 422, so as to drive the bracket 450 connected with the first lead screw nut 423 and the second linear guide 430 on the bracket to slide along the first linear guide 410, i.e. in the left-right direction.
In a preferred embodiment, as shown in fig. 3 and 5, the second driving assembly 440 includes a second motor 441 fixed on the bracket 450, a second lead screw 442 connected to an output shaft of the second motor 441, and a second lead screw nut 443 sleeved on the second lead screw 442, wherein the second lead screw nut 443 is slidably connected to the second linear guide 430, and upper ends of the first robot arm 500 and the second robot arm 600 are fixed on the corresponding second lead screw nuts 443 of the second driving assembly 440.
In this embodiment, the support 450 and the second linear guide 430 may be disposed above or below the two first linear guides 410, and in this embodiment, it is preferable that the support 450 and the second linear guide 430 in the first scanning device are disposed below the two first linear guides 410, and the lower ends of the two robot arms (the positions where the ultrasonic probes 700 are fixed) should be equal in height in practical application, so the second linear guide 430 in the first scanning device is preferably disposed below the two first linear guides 410 to shorten the overall length of the first robot arm 500. Similarly, the bracket 450 and the second linear guide 430 of the second scanning device are preferably located above the two first linear guides 410.
The two ends of the bracket 450 are connected to the two first lead screw nuts 423 through the connecting member 424, and the second linear guide 430 is perpendicular to the axial direction of the two first lead screws 422. The body of the second motor 441 is fixed on the bracket 450, the output shaft of the second motor 441 is connected to the second lead screw 442 to drive the second lead screw 442 to rotate, a second lead screw nut 443 sleeved on the second lead screw 442 moves along the axial direction of the second lead screw 442 along with the rotation of the second lead screw 442, the second lead screw 442 is perpendicular to the first lead screw 422, one end of the second lead screw 442 is connected to the output shaft of the second motor 441, and the other end of the second lead screw 442 is inserted into a bearing seat disposed on the second linear guide rail 430. The second lead screw nut 443 is slidably connected to the second linear guide 430, and specifically, a slider capable of matching and slidably connecting with the second linear guide 430 is disposed on one side of the second lead screw nut 443 facing the second linear guide 430. When the second motor 441 drives the second lead screw 442 to rotate, the second lead screw nut 443 slides on the second lead screw 442 along the second lead screw 442 on the second linear guide 430, so as to drive the robot arm connected to the second lead screw nut 443 to move along the second linear guide 430, i.e., in the front-rear direction.
Preferably, the second linear guide 430 in the first scanning device and the second linear guide 430 in the second scanning device are disposed oppositely, that is, the two second linear guides 430 are respectively disposed on the opposite sides of the two supports 450, so that the first motor 421, the first lead screw 422 and the first lead screw nut 423 in the first scanning device are disposed on the left side of the second linear guide 430, and the second motor 441, the second lead screw 442 and the second lead screw nut 443 in the second scanning device are disposed on the right side of the second linear guide 430, so that the two second linear guides 430 are close to each other without the first robot arm 500 and the second robot arm 600 colliding with each other, and the overall structure is more compact.
In a preferred embodiment, as shown in fig. 3 and 6, the first robot arm 500 and the second robot arm 600 each comprise, from top to bottom:
a first connecting base 510 connected to the linear motion mechanism 400;
a first steering engine 520, the body of which is mounted on the first connecting base 510, the output shaft of which is directed downward;
the vertical driving assembly 530 is connected with an output shaft of the first steering engine 520 and is driven by the first steering engine 520 to rotate on a horizontal plane;
and a probe-holding arm 540 moved in a vertical direction by the vertical driving assembly 530, the probe-holding arm 540 having a lower end for mounting the ultrasonic probe 700.
In this embodiment, one end of the first connecting base 510 is connected to the linear motion mechanism 400, specifically to the second driving assembly 440 in the linear motion mechanism 400, and more specifically to the second lead screw nut 443 in the second driving assembly 440, the body of the first steering engine 520 is fixed to the first connecting base 510, the output shaft of the first steering engine is vertically downward and connected to the vertical driving assembly 530 below the first connecting base, and the vertical driving assembly 530 is driven by the first steering engine 520 to perform forward or reverse rotational motion on the horizontal plane. The vertical driving assembly 530 is used for driving the probe fixing arm 540 to move vertically, the vertical driving assembly 530 can adopt a driving structure of a motor lead screw, an air cylinder driving structure and the like, and the ultrasonic probe 700 is fixed at the lower end of the probe fixing arm 540.
The ultrasonic probe 700 is driven by the vertical driving assembly 530 to move vertically under the fixing action of the probe fixing arm 540, and driven by the linear motion mechanism 400 to perform linear motion in the front-back direction and the left-right direction on the horizontal plane, specifically, the ultrasonic probe 700 is driven by the first driving assembly 420 to perform linear motion in the left-right direction and the second driving assembly 440 to perform linear motion in the front-back direction, so that the ultrasonic probe 700 can perform linear motion in at least six directions.
In a preferred embodiment, as shown in fig. 3 and 6, the vertical drive assembly 530 includes:
a second connecting seat 531 connected to an output shaft of the first steering engine 520;
a second steering engine 532, the body of which is mounted on a second connecting seat 531, and the output shaft of which is horizontally arranged;
a first steering arm 533 whose upper end is vertically connected to an output shaft of the second steering engine 532;
a third steering engine 534, the body of which is fixed to the lower end of the first turning arm 533, and the output shaft of which is horizontally disposed and perpendicular to the first turning arm 533;
a second rotating arm 535, the upper end of which is vertically connected to the output shaft of the third steering engine 534;
the fourth steering gear 536 has a body fixed to the lower end of the second rotating arm 535, and an output shaft horizontally disposed and connected to the probe fixing arm 540.
In this embodiment, the second connecting seat 531 is provided with a second steering engine 532 having an output shaft horizontally arranged. An output shaft of the second steering engine 532 is horizontal and connected to an upper end of the first rotating arm 533, and the first rotating arm 533 swings correspondingly with the rotation of the output shaft around the output shaft of the second steering engine 532. The lower end of the first rotating arm 533 is connected to a third steering engine 534, the body of the third steering engine 534 is fixedly connected to the first rotating arm 533, and the output shaft of the third steering engine 534 is horizontally arranged and can rotate relative to the first rotating arm 533. The output shaft of the third steering engine 534 is connected to the upper end of the second rotating arm 535, and the two are relatively fixed, and the second rotating arm 535 swings correspondingly along with the rotation of the output shaft of the third steering engine 534 by taking the output shaft as the center of circle. The lower end of the second rotating arm 535 is connected with a fourth steering engine 536, the body of the fourth steering engine 536 is fixedly connected with the second rotating arm 535, and the output shaft of the fourth steering engine 536 is horizontally arranged and can rotate relative to the second rotating arm 535. An output shaft of the fourth steering engine 536 is connected to the upper end of the probe fixing arm 540 and the probe fixing arm 540 is fixed relatively, the probe fixing arm 540 uses the output shaft of the fourth steering engine 536 as a circle center and rotates correspondingly along with the rotation of the output shaft, and the lower end of the probe fixing arm 540 is provided with a clamping component or a magnetic attraction component and the like to fix the ultrasonic probe 700.
When the output shaft of the first steering engine 520 rotates, the second connecting seat 531 and the second steering engine 532 rotate in the horizontal plane along with the output shaft; when the output shaft of the second steering engine 532 rotates, the first rotating arm 533 rotates in a vertical plane perpendicular to the direction of the output shaft of the second steering engine 532; when the output shaft of the third steering engine 534 rotates, the second rotating arm 535 rotates in a vertical plane perpendicular to the direction of the output shaft of the third steering engine 534; when the output shaft of the fourth steering engine 536 rotates, the probe fixing arm 540 rotates along with the output shaft in a vertical plane perpendicular to the direction of the output shaft of the fourth steering engine 536. The second steering engine 532, the third steering engine 534, and the fourth steering engine 536 are matched to drive and control the displacement of the first robot arm 500 (or the second robot arm 600) in the vertical direction. In addition, the arrangement of the first steering engine 520 realizes the purpose that all components below the first steering engine 520 rotate in the horizontal plane along with the rotation of the output shaft of the first steering engine 520, and the flexibility of the manipulator is further improved. The above components are combined, and under the driving of the first driving assembly 420 and the left and right directions and the driving of the second driving assembly 440 in the front and back directions, the scanning motion system can realize multi-degree-of-freedom motion, and has higher flexibility and fewer detection blind areas compared with the existing mechanical arm.
In a preferred embodiment, as shown in fig. 6, the first rotating arm 533 can rotate around the output shaft of the second steering engine 532 in forward or reverse directions according to actual requirements.
In the present embodiment, the initial position of the first rotating arm 533 is directed vertically downward, and the first rotating arm 533 can swing in the forward direction or the reverse direction, i.e., forward rotation and reverse rotation, with respect to the initial position. The angles of the forward rotation and the reverse rotation determine other components located below the first rotation arm 533: fourth steering engine 536, third steering engine 534, second rotation arm 535, and probe-securing arm 540, etc. The angle should not exceed 90 °, and if the maximum rotation angle of the first rotation arm 533 is too small, the displacement of the first robot 500 in the Z-axis direction (vertical direction) is restricted. If the maximum rotation angle of the first rotation arm 533 is too large, e.g. exceeds 90 °, the lower end of the first rotation arm 533 is higher than the upper end thereof when reaching the maximum angle, which limits the rotation range of the second rotation arm 535, and easily causes the two rotation arms to be stuck due to the overlapping of the strokes. The preferred angle of forward and reverse rotation of this embodiment is up to 70.
In a preferred embodiment, as shown in fig. 6, the second rotating arm 535 can rotate in either a forward or reverse direction about the output shaft of the third steering engine 534 as desired.
The angle of forward and reverse rotation of second rotating arm 535 about the output shaft of third steering engine 534 in this embodiment determines the other components located below second rotating arm 535: the position that can be reached by the fourth steering engine 536, the probe-securing arm 540, etc., and the overall flexibility of the robot. In the preferred embodiment, the angle of forward and reverse rotation of the second rotating arm 535 about the output shaft of the third steering engine 534 can reach 160 °.
In a preferred embodiment, the ultrasonic testing device further comprises a rotary positioning switch, the rotary positioning switch comprises a sensing column arranged on the first connecting seat 510 (or the body of the first steering engine 520) and a sensing piece arranged on the second connecting seat 531 (or the output shaft of the first steering engine 520, or the fixing piece connecting the output shaft and the second connecting seat 531), and when the sensing piece reaches the position of the sensing column, sensing information is formed and fed back to the controller of the ultrasonic testing instrument.
The above is only the part or the preferred embodiment of the present invention, no matter the characters or the drawings can not limit the protection scope of the present invention, all under the whole concept of the present invention, the equivalent structure transformation performed by the contents of the specification and the drawings is utilized, or the direct/indirect application in other related technical fields is included in the protection scope of the present invention.
Claims (7)
1. A scanning motion system for ultrasonic scanning examination is applied to a mammary gland detector and is characterized by comprising a base, a first scanning device and a second scanning device, wherein the first scanning device and the second scanning device are arranged on the base; the second scanning device comprises a second mounting table and a second mechanical arm which is mounted on the second mounting table through a linear motion mechanism and moves in the front-back direction and the left-right direction; the first mechanical arm and the second mechanical arm are both in a lifting state from top to bottom, and the free ends of the first mechanical arm and the second mechanical arm are used for mounting an ultrasonic probe; the first installation platform is located above the second installation platform, and the second installation platform is provided with an avoidance space for the first mechanical arm to pass through.
2. The scanning motion system of claim 1, wherein the linear motion mechanisms on the first mounting stage and the second mounting stage each include a first linear guide rail disposed in the left-right direction and a second linear guide rail disposed in the front-rear direction, the first linear guide rail is provided with a bracket for mounting the second linear guide rail, the first linear guide rail is further provided with a first driving assembly for driving the bracket to move along the first linear guide rail, and the second linear guide rail is provided with a second driving assembly for driving the first robot arm or the second robot arm to move along the second linear guide rail.
3. The scanning motion system of claim 2, wherein the first and second mounting stages each comprise two parallel cantilever beams, the linear motion mechanism comprises two first linear guide rails respectively disposed on the two cantilever beams and a second linear guide rail perpendicularly straddling the two first linear guide rails and disposed on the bracket, one or both of the two first linear guide rails are provided with the first driving assembly, and the two cantilever beams of the second mounting stage form the avoiding space therebetween.
4. The scanning motion system of claim 2, wherein the first driving assembly comprises a first motor fixed on the first mounting platform, a first lead screw connected to an output shaft of the first motor, and a first lead screw nut sleeved on the first lead screw, the first lead screw nut is slidably connected to the first linear guide, and the bracket is fixedly connected to the first linear guide.
5. The scanning motion system of claim 4, wherein the second driving assembly comprises a second motor fixed on the support, a second lead screw connected to an output shaft of the second motor, and a second lead screw nut sleeved on the second lead screw, the second lead screw nut is slidably connected to the second linear guide rail, and upper ends of the first mechanical arm and the second mechanical arm are fixed to second lead screw nuts of the corresponding second driving assemblies.
6. The scanning motion system of claim 1, wherein the first and second robotic arms each comprise, in order from top to bottom:
the first connecting seat is connected with the linear motion mechanism;
a body of the first steering engine is arranged on the first connecting seat, and an output shaft of the first steering engine faces downwards vertically;
the vertical driving assembly is connected with an output shaft of the first steering engine and is driven by the first steering engine to rotate on a horizontal plane;
and the probe fixing arm is driven by the vertical driving assembly to move in the vertical direction, and the lower end of the probe fixing arm is used for mounting an ultrasonic probe.
7. The scanning motion system of claim 6, wherein the vertical drive assembly comprises:
the second connecting seat is connected with an output shaft of the first steering engine;
a second steering engine, the body of which is arranged on the second connecting seat, and an output shaft is horizontally arranged;
the upper end of the first rotating arm is vertically connected to an output shaft of the second steering engine;
a third steering engine, the body of which is fixed with the lower end of the first rotating arm, and the output shaft of which is horizontally arranged and vertical to the first rotating arm;
the upper end of the second rotating arm is vertically connected with an output shaft of the third steering engine;
and the machine body of the fourth steering engine is fixed with the lower end of the second rotating arm, and the output shaft of the fourth steering engine is horizontally arranged and connected with the probe fixing arm.
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| CN201920842390.5U CN210784417U (en) | 2019-06-05 | 2019-06-05 | Scanning motion system for ultrasonic scanning examination |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110215234A (en) * | 2019-06-05 | 2019-09-10 | 深圳瀚维智能医疗科技有限公司 | The scanning motion system of ultrasonic scanning inspection |
| CN112450977A (en) * | 2020-12-08 | 2021-03-09 | 上海科技大学 | Automatic scanning robot for ultrasonic imaging and photoacoustic imaging |
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2019
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110215234A (en) * | 2019-06-05 | 2019-09-10 | 深圳瀚维智能医疗科技有限公司 | The scanning motion system of ultrasonic scanning inspection |
| CN110215234B (en) * | 2019-06-05 | 2024-04-02 | 瀚维(台州)智能医疗科技股份有限公司 | Scanning motion system for ultrasonic scanning inspection |
| CN112450977A (en) * | 2020-12-08 | 2021-03-09 | 上海科技大学 | Automatic scanning robot for ultrasonic imaging and photoacoustic imaging |
| CN112450977B (en) * | 2020-12-08 | 2023-08-18 | 上海科技大学 | Automatic scanning robot for ultrasonic imaging and photoacoustic imaging |
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