JP2001161694A - Ultrasonic probe - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an ultrasonic probe with a higher performance to achieve an accurate positioning of a transducer at the tip and in detecting a rotation angle, capable of controlling cost increase. SOLUTION: The ultrasonic probe comprises a lead-in part 1 to be inserted into the body cavity, storing a flexible wire 12 inside, an operation part 2 mounted on the operator's hand side of the lead-in part 1 with a motor connected to one end of the wire, a transducer 8 mounted at the top of the lead-in part 1 for oscillating an ultrasonic beam on a part to be measured, making the ultrasonic beam reflected, and catching the reflected signal, a pulley 11 integrally mounted with the transducer to rotate together with the transducer receiving rotation force of the wire, and an intermittent rotation mechanism 14 mounted between the pulley and the wire for intermittently transmitting the rotation force of the wire to the pulley.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement in an ultrasonic probe for performing an ultrasonic examination on a heart, coronary artery flow disease, and the like.

[0002]

2. Description of the Related Art FIG. 7 shows an example of a tip portion of a conventionally used ultrasonic probe. In the figure, reference numeral a denotes a rotational force transmitting means made of, for example, a flexible wire, and one end (not shown) of the rotational force transmitting means a is connected to a motor serving as a rotational drive source provided in the operation unit.

That is, the rotation of the motor in the operating section causes the rotational force transmitting means a to rotate the worm gear c disposed in the front end case body b. The rotation of the worm gear c is controlled by the worm wheel d, and the first The helical gear e and the second helical gear f are transmitted to this second helical gear f.
And a pulley g integrated therewith.

The pulley g is integrated with a transducer having an ultrasonic vibrator (not shown), and the rotation of the pulley g is the rotation of the transducer. The ultrasonic beam oscillated from the ultrasonic transducer reaches the part to be examined and is reflected, and the reflected signal is captured by the transducer and taken into the main body. An ultrasonic tomographic image of a part to be examined is displayed on a monitor of the main body, and a doctor looks at the image to make a diagnosis.

[0005]

In such an ultrasonic probe, the rotation angle of the transducer depends on the worm gear c, the gear ratio of the worm wheel d and the first and second helical gears d and e, for example. The rotation angle of the pulley g is determined from the rotation amount of the operation unit motor detected by the encoder, and is adapted to the rotation angle of the transducer.

However, the conventional ultrasonic probe has a non-linear transmission characteristic in the torsional direction (the output does not correspond to the input correctly) by the rotational force transmitting means a in the flexible guiding tube.

For this reason, it is difficult to accurately position the transducer, which is the pulley g at the distal end, only by controlling the rotation amount of the motor, and the pulley g is determined from the gear ratio and the rotation amount of the motor. The rotation angle was incorrect.

In order to reduce the influence of the non-linearity in the torsional direction of the rotational force transmitting means a, it is preferable to use a worm gear capable of increasing the reduction ratio. Or the number of parts increases.

The present invention has been made in view of the above circumstances, and an object thereof is to realize accurate positioning accuracy and rotation angle detection accuracy of a rotating body integrated with a transducer at a distal end portion. An object of the present invention is to provide an ultrasonic probe capable of suppressing a rise in cost and obtaining higher measurement performance.

[0010]

In order to satisfy the above-mentioned object, an ultrasonic probe according to the present invention is characterized in that, as a first aspect, a guiding part for accommodating a rotating power transmitting means and inserted into a body cavity, An operating unit having a drive source provided on the hand side and connected to one end of the rotational force transmitting means, and oscillating and reflecting an ultrasonic beam from the ultrasonic transducer provided at the tip of the central portion to the measurement target site A transducer for capturing the reflected signal, a rotating body provided integrally with the transducer and rotating together with the transducer under the force of the rotating force transmitting means, and a rotating force transmitting means interposed between the rotating body and the rotating force transmitting means. Intermittent rotation means for intermittently transmitting the force of the means to the rotating body.

According to a second aspect of the present invention, there is provided the ultrasonic probe according to the first aspect, wherein the intermittent gear connected to the rotational force transmitting means, and the rotating body receives intermittent rotational force with the rotation of the intermittent gear. An intermittent rotation mechanism including a gear train that rotates by a fixed amount is provided.

According to a third aspect of the present invention, there is provided the ultrasonic probe according to the first aspect, wherein the intermittent gear connected to the rotational force transmitting means, and the rotating body receives intermittent rotational force with the rotation of the intermittent gear. An intermittent rotation comprising a gear train that rotates by a fixed amount and a holding mechanism that is hung on a predetermined gear of the gear train, regulates the rotation of the gear until a rotation drive force greater than a predetermined value is applied to the gear, and holds the phase thereof. It is characterized by having a mechanism.

According to a fourth aspect of the present invention, there is provided the ultrasonic probe according to the first aspect, wherein the intermittent gear connected to the rotational force transmitting means, and the rotating body which receives the rotational force intermittently with the rotation of the intermittent gear. A gear train that rotates by a fixed amount, a holding mechanism that is hung on a predetermined gear of this gear train, regulates the rotation of the gear until a predetermined or more rotational driving force is applied to the gear, and holds the phase, and a holding mechanism of the holding mechanism Detecting means for detecting an operation, and means for calculating a rotation angle of the rotating body from conditions such as a detection signal of the detecting means, a rotation direction of a rotary drive source in an operation unit, and a reduction ratio of a gear train. Features.

According to a fifth aspect of the present invention, in the ultrasonic probe according to the first aspect, the intermittent gear connected to the rotational force transmitting means and the rotator receiving the rotational force intermittently as the intermittent gear rotates. An intermittent rotation mechanism comprising a gear train composed of a worm gear and a spur gear that mesh with each other to rotate by a fixed amount, wherein the relative static friction coefficient between the worm gear and the spur gear is μ, the tooth perpendicular pressure angle is α, and the advance angle is γ. In this case, cos α · sin γ−μ · cos γ ≦ 0 is set.

According to a sixth aspect of the present invention, there is provided an ultrasonic probe, comprising: a guiding portion, in which a flexible rotating power transmitting means is accommodated and inserted into a body cavity, and a rotating force transmitting means provided on the hand side of the guiding portion. An operation unit having a drive source connected to one end, and a transducer that oscillates and reflects an ultrasonic beam from the ultrasonic transducer to the measurement target site and captures the reflected signal,
A rotating body that is provided integrally with the transducer and rotates together with the transducer by receiving the rotational force of the rotating force transmitting means; and a case that is provided at the tip of the guiding section and houses the transducer and the rotating body. The axis of the torque transmitting means is set obliquely with respect to the axis.

According to a seventh aspect of the present invention, there is provided an ultrasonic probe, comprising: a guiding portion inserted into a body cavity in which a flexible rotating power transmitting means is accommodated; and a rotational force transmitting means provided on the hand side of the guiding portion. An operation unit having a drive source connected to one end, a transducer provided at the tip of the guiding portion, oscillating and reflecting an ultrasonic beam from the ultrasonic transducer to the portion to be measured, and capturing the reflected signal; A rotating body that is integrally provided and rotates together with the transducer by receiving the rotating force of the rotating force transmitting means, wherein the axis of the rotating force transmitting means is inclined in the vertical direction by the worm gear advance angle with respect to the rotating surface of the rotating body. It is characterized by being arranged.

By adopting the means for solving the above problems, it is possible to eliminate the influence of the non-linearity in the torsional direction of the rotational force transmitting means and to accurately position the rotating body integral with the transducer at the distal end. By detecting this rotation angle, accurate position information can be obtained, and efficient rotation force can be obtained without increasing the size of the tip, increasing the diameter of the guiding tube, increasing the number of parts, or increasing the cost of processing parts. Get the transmission system.

[0018]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1A shows the overall configuration of the ultrasonic probe. An operation unit 2 is provided at a hand side, which is one end side of the guiding unit 1 made of a flexible tube.
A power cord 3 is connected to the operation section 2, and a connector section 4 provided at an end of the power cord 3 is electrically connected to the apparatus main body 5.

An insertion portion 6 is provided at the other end of the middle portion 1. The insertion portion 6 has a bending portion 7 connected to the middle portion 1 and a distal end portion 9 having a transducer 8 described later.
It is composed of

As shown in FIG. 1 (B), the operating section 2 is provided with knobs a and b in a two-tiered manner, and a doctor turns these knobs to adjust the degree of bending of the bending section 7. Adjustment is appropriately made so that the ultrasonic beam from the transducer 8 is directed to the part to be examined.

The ultrasonic beam generated by the transducer 8 reaches a part to be examined and is reflected. The reflected signal is captured by the transducer 8, and the connector 4 is connected to the main body 5.
Take in. An ultrasonic tomographic image of the part to be examined is displayed on the monitor of the main body 5, and the doctor looks at the image to make a diagnosis.

FIG. 2 shows the internal structure of the distal end portion according to the first embodiment.

In the figure, reference numeral 10 denotes a front end case body in which the inside is opened, and a pulley 11 which is a rotating body provided integrally with the transducer (not shown) is provided at an end of the case body 10. It is rotatably supported.

The case body 10 on the opposite side of the pulley 11
The end is open, and a wire 12 as a flexible rotational force transmitting means is inserted from the outside, and is supported by a bearing 13 provided in the case body 10. For the reasons described below, the bearing 13 and the wire 1 inside and outside the case body 10
The second axis is attached in a state of being inclined with respect to the axis of the case body 10.

An intermittent rotation mechanism 14 serving as an intermittent rotation means is interposed between the tip of the wire 12 and the pulley 11. The intermittent rotation mechanism 14 receives the torque of the wire 12 and intermittently transmits the torque to the pulley 11.

The intermittent rotation mechanism 14 includes an intermittent gear 15
And a gear train 16 composed of a plurality of gears.
As shown in FIG. 3, the intermittent gear 15 has only one tooth portion on its peripheral surface, and is connected to the wire 12 serving as the rotational force transmitting means via the bearing 13. . That is, the motor in the operation unit 2 is connected to the wire 12
, The intermittent gear 15 rotates integrally.

As shown in FIG. 2 again, the gear train 16 includes a first spur gear 17 meshing with the intermittent gear 15 and a first spur gear 17.
Worm gear 18 provided coaxially with the spur gear 17
And a second spur gear 19 meshing with the worm gear 18
And a third spur gear 20 meshing with the second spur gear 19
Consists of

First spur gear 17 and worm gear 18
Is supported by a bearing 13, and the intermittent gear 15 and the axial direction are parallel to each other. The spindles of the second spur gear 19 and the third spur gear 20 are provided at the bottom of the case body 10. The third spur gear 20 is provided integrally with the pulley 11 or is fixed to the pulley 11.

The first spur gear 17 of such a gear train 16
, A holding mechanism 21 is provided. The details of the holding mechanism 21 are as shown in FIG. 3, and a bottomed cylindrical spring case 22 whose bottom is embedded in the case body 10.
And a coil spring 23 housed inside the spring case 22, and a part inserted into the opening of the spring case 22 to receive elastic force from the coil spring 23, and the other end to the spring case 2.
2 and a stopper 24 projecting from the second spur gear 17 and engaging between a pair of teeth of the first spur gear 17.

The stopper 24 receives the elastic force of the coil spring 23 and elastically abuts on the first spur gear 17, so that the stopper 24 stays in this state unless it receives a predetermined rotational force or more from the first spur gear 17. Hold. Also, the first spur gear 17 is
The second and third spur gears 19 and 2 are connected via the worm gear 18.
Since the third spur gear 20 receives the rotational force of 0 and the third spur gear 20 is integral with the pulley 11 having the transducer, the holding mechanism 21 does not rotate the pulley 11 unintentionally due to the reaction force of the signal cable (not shown). Thus, this rotation is restricted.

A position sensor 25 is provided for the stopper 24, and is electrically connected to a control circuit (not shown). The position sensor 25 mechanically or optically detects a change in the position of the stopper 24. As a result, the position sensor 25 detects the state of the rotation restriction and the release of the restriction of the first spur gear 17 of the holding mechanism 21. Becomes

The distal end 9 is formed in this manner, and the rotational force of the motor is transmitted through the wire 12 as the rotational force transmitting means by the operation of the operation unit 2 to the intermittent gear 1.
5, which is driven to rotate.

The intermittent gear 15 has one tooth 1 on its peripheral surface.
Since only the gear 5a is provided, it engages with the tooth portion 17a of the first spur gear 17 only after the first rotation, and rotates this by only one tooth portion. As shown in FIG. 3, the first spur gear 17
Has eight teeth, so that each time the intermittent gear 15 makes one rotation, the first spur gear 17 makes １ ／ rotation.

Worm gear 1 integrated with first spur gear 17
8 rotates, the third spur gear 20 rotates via the second spur gear 19 meshing with the same, and the pulley 11 provided with the transducer rotates. First and second spur gears 17, 19
The tooth pitch of the third spur gear 20 is designed to be larger than that of the third spur gear 20, so that a very small setting of the rotation angle of the pulley 11 can be made very easily, and a precision diagnosis can be performed.

The holding mechanism 21 elastically restricts the rotation of the first spur gear 17 and shifts its phase until the intermittent gear 15 is engaged and the first spur gear 17 is forcibly rotated. Hold. The sensor 25 detects that the first spur gear 17 has been forcibly rotated and the stopper 24 has moved.

A control circuit electrically connected to the sensor 25 receives the detection signal of the sensor 25, and performs addition and subtraction according to the rotation direction of the operation section motor, the first spur gear 17, the worm gear 18, and the The rotation angle of the pulley 11 is accurately calculated based on conditions such as the reduction ratio of the gear train 16 calculated from the number of teeth of the second spur gear 19 and the third spur gear 20.

For example, when positioning is performed by setting the target rotation angle of the pulley 11 in advance, the intermittent gear 15
Let us consider a case where another spur gear that always meshes with the first spur gear 17 is used instead.

At this time, the wire 1 serving as the rotational force transmitting means
Due to the non-linearity in the torsion direction of 2, the other spur gear rotates while another spur gear and the operation unit motor are out of phase, that is, with the wire 12 storing elastic energy. Therefore, even if the sensor 25 detects that the pulley 11 has reached the target rotation angle and issues a stop signal to the operation unit motor, the elastic energy stored in the wire 12 continues to be transmitted to the pulley 11 via the gear train 16. Is transmitted. As a result, the transducer overruns with the pulley 11, and accurate positioning at the target rotation angle becomes impossible.

On the other hand, in the embodiment of the present invention, it is assumed that the intermittent gear 15 is used. And
Assuming that the number of teeth of the intermittent gear 15 is Z1 and the number of teeth of the first spur gear 17 which is the driven side is Z2, the twist of the wire 12 due to the torque required to rotate the first spur gear 17 If the angle is equal to or less than (360 / Z1-360 / Z2) °, no overrun occurs and accurate positioning is possible.

For example, when the number of teeth Z1 of the intermittent gear 15 is set to 1 and the number of teeth Z2 of the first spur gear 17 is set to 8,
If the number of teeth is calculated by applying the above equation, accurate positioning can be realized if the torsion angle of the wire 12 due to the required torque is 315 ° or less.

Next, the layout of the components housed in the distal end portion 9 in the horizontal plane will be described. FIG. 4 (A)
FIG. 4 shows a layout according to the embodiment of the present invention.
(B) and (C) show problems that occur when the layout of the present invention is not adopted.

Pulley 11 integrated with the above transducer
Is required to be accurately positioned at a small angle, so that the reduction ratio of the gear train 16 is increased. Therefore, the second spur gear 19 has a smaller diameter than the third spur gear 20 integrated with the pulley 11. Further, the second spur gear 19 and the worm gear 18
In order to secure the meshing of the worm gear 18, the tooth width of the worm gear 18 becomes larger than the diameter of the second spur gear 19.

Under such design conditions, as shown in FIG. 4B, the axis Sa of the worm gear 18 is
b and the wire 12 is disposed near the guide tube axis Sb, the worm gear 18 and the third spur gear 20
Will interfere. Therefore, in order to avoid such interference, as shown in FIG. 4C, the arrangement of the second spur gear 19 and the axis Sa of the worm gear 18 are offset from the axis Sb of the guiding tube. However, the wire 12 and the case body 10 will interfere at this time.

To solve these problems, the case 1
After increasing the volume of 0, the interference of the guiding tube 1 is set to a large value to avoid interference, or the first, second, or
It is necessary to increase the number of parts by providing relay gears such as the helical gears e and f.

On the other hand, as shown in FIG.
A planar layout of the distal end portion 9 in which the axis Sa of the worm gear 18 is arranged non-parallel to the axis Sb of the guiding tube in the case body 10 is adopted. To be more specific, the position of the second spur gear 19 is adjusted to be substantially the same as the position of the second spur gear 19 in FIG.
Is tilted so as to obliquely intersect the guiding tube axis Sb, and the position of a bearing (not shown) is set here.

Naturally, the intermittent gear 15 meshing with the first spur gear 17 coaxial with the worm gear 18 and the axis Sc of the wire 12 connected to the intermittent gear 15 on the case body 10 side obliquely intersect with the guide tube axis Sb. Will be done.

Therefore, wirings for taking out signals are densely mounted on the case body 10 in addition to the components shown in the figure, but without increasing the size of the case itself,
It is also possible to design the ultrasonic probe so as to avoid interference between driving components and between the wire 12 and the case body 10 without increasing the size of the guiding tube 1 or increasing the number of components. It becomes possible.

Next, based on FIG.
The layout of the components in the vertical plane will be described. Here, the worm gear 18 is disposed so as to be inclined in the vertical direction by a lead angle γ with respect to the rotation surface (horizontal plane in the drawing) of the pulley (not shown). In the prior art described above, the helical gears e and f having a torsion angle γ are required,
And a worm wheel d in the gear train after the worm gear c.
However, by adopting the above-described configuration, the configuration of the gear train 16 after the worm gear 18 can be replaced with simple spur gears 19 and 20, and the cost of parts can be reduced.

FIG. 6 shows a second embodiment of the ultrasonic probe tip 9A. Although it does not include the holding mechanism 21 and the sensor 25 as in the first embodiment described above, the remaining structure is basically the same as that of the first embodiment.

Here, the relative static friction coefficient μ of the worm gear 18, the second spur gear 19 meshing with the worm gear 18, the tooth perpendicular pressure angle α, and the advance angle γ are expressed as cos α · sin γ−μ · cos γ ≦ It is designed to satisfy the condition of 0.

By employing such a configuration, a so-called self-locking phenomenon occurs between the worm gear 18 and the second spur gear 19, and the gear train 16 can be mounted without mounting the holding mechanism 21 described above. Hold position. Therefore, even if a reaction force of a signal cable (not shown) is applied to the pulley 11, the position of the pulley 11 is maintained without rotating.

The number of teeth of the intermittent gear 15 is Z1, and the first spur gear 17 rotated by the intermittent gear 15 is Z1.
When the number of teeth is Z2, the torsion angle of the wire 12 due to the torque required to rotate the second spur gear 19 is (3).
The twist angle of the wire 12 is selected so as to be 60 / Z1-360 / Z2) ° or less.

If the reduction ratio of the gear train 16 from the worm gear 18 to the third spur gear 20 is 1 / n, the difference between the rotation angle of the operation unit motor and the rotation angle of the pulley 11 is (36).
0 / Z2 / n) ° or less.

For example, Z1 = 1, Z2 = 8, n = 45
Then, the difference between the rotation angle of the motor and the rotation angle of the pulley 11, that is, the positioning accuracy of the pulley 11 by the motor rotation angle control, and the rotation angle of the pulley 11 calculated from the motor rotation angle and the reduction ratio of the gear train 16 Are less than 1 °. Therefore, more accurate positioning accuracy and rotation angle information of the pulley 11 than before can be obtained at a cost lower than that of the related art.

[0055]

As described above, according to the present invention, it is possible to realize accurate positioning of a rotating body having a transducer mounted on the tip of an ultrasonic probe, and high detection accuracy of a rotation angle with respect to the rotating body. There is an effect that high measurement accuracy can be obtained without increasing the cost.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of an ultrasonic probe and an enlarged side view of an operation unit, showing an embodiment of the present invention.

FIG. 2 is a perspective view showing an internal structure of a tip portion of the ultrasonic probe according to the first embodiment.

FIG. 3 is a plan view illustrating a holding mechanism of the embodiment.

FIG. 4 is a diagram illustrating a planar layout of a component housed in a distal end portion according to the embodiment and a reference example.

FIG. 5 is a view for explaining the vertical layout of the components accommodated in the distal end portion according to the embodiment;

FIG. 6 is a perspective view showing the internal structure of the tip portion of an ultrasonic probe according to the second embodiment.

FIG. 7 is a perspective view showing a conventional internal structure of an ultrasonic probe tip.

[Explanation of symbols]

 Reference numeral 12: wire (rotational force transmitting means), 1: guide tube (guide portion), 2 operating section, 8 transducer, 11 pulley (rotating body), 14 intermittent rotation mechanism (intermittent rotation means), 15 ... Intermittent gear, 16: gear train, 17: first spur gear, 18: worm gear, 19: second spur gear, 20: third spur gear, 21: holding mechanism, 25: position sensor (detection means).

Claims (7)

[Claims] 1. An operation having a guiding part for accommodating a rotating power transmitting means and inserted into a body cavity, and a driving source provided at a hand side of the guiding part and connected to one end of the rotating force transmitting means. A transducer that is provided at the tip of the middle portion and that oscillates and reflects an ultrasonic beam from the ultrasonic transducer to the measurement target and captures the reflected signal; and a transducer that is provided integrally with the transducer and transmits the rotational force. A rotating body that rotates together with the transducer under the force of the means, and an intermittent rotating means interposed between the rotating body and the rotating force transmitting means for intermittently transmitting the force of the rotating force transmitting means to the rotating body. And an ultrasonic probe comprising: 2. An intermittent rotation comprising: an intermittent gear connected to the rotational force transmitting means; and a gear train for receiving a rotational force intermittently with the rotation of the intermittent gear and rotating the rotating body by a predetermined amount. The ultrasonic probe according to claim 1, further comprising a mechanism. 3. An intermittent gear connected to the rotational force transmitting means, a gear train for receiving a rotational force intermittently with the rotation of the intermittent gear and rotating the rotating body by a predetermined amount, and a gear train. And an intermittent rotation mechanism comprising a holding mechanism for restricting the rotation of the gear until a predetermined or more rotational driving force is applied to the gear and holding the phase. 2. The ultrasonic probe according to 1. 4. An intermittent gear connected to the rotational force transmitting means, a gear train for intermittently receiving rotational force with the rotation of the intermittent gear and rotating the rotating body by a predetermined amount, and a gear train. A holding mechanism for restricting the rotation of the gear until a rotational driving force greater than a predetermined value is applied to the gear and holding the phase, a detecting means for detecting the operation of the holding mechanism, 2. A means for calculating a rotation angle of the rotating body from a detection signal of the means, and conditions such as a rotation direction of a rotary drive source in the operation section and a reduction ratio of the gear train. An ultrasonic probe as described. 5. An intermittent gear connected to the rotational force transmitting means, and a worm gear meshing with each other, intermittently receiving a rotational force with the rotation of the intermittent gear and rotating the rotating body by a predetermined amount. An intermittent rotation mechanism comprising a gear train composed of gears and the like, wherein the relative static friction coefficient between the worm gear and the spur gear is μ,
2. The ultrasonic probe according to claim 1, wherein the relationship is set so as to satisfy a relationship of cos α · sin γ−μ · cos γ ≦ 0, where α is a tooth perpendicular pressure angle and γ is a lead angle. 6. A flexible guiding power transmitting means is accommodated therein, and a guiding part inserted into a body cavity is provided at a hand side of the guiding part and connected to one end of the rotating force transmitting means. An operating unit having a driving source to be driven, a transducer that oscillates and reflects an ultrasonic beam from an ultrasonic transducer to a measurement target portion, and captures a reflected signal thereof; A rotating body that rotates together with the transducer by receiving the rotating force, and a case that is provided at the tip of the middle portion and houses the transducer and the rotating body. In the case, an axis of the middle portion is provided. An ultrasonic probe, wherein the axis of the rotational force transmitting means is set obliquely. 7. A rotationally transmitting power transmitting means is accommodated therein, and a guiding portion inserted into a body cavity is provided at a hand side of the guiding portion and connected to one end of the rotating force transmitting means. An operating unit having a driving source to be driven; a transducer provided at the tip of the central portion, oscillating and reflecting an ultrasonic beam from the ultrasonic transducer to the measurement target portion and capturing the reflected signal; and a transducer integrated with the transducer. A rotating body that rotates together with the transducer by receiving the rotating force of the rotating force transmitting means, wherein the axis of the rotating force transmitting means is perpendicular to the rotation surface of the rotating body by the advance angle of the worm gear. An ultrasonic probe characterized by being arranged in a tilted direction.