CN110368607B - Butt joint driving mechanism, treatment system and driving method of ultrasonic treatment equipment - Google Patents
Butt joint driving mechanism, treatment system and driving method of ultrasonic treatment equipment Download PDFInfo
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- CN110368607B CN110368607B CN201810326155.2A CN201810326155A CN110368607B CN 110368607 B CN110368607 B CN 110368607B CN 201810326155 A CN201810326155 A CN 201810326155A CN 110368607 B CN110368607 B CN 110368607B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 43
- 238000009210 therapy by ultrasound Methods 0.000 title claims abstract description 36
- 210000001503 joint Anatomy 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000002560 therapeutic procedure Methods 0.000 claims abstract description 25
- 238000003032 molecular docking Methods 0.000 claims description 62
- 238000007789 sealing Methods 0.000 claims description 53
- 239000012530 fluid Substances 0.000 claims description 15
- 230000001225 therapeutic effect Effects 0.000 claims description 11
- 238000002604 ultrasonography Methods 0.000 claims description 10
- 239000000463 material Substances 0.000 claims description 6
- 230000003028 elevating effect Effects 0.000 abstract description 5
- 230000002708 enhancing effect Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 7
- 239000007788 liquid Substances 0.000 description 4
- 238000001356 surgical procedure Methods 0.000 description 4
- 206010028980 Neoplasm Diseases 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002504 lithotomy Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N7/00—Ultrasound therapy
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Abstract
The utility model provides a butt joint actuating mechanism of ultrasonic therapy equipment, ultrasonic therapy equipment includes treatment couch and transfer car, and butt joint actuating mechanism is used for driving transfer car and treatment couch butt joint, and butt joint actuating mechanism includes translation device and elevating gear, and elevating gear is used for bearing the transfer car, and elevating gear sets up on translation device, and translation device can drive the translation of elevating gear. The invention also provides an ultrasonic treatment system and a butt joint driving method of the ultrasonic treatment system, and the butt joint driving mechanism of the ultrasonic treatment equipment can realize automatic butt joint of the transfer trolley and the treatment bed, thereby enhancing the stability and the reliability of the equipment and improving the utilization rate and the working efficiency of the equipment.
Description
Technical Field
The invention belongs to the technical field of ultrasonic treatment, and particularly relates to a butt-joint driving mechanism of ultrasonic treatment equipment, an ultrasonic treatment system and a butt-joint driving method of the ultrasonic treatment system.
Background
Focused Ultrasound Surgery (FUS) has gained acceptance in the medical arts as a new technique for treating tumors and other diseases, and is currently being used clinically for the treatment of various tumor and non-tumor diseases.
Existing Focused Ultrasound Surgical (FUS) treatment systems exist when treating patients
The following problems:
The patient needs to go to the treatment room first, and preparation work before treatment is performed on the treatment bed of the Focused Ultrasound Surgery (FUS) treatment system, for example, skin treatment, establishment of a life channel, body position fixation and the like, then positioning treatment is started, after treatment is finished, the patient needs to be manually transferred to the transfer cart, and then post-operation treatment is performed, and during the period, the treatment bed of the Focused Ultrasound Surgery (FUS) treatment system cannot treat other patients, so that inconvenience is brought to the patient, the utilization rate of the Focused Ultrasound Surgery (FUS) treatment equipment is reduced, and the working efficiency is reduced.
Therefore, how to achieve the automatic docking of the transfer cart and the treatment couch of the Focused Ultrasound Surgical (FUS) treatment system becomes a problem to be solved.
Disclosure of Invention
The invention aims to at least solve one of the technical problems, and provides a docking driving mechanism of ultrasonic treatment equipment, an ultrasonic treatment system and a docking driving method of the ultrasonic treatment system, wherein the docking driving mechanism of the ultrasonic treatment equipment can realize automatic docking of the transfer trolley and the treatment bed, thereby enhancing equipment stability and reliability and improving equipment utilization rate and working efficiency.
In order to achieve the above object, as one aspect of the present invention, there is provided a docking drive mechanism of an ultrasonic treatment apparatus including a treatment couch and a transfer cart for driving the transfer cart to dock with the treatment couch, wherein the docking drive mechanism includes a translation device and a lifting device,
The lifting device is used for bearing the transfer trolley, the lifting device is arranged on the translation device, and the translation device can drive the lifting device to translate.
Optionally, the docking drive mechanism includes a sensing device for detecting a position of the transfer cart and generating a position signal.
Optionally, the docking driving mechanism further includes a control device, where the control device is configured to receive the position signal, and the control device is configured to determine a position of the transfer cart according to the position signal, and is configured to control the lifting device to lift when the transfer cart reaches a first predetermined position, and control the translation device to drive the lifting device to translate when the lifting device reaches a predetermined height.
Optionally, the lifting device comprises a lifting component and a supporting component, wherein the supporting component is used for bearing the transfer trolley, one end of the lifting component is connected with the translation device, and the other end of the lifting component is connected with the supporting component.
Optionally, the lifting assembly comprises a lifting body and a lifting body mounting seat, the lifting body is fixed on the lifting body mounting seat, the bearing end of the lifting body is formed as the other end of the lifting assembly, the lifting body mounting seat is formed as one end of the lifting assembly,
The translation device comprises a telescopic rod and a first guide rail, wherein the lifting body mounting seat is slidably arranged on the first guide rail, one end of the telescopic rod is fixedly connected with the lifting body mounting seat, and the other end of the telescopic rod is fixedly arranged relative to the mounting foundation.
Optionally, the docking driving mechanism further includes a support frame, the support frame is fixed on the installation base, and the translation device is fixed on the support frame.
Optionally, the docking driving mechanism includes a sensing device, the sensing device is used for detecting the position of the transfer car and generating a position signal, and the sensing device is arranged on the supporting frame.
Optionally, a limiting piece is arranged on the lifting body mounting seat.
In order to achieve the above object, as another aspect of the present invention, there is provided an ultrasonic therapy system, wherein the ultrasonic therapy system includes an ultrasonic therapy apparatus and a docking drive mechanism, the docking drive mechanism being the above-described docking drive mechanism provided by the present invention,
The ultrasonic treatment equipment comprises a treatment bed and a transfer trolley, wherein a first locking piece is arranged on the treatment bed, a second locking piece which can be matched with the first locking piece is arranged on the transfer trolley, the lifting device can lift the transfer trolley to a position where the second locking piece is matched with the first locking piece, and the translation device can move the transfer trolley to a position where the first locking piece is in butt joint locking with the second locking piece.
Optionally, a positioning sleeve is arranged at the middle position of the bottom of the transfer vehicle, and the supporting component is positioned in the positioning sleeve when the lifting device is lifted.
Optionally, the ultrasonic treatment system comprises a second guide rail arranged on the treatment bed, a guide wheel is arranged on the transfer trolley, and the guide wheel is connected with the second guide rail in a rolling way in the process that the transfer trolley is moved from the first preset position to the second preset position by the translation device.
Optionally, the treatment system further comprises a pressurizing module and a sealing strip, wherein the sealing strip is positioned on the treatment bed and corresponds to the edge position of the butt joint surface of the transfer trolley and the treatment bed, the sealing strip is made of flexible materials and is internally provided with a cavity,
The pressurizing module is communicated with the cavity of the sealing strip and is used for filling fluid into the cavity so as to expand the sealing strip.
In order to achieve the above object, as still another aspect of the present invention, there is provided a docking driving method of an ultrasonic therapy system, wherein the ultrasonic therapy system is the above ultrasonic therapy system provided by the present invention, the docking driving method comprising:
judging whether the transfer vehicle reaches a first preset position or not;
And when the judgment result is yes, driving the rear part of the transfer trolley to rise to a preset height, and controlling the transfer trolley to translate towards the treatment bed so as to realize the butt joint of the transfer trolley and the treatment bed.
Optionally, the docking driving mechanism is the above docking driving mechanism provided by the present invention, and the step of determining whether the transfer cart reaches the first predetermined position includes:
And receiving the position signal sent by the sensing device, and determining the position of the transfer vehicle according to the position signal.
Optionally, when the determination result is yes, driving the rear part of the transfer cart to rise to a predetermined height, and controlling the transfer cart to move towards the treatment couch to achieve the docking of the transfer cart with the treatment couch includes:
Controlling the lifting device to lift so as to enable the supporting component to be in butt joint with the locating sleeve, and keeping the position of the transfer vehicle and the position of the lifting device relatively fixed;
and controlling the translation device to operate so that the translation device drives the lifting device to horizontally move on the first guide rail towards the treatment bed.
The first and second locking members are controlled to lock when the transfer cart is moved toward the treatment couch to the second predetermined position.
Optionally, the treatment system further comprises a pressurizing module and a sealing strip, wherein the sealing strip is positioned on the treatment bed and corresponds to the edge position of the butt joint surface of the transfer trolley and the treatment bed, the sealing strip is made of flexible materials and is internally provided with a cavity,
The pressurizing module is communicated with the cavity of the sealing strip and is used for filling fluid into the cavity so as to expand the sealing strip,
The docking driving method further includes:
and controlling the pressurizing module to fill fluid into the sealing strip so as to expand the sealing strip.
The beneficial technical effects of the invention are as follows:
According to the butt joint driving mechanism of the ultrasonic treatment equipment, the translation device can drive the lifting device to translate, so that the transfer trolley is driven to automatically butt joint with the treatment bed, and further, the ultrasonic treatment system provided by the invention can realize automatic butt joint of the treatment bed and the transfer trolley through the butt joint driving structure, so that the technical problem that the transfer trolley cannot be applied to an ultrasonic treatment system with a treatment bed in the prior art is solved, the stability and reliability of the ultrasonic treatment system are enhanced, the burden of operators is reduced, the utilization rate and the working efficiency of the equipment are improved, and the treatment experience of patients is improved.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate the invention and together with the description serve to explain, without limitation, the invention. In the drawings:
FIG. 1 is a schematic view of an ultrasonic treatment apparatus according to the present invention;
FIG. 2 is a schematic cross-sectional view of a docking drive mechanism of the ultrasonic therapeutic apparatus along line B-B in FIG. 1;
FIG. 3 is a schematic cross-sectional view of the docking drive mechanism of the ultrasonic therapeutic apparatus along line A-A in FIG. 1;
FIG. 4 is a schematic view of a partial structure of a guide wheel and a second guide rail of the ultrasonic treatment system according to the present invention;
FIG. 5 is a schematic view of an ultrasound therapy device according to the present invention;
FIG. 6 is a schematic view of the operation state of the sealing strip of the ultrasonic treatment system according to the present invention;
FIG. 7a is a schematic view showing a partial positional relationship between the first locking member and the second locking member after the treatment couch is docked with the transfer cart;
FIG. 7b is a schematic view showing a part of the positional relationship between the first locking member and the second locking member when the treatment couch is not docked with the transfer cart;
FIG. 8 is a control schematic block diagram of the control device provided by the invention;
Fig. 9 is a flowchart of a docking driving method of an ultrasonic therapy system according to the present invention.
Description of the reference numerals
100: Ultrasound treatment device 101: therapeutic bed
102: Transfer cart 103: sensing device
104: Lifting body 105: lifting body mounting seat
105A: base plate 105b: side wall panel
105C: slide assembly 105d: epitaxial plate
106: Support assembly 107: telescopic rod
108: First rail 109a: rail beam
109B: beam 109c: support post
110: Limiting member 111: lifting motor
112: The first locking piece 112a: locking actuator pin
112B: locking trigger pin 112c: connecting piece
112D: the housing 112e: pin shaft
113: The second locking piece 113a: locking hole
114: Positioning sleeve 115: second guide rail
116: Guide wheel 117: third guide rail
118: Sealing strip
Detailed Description
The following describes specific embodiments of the present invention in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
As one aspect of the present invention, there is provided a docking drive mechanism of an ultrasonic therapeutic apparatus 100, as shown in fig. 1, the ultrasonic therapeutic apparatus 100 includes a therapeutic bed 101 and a transfer cart 102, the drive mechanism is used for driving the transfer cart 102 to dock with the therapeutic bed 101, wherein the docking drive mechanism includes a translation device and a lifting device, the lifting device is used for carrying the transfer cart 102, the lifting device is arranged on the translation device, and the translation device can drive the lifting device to translate.
As described above, the driving mechanism includes a translation device and a lifting device for carrying the transfer cart 102, in particular, when the lifting device is lifted, the rear portion of the transfer cart 102 may be lifted up so that the positions of the transfer cart 102 and the lifting device are relatively fixed; the lifting device is arranged on the translation device, specifically, the bottom of the lifting device is connected with the translation device, and when the translation device works normally, the lifting device can be driven to move in the horizontal direction.
If the above-mentioned butt joint actuating mechanism is applied to ultrasonic therapy equipment 100, can drive through translation device elevating gear translation, and then drive the automatic butt joint of transfer car 102 and treatment bed 101, strengthened equipment stability and reliability, alleviateed operating personnel's burden, improved the utilization ratio and the work efficiency of equipment, patient treatment experience promotes.
In the present invention, as shown in fig. 2, the docking driving mechanism includes a sensing device 103, and the sensing device 103 is used to detect the position of the transfer cart 102 and generate a position signal.
As described above, the sensing device 103 is configured to detect whether the transfer cart 102 reaches the first predetermined position, specifically, when the transfer cart 102 reaches the first predetermined position, the sensing device 103 triggers and generates a position signal, and sends the generated position signal to the control device, so that the control device performs a next control step (specific principle is explained in the following section) after receiving the position signal.
As a preferred embodiment of the present invention, the sensing device may be a position sensor, and of course, may be any other type of sensing device, as long as the function of detecting the position of the transfer cart 102 and generating a corresponding position signal can be implemented.
The "first predetermined position" as referred to herein refers to a position where the transfer cart 102 cannot continue to move toward the treatment bed after traveling on the third rail 117 for a certain distance, as shown in fig. 5.
In the invention, the docking driving mechanism further comprises a control device, wherein the control device is used for receiving the position signal, the control device can determine the position of the transfer vehicle according to the position signal, can control the lifting device to lift when the transfer vehicle reaches a first preset position, and can control the translation device to drive the lifting device to translate when the lifting device reaches a preset height.
As described above, the docking driving mechanism includes a control device, where the control device may receive the position signal sent by the foregoing sensing device 103, determine that the transfer cart 102 has reached the first predetermined position according to the position signal, and then control the lifting device to rise to a predetermined height, and when the lifting device rises to the predetermined height, control the translation device to drive the lifting device to translate.
It should be noted that, the "predetermined height" refers to a height that the lifting device may jack up the rear portion of the transferring cart 102, so that the bearing wheel sets of the transferring cart 102 are located at the same horizontal plane.
In the present invention, as shown in fig. 2 and 3, the lifting device includes a lifting assembly and a supporting assembly 106, wherein the supporting assembly 106 is used for carrying the transfer car 102, and one end of the lifting assembly is connected to the translation device, and the other end of the lifting assembly is connected to the supporting assembly 106.
As described above, the lifting device includes a lifting assembly and a supporting assembly 106, where the other end of the lifting assembly is connected to the supporting assembly 106, so that when the lifting assembly is lifted, the supporting assembly 106 may directly contact the transferring vehicle 102 to jack up the transferring vehicle 102, and one end of the lifting assembly is connected to the translation device, so that the translation device may drive the lifting device to translate.
Further, as shown in fig. 2 and 3, the lifting assembly includes a lifting body 104 and a lifting body mount 105, the lifting body 104 is fixed on the lifting body mount 105, a carrying end of the lifting body 104 is formed as the other end of the lifting assembly, the lifting body mount 105 is formed as one end of the lifting assembly,
The translation device comprises a telescopic rod 107 and a first guide rail 108, the lifting body mounting seat 105 is slidably arranged on the first guide rail 108, one end of the telescopic rod 107 is fixedly connected with the lifting body mounting seat 105, and the other end of the telescopic rod 107 is fixedly arranged relative to the mounting foundation.
As shown in fig. 3, the lifting body mount 105 includes a bottom plate 105a, a pair of side wall plates 105b disposed at intervals, a pair of extension plates 105d, and a plurality of sliding members 105c, wherein one side edge of the side wall plates 105b is vertically connected to the edge of the bottom plate 105a, the edge of the other side opposite to the side of the side wall plates 105b connected to the edge of the bottom plate 105a is vertically connected to the extension plates 105d, the plane of the extension plates 105d is parallel to the plane of the bottom plate 105a, and the sliding members 105c are disposed at the end of the surface of the extension plates 105d facing the first guide rail 108.
As described above, the lifting assembly includes the lifting body 104 and the lifting body mounting base 105, the lifting body 104 is fixed on the lifting body mounting base 105, specifically, as shown in fig. 3, the lifting body 104 is fixed on the bottom plate 105a of the lifting body mounting base 105, the bearing end of the lifting body may be connected with the supporting assembly 106, when the lifting body is lifted, the supporting assembly 106 may be driven to lift together by a predetermined height, so as to finally achieve the technical effect of lifting the transfer cart 102.
Further, the translation device includes a telescopic rod 107 and a first guide rail 108, one end of the telescopic rod 107 is fixedly connected with the lifting body mount 105, and the lifting body mount 105 is slidably disposed on the first guide rail 108, specifically, a sliding component 105c of the lifting body mount 105 is matched with the first guide rail 108, so as to be slidably disposed on the first guide rail 108.
Therefore, when the telescopic rod 107 works, the lifting body mounting seat 105 can be driven to move horizontally, and further, as can be seen from the foregoing, the telescopic rod can drive the lifting assembly to move horizontally along the first guide rail 108.
It should be noted that, as a preferred embodiment of the present invention, the telescopic rod 107 may be an electric push rod; of course, the telescopic rod may be any other power device as long as the telescopic rod can drive the lifting assembly to move horizontally along the first track.
In addition, as a preferred embodiment of the present invention, the lifting body may be a scissor jack having excellent characteristics of stability and reliability and large bearing capacity.
As shown in fig. 2, a lifting motor 111 is matched with the scissor jack to drive the scissor jack to operate, specifically, the lifting motor 111 can change the length of a connecting rod in the middle of the scissor jack, when the connecting rod is extended, the scissor jack is lowered, otherwise, when the connecting rod is shortened, the scissor jack is raised.
In the present invention, as shown in fig. 2 and 3, the docking driving mechanism further includes the supporting frame, the supporting frame is fixed on the mounting base, and the translation device is fixed on the supporting frame.
As described above, the docking drive mechanism further includes the support frame, which includes two rail beams 109a arranged in parallel at intervals, a plurality of struts 109c supporting the rail beams, and a cross beam 109b connecting the rail beams, as shown in fig. 2 and 3, thereby constituting a stable structure of the support frame.
The translation device is fixed on the support frame, specifically, the first guide rail is fixedly arranged on the track beam 109a, and the telescopic rod 107 is arranged in a cavity formed by the support frame.
In the present invention, as shown in fig. 2, the docking driving mechanism includes a sensing device 103, the sensing device 103 is used for detecting the position of the transfer cart 102 and generating a position signal, and the sensing device 103 is disposed on the supporting frame.
As described above, the sensing device 103 is provided on the supporting frame, specifically, as shown in fig. 2, the sensing device 103 is provided on the rail beam 109a, and when the transfer car 102 is manually pushed to the first predetermined position along the third rail, the sensing device 103 triggers and transmits the generated position signal to the control device.
In the present invention, as shown in fig. 2 and 3, a stopper 110 is provided on the lifting body mount 105.
As described above, the lifting body mount 105 is provided with the stopper 110, and specifically, the stopper 110 is provided on the surface of the extension plate 105d on the side facing away from the first rail 108, that is, on the side opposite to the slide assembly 105 c.
When the transfer cart 102 moves along the third rail towards the treatment couch 101 to the first predetermined position, the stop 110 will block the transfer cart 102 such that the transfer cart cannot continue to move towards the treatment couch 101.
As another aspect of the present invention, there is provided an ultrasonic therapy system, wherein the ultrasonic therapy system includes an ultrasonic therapy apparatus 100 and a docking drive mechanism, the docking drive mechanism being the above-described docking drive mechanism provided by the present invention,
As shown in fig. 1 and 2, the ultrasonic treatment apparatus 100 includes a treatment couch 101 and a transfer cart 102, a first locking member 112 is provided on the treatment couch 101, a second locking member 113 capable of being mated with the first locking member 112 is provided on the transfer cart 102, the lifting device is capable of lifting the transfer cart 102 to a position where the second locking member 113 is mated with the first locking member 112, and the translation device is capable of moving the transfer cart 102 to a position where the first locking member 112 is butt-locked with the second locking member 113.
As described above, the ultrasonic therapeutic system includes the docking driving mechanism provided by the present invention, through which the automatic docking of the therapeutic bed 101 and the transfer cart 102 can be achieved, specifically, the control device controls the lifting device to lift the transfer cart 102 to a predetermined height after receiving the position signal sent by the sensing device 103, i.e., to lift the transfer cart 102 to a position where the second locking member 113 matches the first locking member 112, and controls the translation device to move the transfer cart 102 to a position where the first locking member 112 and the second locking member 113 are in docking locking, thereby achieving the automatic docking of the therapeutic bed 101 and the transfer cart 102.
Note that, the state in which the first locking member 112 is butt-locked with the second locking member 113 is shown in fig. 7a, and the state in which the first locking member 112 is not butt-locked with the second locking member 113 is shown in fig. 7 b.
The second locking piece 113 has a structure as shown in fig. 7b, including a body and a locking hole 113a formed on the body, and an axial direction of the locking hole 113a is a vertical direction in fig. 7 b.
Specifically, as shown in fig. 7a and 7b, the first locking member 112 includes a lock actuating pin 112a, a lock trigger pin 112b, a connecting member 112c, a housing 112d, and an elastic maintaining member, and the connecting member 112c fixedly connects one end of the lock actuating pin 112a with one end of the lock trigger pin 112 b.
The housing 112d is formed with a concave notch, and at least a portion of the connector 112c is disposed in the space of the housing 112d and is hinged to the housing 112d by a pin 112 e. The elastic maintaining member is disposed in the space of the housing 112d, contacts the connecting member 112c when the first locking member 112 is in the reset state, and maintains the connecting member 112c in a state such that the locking trigger pin 112b and the locking actuating pin 112a are both located in the concave notch, and the other end of the locking actuating pin 112a is located above the locking trigger pin 112 b.
It should be noted that the term "upper" as used herein refers to the upper side in fig. 7 b. When an external force acts on the lock trigger pin 112b in the reset state, the elastic force of the elastic maintaining member can be overcome, so that the whole including the lock actuator pin 112a, the lock trigger pin 112b, and the connecting member 112c rotates around the pin shaft 112e, and the other end of the lock actuator pin 112a moves toward the inside of the housing.
Further, when the first locking member is engaged with the second locking member, the second locking member 113 abuts against the locking trigger pin 112b, and the entirety of the locking actuator pin 112a, the locking trigger pin 112b, and the connecting member 112c is driven to rotate about the pin shaft 112e, so that the locking actuator pin 112a is inserted into the locking hole 113a to achieve the locked state as shown in fig. 7 a.
Then, the lock execution pin 112a, the lock trigger pin 112b, and the link 112c are maintained in the locked state by the lock member.
When the "locked state" is required to be changed into the "reset state", the locking member is controlled to release the locked state, and then the second locking member 113 is withdrawn, so that the second locking member 113 is unlocked and separated from the first locking member 112. The specific process is the reverse process from the "reset state" to the "lock state", and will not be described herein.
Because the ultrasonic treatment system in the prior art cannot realize the automatic butt joint of the treatment bed 101 and the transfer trolley 102, the ultrasonic treatment system provided by the invention overcomes the problems existing in the prior art, fills the blank of the application field of the technology, further, the ultrasonic treatment system provided by the invention can realize the automatic butt joint of the treatment bed 101 and the transfer trolley 102 through the butt joint driving mechanism, enhances the stability and the reliability of equipment, lightens the burden of operators, improves the utilization rate and the working efficiency of the equipment, and improves the treatment experience of patients.
In the present invention, as shown in fig. 2 and 3, a positioning sleeve 114 is provided at a middle position of the bottom of the transfer car 102, and the support assembly 106 is positioned in the positioning sleeve 114 when the lifting device is lifted.
As described above, the positioning sleeve 114 is disposed at the middle position of the bottom of the transfer cart, when the transfer cart 102 moves to the first predetermined position along the third guide rail 117, the position of the positioning sleeve 114 corresponds to the position of the support assembly 106, and at this time, when the lifting assembly is lifted, the support assembly 106 is abutted with the positioning sleeve 114, so that the transfer cart 102 is lifted to the predetermined height to be overlapped with the center line of the system.
It should be noted that, as a preferred embodiment of the present invention, the positioning sleeve 114 and the supporting component 106 are tapered and may be connected in a matching and separable manner.
In the present invention, as shown in fig. 4, the ultrasonic treatment system includes a second guide rail 115 provided on the treatment couch 101, and a guide wheel 116 is provided on the transfer cart 102, and the guide wheel 116 is rollably connected to the second guide rail 115 during the movement of the transfer cart 102 from the first predetermined position to the second predetermined position by the translation device.
As described above, the second guide rail 115 (fine guide rail) is provided on the lateral outer wall of the couch 101, and the guide wheels are provided at positions corresponding to the second guide rail 115 on the inner surface side wall of the transfer cart 102, and the guide wheels 116 may slide along the second guide rail 115 during the movement of the transfer cart 102 from the first predetermined position to the second predetermined position to further guide the transfer cart 102 to interface with the couch 101.
The "second predetermined position" means that the transfer cart 102 moves to a "specific position" on the first rail 108 in a direction toward the treatment couch 101, and when the transfer cart 102 reaches the "specific position", a distance between the transfer cart 102 and the treatment couch 101 ranges from 0.5 to 3.5mm.
In the present invention, the treatment system further comprises a pressurizing module and a sealing strip 118, as shown in fig. 6, the sealing strip 118 is located on the treatment bed and corresponds to the edge position of the abutting surface of the transfer cart 102 and the treatment bed 101, the sealing strip is made of flexible material and has a cavity inside,
The pressurizing module communicates with the cavity of the sealing strip 118 for filling the cavity with fluid to expand the sealing strip 118.
As described above, even though the first locking member is butt-locked with the second locking member after the transfer cart 102 is butt-locked with the treatment couch 101, this only ensures that the relative position between the treatment couch 101 and the transfer cart 102 is fixed, and there is a joint at the butt-joint surface, and it should be understood by those skilled in the art that the ultrasound treatment system injects a coupling medium (typically, a liquid such as water) at the treatment site (lithotomy site), and in order to prevent leakage of the coupling medium from the joint, the sealing strip 118 is provided at the joint site, and when the first locking member is butt-locked with the second locking member, the pressurizing module charges the fluid into the sealing strip 118, so that the sealing strip 118 is inflated from the contracted state at the left side in fig. 6 to the inflated state at the right side in fig. 6, to seal the joint.
As a preferred embodiment of the present invention, the fluid may be a liquid, a gas, or a fluid in a gas-liquid coexisting state; the sealing strip 118 may be configured to be inflated from a contracted state at the left side in fig. 6 to an inflated state at the right side in fig. 6, and further to perform a sealing function, as long as the sealing strip is inflated with the fluid after the fluid is introduced into the sealing strip.
As still another aspect of the present invention, there is provided a docking driving method of an ultrasonic therapy system provided by the present invention, as shown in fig. 9, the control method including:
step S1, judging whether the transfer vehicle 102 reaches a first preset position;
as shown in fig. 9, the specific steps of executing the above step S1 include:
In step S11, the control device receives the position signal sent by the sensing device 103, and determines the position of the transfer cart 102 according to the position signal.
As described above, the control device receives the position signal and determines therefrom whether the transfer cart 102 has reached the first predetermined position.
Specifically, as shown in fig. 2 and 8, the sensing device 103 is mounted on the first guide rail, the transfer cart 102 moves along the third guide rail towards the treatment bed 101, when the transfer cart 102 reaches the first preset position, the sensing device 103 senses the transfer cart 102 and triggers to form a position signal, then the position signal is sent to the main control module through the sensing circuit, after receiving the position signal, the main control module compares the position signal with a preset value stored in the main control module, and if the position signal accords with the preset value, the main control module indicates that the main control module has reached the first preset position;
then, the main control module sends the state information that the transfer vehicle 102 has reached the first predetermined position to the upper computer, so that the operator can know the running condition of the device in time and adjust the device accordingly.
And step S2, when the judgment result is yes, driving the transfer trolley 102 to rise to a preset height, and controlling the transfer trolley 102 to translate towards the treatment couch 101 so as to realize the butt joint of the transfer trolley 102 and the treatment couch 101.
As shown in fig. 9, the specific steps of executing the above step S2 include:
Step S21, controlling the lifting device to lift up so as to enable the supporting component 106 to be in butt joint with the positioning sleeve 114 and keep the position of the transfer car 102 and the position of the lifting device relatively fixed;
As described above, in step S21, when the control device determines that the transfer cart 102 has reached the first predetermined position, the control device controls the lifting device to lift, specifically, controls the lifting motor 111 to lift the lifting body 104, and drives the support assembly 106 to lift, so as to achieve the docking of the support assembly 106 with the positioning sleeve 114 of the transfer cart 102, and further, enable the transfer cart 102 and the lifting device to be relatively fixed in position, that is, enable the transfer cart 102 to be locked in the horizontal direction.
Step S22, controlling the translation device to operate so that the translation device drives the lifting device to horizontally move on the first guide rail towards the treatment bed 101;
As described above, in step S22, the translation device is controlled to drive the lifting device to horizontally move on the first guide rail towards the treatment couch 101, and during the moving process, when the translation device moves the transfer cart 102 to a position contacting the treatment couch 101, the guide wheel 116 may slide along the second guide rail 115 to further guide the transfer cart 102 to dock with the treatment couch 101.
In step S23, when the transfer cart 102 is moved to the second predetermined position toward the treatment couch 101, the first locking member 112 and the second locking member 113 are controlled to be locked.
Step S24, the treatment system further comprises a pressurizing module and a sealing strip, wherein the sealing strip is positioned on the treatment bed 101 and corresponds to the edge position of the butt joint surface of the transfer trolley 102 and the treatment bed 101, the sealing strip is made of flexible materials and is internally provided with a cavity,
The pressurizing module is communicated with the cavity of the sealing strip and is used for filling fluid into the cavity so as to expand the sealing strip,
The docking driving method further includes:
and controlling the pressurizing module to fill fluid into the sealing strip so as to expand the sealing strip.
As described above, in step S23 and step S24, when the distance between the transfer cart 102 and the treatment couch 101 satisfies the condition corresponding to the second predetermined position, that is, when the distance between the transfer cart 102 and the treatment couch 101 reaches 0.5 to 3.5mm, the first locking member 112 and the second locking member 113 are controlled to be locked so as to achieve the relative position fixation between the transfer cart 102 and the treatment couch 101, and simultaneously the pressurizing module is controlled to fill the sealing strip 118 with the fluid so as to expand the sealing strip 118, thereby achieving the sealing of the joint.
Further, after the step S24 is performed, the docking status is sent to the control device, so that the operator can know the docking status of the treatment bed 101 and the transfer cart 102 in time, and perform the subsequent treatment operation steps.
The docking driving method of the ultrasonic treatment system provided by the present invention will be described with reference to fig. 8:
as shown in fig. 8, the control device comprises a human-computer interface, an upper computer, a main control module, a transfer vehicle sensing circuit, a transfer vehicle locking control circuit, a locking control circuit and a butt joint sealing control circuit.
Specifically, when the transfer vehicle 102 reaches the first predetermined position, the sensing device 103 triggers and generates a position signal, the position signal is transmitted to the main control module through the transfer vehicle sensing circuit, and the main control module sends a state signal to the upper computer according to the position signal to tell the upper computer that the transfer vehicle has reached the first predetermined position, and the upper computer displays the state information through the human-computer interface to inform an operator that the transfer vehicle has reached the first predetermined position.
Meanwhile, the main control module controls the transfer car locking control circuit to work, the transfer car locking control circuit controls the lifting device to work, specifically, the transfer car locking control circuit controls the lifting motor 111 to work, the lifting motor 111 drives the lifting body 104 to lift, and further drives the supporting component 106 connected with the lifting body 104 to lift together, further, the supporting component 106 is connected with the positioning sleeve 114 and continues to lift so as to lift the transfer car 102 to the preset height to be coincident with the system center line left and right, at this time, the position of the transfer car 102 and the lifting device is relatively fixed due to the connection of the supporting component 106 and the positioning sleeve, namely, the transfer car 102 is locked in the horizontal direction;
Then, the transfer trolley locking control circuit feeds back the locked state information of the transfer trolley 102 to the main control module, and after receiving the locked state information of the transfer trolley 102, the main control module controls the telescopic rod 107 to work, and the telescopic rod 107 drives the lifting device and the transfer trolley 102 to move together on the first guide rail 108 and the second guide rail 115 along the direction towards the treatment bed 101.
When the distance between the transfer cart 102 and the treatment couch 101 meets the condition corresponding to the second preset position, that is, when the distance between the transfer cart 102 and the treatment couch 101 reaches 0.5-3.5 mm, the main control module controls the locking motion control circuit to work, and the locking motion control circuit controls the first locking piece 112 and the second locking piece 113 to be in butt joint locking, so that the positions between the transfer cart 102 and the treatment couch 101 are relatively fixed. Meanwhile, the contact switch connected with the first locking piece 112 triggers and generates a trigger state signal, and sends the trigger state signal to the main control module, the main control module controls the operation of the butt joint sealing control circuit, and the butt joint sealing control circuit drives the pressurizing module to charge liquid or gas into the sealing strip 118, so that the sealing strip 118 expands from the left contracted state in fig. 6 to the right expanded state in fig. 6, and further the joint on the butt joint surface of the transfer trolley 102 and the treatment bed 101 is sealed, and the sealed state is sent to the upper computer, so that an operator can know in time that the transfer trolley 102 and the treatment bed 101 have completed automatic butt joint.
Of course, after the treatment is finished, the control device may realize the automatic separation of the transfer cart 102 and the treatment bed 101, and the specific process is the reverse process of the above-mentioned "automatic docking" process, which is not described herein again.
In summary, by the docking driving method of the ultrasonic treatment system provided by the invention, the automatic docking of the treatment bed 101 and the transfer trolley 102 can be realized, the stability and reliability of the equipment are enhanced, the burden of operators is lightened, the utilization rate and the working efficiency of the equipment are improved, and the treatment experience of patients is improved.
It is to be understood that the above embodiments are merely illustrative of the application of the principles of the present invention, but not in limitation thereof. Various modifications and improvements may be made by those skilled in the art without departing from the spirit and substance of the invention, and are also considered to be within the scope of the invention.
Claims (14)
1. The butt-joint driving mechanism of the ultrasonic treatment equipment comprises a treatment bed and a transfer trolley, and is used for driving the transfer trolley to butt-joint with the treatment bed;
The lifting device comprises a lifting assembly and a supporting assembly, the supporting assembly is used for bearing the transfer trolley, one end of the lifting assembly is connected with the translation device, and the other end of the lifting assembly is connected with the supporting assembly;
The lifting assembly comprises a lifting body and a lifting body mounting seat, the lifting body is fixed on the lifting body mounting seat, the bearing end of the lifting body is formed at the other end of the lifting assembly, the lifting body mounting seat is formed at one end of the lifting assembly,
The translation device comprises a telescopic rod and a first guide rail, wherein the lifting body mounting seat is slidably arranged on the first guide rail, one end of the telescopic rod is fixedly connected with the lifting body mounting seat, and the other end of the telescopic rod is fixedly arranged relative to the mounting foundation.
2. A docking drive as claimed in claim 1, comprising sensing means for detecting the position of the transfer cart and generating a position signal.
3. A docking drive as claimed in claim 2 further comprising control means for receiving the position signal, the control means being capable of determining the position of the transfer cart from the position signal and being capable of controlling the lifting means to lift when the transfer cart reaches a first predetermined position and controlling the translation means to translate the lifting means when the lifting means reaches a predetermined height.
4. A docking drive as claimed in claim 1 further comprising a support bracket secured to the mounting base and the translation device is secured to the support bracket.
5. A docking drive as claimed in claim 4 including sensing means for detecting the position of the transfer cart and generating a position signal, the sensing means being provided on the support frame.
6. The docking drive mechanism as recited in claim 1, wherein the lifting body mount is provided with a stop.
7. An ultrasonic treatment system comprising an ultrasonic treatment apparatus and a docking drive mechanism as set forth in any one of claims 1 to 6,
The ultrasonic treatment equipment comprises a treatment bed and a transfer trolley, wherein a first locking piece is arranged on the treatment bed, a second locking piece matched with the first locking piece is arranged on the transfer trolley, the lifting device can lift the transfer trolley to a position where the second locking piece is matched with the first locking piece, and the translation device of the docking driving mechanism can move the transfer trolley to a position where the first locking piece is in docking locking with the second locking piece.
8. The ultrasound therapy system according to claim 7, wherein said lifting device comprises a lifting assembly and a supporting assembly, said supporting assembly is configured to carry said transfer cart, one end of said lifting assembly is connected to said translation device, the other end of said lifting assembly is connected to said supporting assembly, a positioning sleeve is disposed at a middle position of a bottom of said transfer cart, and said supporting assembly is disposed in said positioning sleeve when said lifting device is lifted.
9. The therapeutic ultrasound system of claim 7, comprising a second rail disposed on the couch, the transfer cart having a guide wheel disposed thereon, the guide wheel being rollably coupled to the second rail during movement of the transfer cart from the first predetermined position to the second predetermined position by the translation device.
10. The ultrasonic therapy system according to any one of claims 7 to 9, further comprising a pressurizing module and a sealing strip, the sealing strip being located on the therapy bed and corresponding to an edge position of a butt-joint surface of the transfer cart and the therapy bed, the sealing strip being made of a flexible material and having a cavity therein,
The pressurizing module is communicated with the cavity of the sealing strip and is used for filling fluid into the cavity so as to expand the sealing strip.
11. A docking drive method of an ultrasonic therapy system, wherein the ultrasonic therapy system is the ultrasonic therapy system according to any one of claims 7 to 10, the docking drive method comprising:
judging whether the transfer vehicle reaches a first preset position or not;
And when the judgment result is yes, driving the rear part of the transfer trolley to rise to a preset height, and controlling the transfer trolley to translate towards the treatment bed so as to realize the butt joint of the transfer trolley and the treatment bed.
12. The docking driving method according to claim 11, wherein the step of judging whether the transfer cart reaches the first predetermined position includes:
and receiving a position signal sent by the sensing device, and determining the position of the transfer vehicle according to the position signal.
13. The docking driving method according to claim 11, wherein a positioning sleeve is provided at a middle position of a bottom of the transfer cart;
when the judgment result is yes, driving the rear part of the transfer trolley to rise to a preset height, and controlling the transfer trolley to move towards the treatment bed so as to realize the butt joint of the transfer trolley and the treatment bed, wherein the step of controlling the transfer trolley to move towards the treatment bed comprises the following steps of:
controlling the lifting device to lift so as to enable the supporting component to be in butt joint with the locating sleeve, and keeping the positions of the transfer vehicle and the lifting device relatively fixed;
Controlling the translation device to operate so that the translation device drives the lifting device to horizontally move on the first guide rail towards the treatment bed;
the first locking member and the second locking member are controlled to lock when the transfer cart is moved to a second predetermined position towards the treatment couch.
14. The docking drive method of claim 11, wherein the ultrasound therapy system further comprises a pressurizing module and a sealing strip, the sealing strip being positioned on the therapy bed and corresponding to the edge position of the docking surface of the transfer cart and the therapy bed, the sealing strip being composed of a flexible material and having a cavity therein,
The pressurizing module is communicated with the cavity of the sealing strip and is used for filling fluid into the cavity so as to expand the sealing strip,
The docking driving method further includes:
and controlling the pressurizing module to fill fluid into the sealing strip so as to expand the sealing strip.
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| CN201810326155.2A CN110368607B (en) | 2018-04-12 | 2018-04-12 | Butt joint driving mechanism, treatment system and driving method of ultrasonic treatment equipment |
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| CN201810326155.2A CN110368607B (en) | 2018-04-12 | 2018-04-12 | Butt joint driving mechanism, treatment system and driving method of ultrasonic treatment equipment |
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| CN112716704A (en) * | 2020-12-24 | 2021-04-30 | 重庆海扶医疗科技股份有限公司 | Transfer bed |
| CN115195133B (en) * | 2022-07-01 | 2023-10-10 | 南通恒康数控机械股份有限公司 | Automatic ultrasonic sewing machine for inner sleeves of mattresses |
| CN115158762A (en) * | 2022-07-01 | 2022-10-11 | 南通恒康数控机械股份有限公司 | Ultrasonic sewing production line for mattress inner sleeve bag |
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