CN111528902B - Automatic mammary gland scanning equipment - Google Patents
Automatic mammary gland scanning equipment Download PDFInfo
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- CN111528902B CN111528902B CN202010301486.8A CN202010301486A CN111528902B CN 111528902 B CN111528902 B CN 111528902B CN 202010301486 A CN202010301486 A CN 202010301486A CN 111528902 B CN111528902 B CN 111528902B
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- 210000005075 mammary gland Anatomy 0.000 title claims abstract description 8
- 239000000523 sample Substances 0.000 claims abstract description 23
- 210000000481 breast Anatomy 0.000 claims description 29
- 230000000712 assembly Effects 0.000 claims description 11
- 238000000429 assembly Methods 0.000 claims description 11
- 210000001503 joint Anatomy 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000000903 blocking effect Effects 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 8
- 238000007689 inspection Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 208000030270 breast disease Diseases 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- ZOKXTWBITQBERF-UHFFFAOYSA-N Molybdenum Chemical compound [Mo] ZOKXTWBITQBERF-UHFFFAOYSA-N 0.000 description 1
- 244000309464 bull Species 0.000 description 1
- 208000031513 cyst Diseases 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 206010020718 hyperplasia Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003475 lamination Methods 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052750 molybdenum Inorganic materials 0.000 description 1
- 239000011733 molybdenum Substances 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Clinical applications
- A61B8/0825—Clinical applications for diagnosis of the breast, e.g. mammography
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/40—Positioning of patients, e.g. means for holding or immobilising parts of the patient's body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
- A61B8/4218—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames characterised by articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/54—Control of the diagnostic device
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- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Biophysics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
The invention discloses automatic mammary gland scanning equipment which comprises a scanning machine and a scanning bed, wherein the scanning machine comprises a first base, a portal frame, a mechanical arm and an ultrasonic probe, the portal frame is arranged on the first base, the mechanical arm is arranged on the portal frame in a hoisting state, and the ultrasonic probe is positioned at the free end of the mechanical arm; the scanning bed is movably arranged on the first base and located below the mechanical arm. The invention is beneficial to improving the accuracy of acquiring the ultrasonic scanning result.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to automatic mammary gland scanning equipment.
Background
Breast disease is a common gynecological disease, which seriously threatens the health and even life of women worldwide. With the development of scientific technology, the diagnosis technology and the treatment method of the mammary gland diseases are greatly improved. The common main components are molybdenum target soft X-ray inspection, ultrasonic imaging inspection, near infrared scanning inspection, CT inspection, etc.
The ultrasonic examination is one of important imaging examination methods for diagnosing breast diseases, and can identify lesions such as cysts and hyperplasia in the breast, and the existing automatic breast scanning equipment generally comprises a scanning machine and a scanning bed which are arranged independently, when the automatic breast scanning equipment is used, the scanning machine is required to be manually moved to the vicinity of the scanning bed or moved to the vicinity of the scanning machine, and then the manual scanning is carried out on the breast of a human body through a manual hand-held ultrasonic probe. However, because of uncertainty of scanning actions of a user during manual scanning, the scanning angle and stress between the ultrasonic probe and the breast are changed easily, so that errors of ultrasonic detection are increased easily, and the manual scanning mode of accurate scanning diagnosis is not facilitated.
Disclosure of Invention
The invention mainly aims to provide automatic breast scanning equipment, which aims to solve the technical problem of large data error caused by manual operation in the existing breast ultrasonic scanning.
In order to solve the technical problems, the invention provides an automatic mammary gland scanning device which comprises a scanning machine and a scanning bed, wherein the scanning machine comprises a first base, a portal frame, a mechanical arm and an ultrasonic probe, the portal frame is arranged on the first base, the mechanical arm is arranged on the portal frame in a hoisting state, and the ultrasonic probe is positioned on the free end of the mechanical arm; the scanning bed is movably arranged on the first base and located below the mechanical arm.
Preferably, the scanning machine further comprises three structured light assemblies which are respectively arranged on the top and two side surfaces of the inner wall of the portal frame and are used for acquiring three-dimensional images.
Preferably, the scanning bed comprises a second base, rollers and a folding bed body, wherein a plurality of rollers are positioned at the bottom of the second base, one end of the folding bed body is rotatably connected with the second base and can rotate around the horizontal direction, and the other end of the folding bed body is detachably arranged on the first base.
Preferably, the folding bed body comprises a first bed body and a second bed body, one end of the first bed body is hinged with one end of the second bed body, and the first bed body is rotatably connected with the second base.
Preferably, the second base comprises a bottom plate and two mounting plates oppositely arranged on the bottom plate, the first bed body is positioned between the two mounting plates, the side surfaces of the first bed body are respectively and rotatably connected with the two mounting plates through rotating shafts, and the idler wheels are positioned at the bottom of the bottom plate.
Preferably, the scanning bed further comprises a positioning pin movably arranged on the mounting plate, a positioning hole matched with the positioning pin is formed in the first bed body, and the positioning pin can be inserted into the positioning hole along the axial direction of the rotating shaft when the first bed body is in a horizontal state.
Preferably, the folding bed body is connected with the first base through a sliding assembly, and the sliding assembly comprises a sliding block arranged on the first bed body/the second bed body and a sliding rail arranged on the first base and in sliding connection with the sliding block.
Preferably, the scanning bed further comprises a brake device arranged on the folding bed body, wherein the brake device comprises a handle hinged with the first bed body, a fixed rack arranged on the sliding rail, a movable tooth block which is arranged on the sliding block in a sliding manner and can be meshed with the fixed rack, a reset spring respectively connected with the sliding block and the movable tooth block, and a brake cable respectively connected with the handle and the movable tooth block.
Preferably, the scanning bed is fixed on the first base through a connecting structure, and the connecting structure comprises a first connecting seat arranged on the folding bed body, a second connecting seat arranged on the first base and capable of being in butt joint with the first connecting seat, and a fixing piece for fixing the first connecting seat and the second connecting seat.
Preferably, the two connection structures are arranged in opposite directions or opposite directions, a bayonet is arranged on the second connection seat, the fixing piece comprises a rotating rod arranged on the first connection seat in a rotating mode and a clamping block arranged on the rotating rod, a threaded section is arranged on the rotating rod, the clamping block comprises a moving part in threaded fit with the threaded section and a clamping part capable of being clamped and matched with the bayonet, and limiting parts which are respectively arranged on the first connection seat in a fitting mode and are attached to two opposite sides of the clamping block.
According to the breast automatic scanning equipment provided by the embodiment of the invention, the ultrasonic probe is arranged on the mechanical arm, and the scanning machine and the scanning bed are integrally arranged, so that a patient can lie on the scanning bed conveniently, the mechanical arm is used for driving the ultrasonic probe to automatically scan the breast of the human body, and the accuracy of acquiring an ultrasonic scanning result is improved. Meanwhile, an automatic scanning mode is also beneficial to realizing the automation and standardization of ultrasonic scanning, and the efficiency of ultrasonic scanning is greatly improved.
Drawings
FIG. 1 is a schematic diagram of an embodiment of an automatic breast scanning apparatus according to the present invention;
FIG. 2 is a schematic view of the scanner shown in FIG. 1;
FIG. 3 is a schematic view of a portion of the scanner shown in FIG. 2;
FIG. 4 is a schematic view of the scanning bed shown in FIG. 1 in an expanded configuration;
FIG. 5 is a schematic view of the scanning bed shown in FIG. 1 in a folded configuration;
FIG. 6 is a schematic view of a portion of the scanning bed shown in FIG. 1;
FIG. 7 is a schematic view of the slide assembly and connection structure shown in FIG. 6;
FIG. 8 is a schematic view of the slide assembly and portions of the brake assembly shown in FIG. 7;
FIG. 9 is a schematic structural view of the connection structure shown in FIG. 4;
FIG. 10 is a schematic view of the first connecting seat shown in FIG. 9;
FIG. 11 is a schematic view of the structure of the fastener shown in FIG. 9;
Fig. 12 is a schematic structural view of the second connection base shown in fig. 9.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below are exemplary and intended to illustrate the present invention and should not be construed as limiting the invention, and all other embodiments, based on the embodiments of the present invention, which may be obtained by persons of ordinary skill in the art without making any inventive effort, are intended to be within the scope of the present invention.
The invention provides an automatic mammary gland scanning device, as shown in fig. 1, which comprises a scanning machine 100, a scanning bed 200 and a connecting structure 300, wherein the scanning machine 100 comprises a first base 110, a portal frame 120, a mechanical arm 130 and an ultrasonic probe 140, the portal frame 120 is arranged on the first base 110, the mechanical arm 130 is arranged on the portal frame 120 in a hoisting state, and the ultrasonic probe 140 is positioned on the free end of the mechanical arm 130; the scanning bed 200 is movably disposed on the first base 110 and below the robot arm 130.
In this embodiment, as shown in fig. 2, the first base 110 and the gantry 120 enclose a shape like a Chinese character 'hui', so that on one hand, the first base 110 and the gantry 120 are supported firmly, and on the other hand, the scanning bed 200 can be supported, so that the design of the scanning bed 200 becomes simple, and the scanning bed is detachable and convenient to transport. Meanwhile, in order to facilitate the movement of the scanner 100, a plurality of universal wheels and corresponding foot cups may be disposed at the bottom of the first base 110. The number of the mechanical arms 130 is preferably two, but may also be one, wherein the two mechanical arms 130 are arranged on the portal frame 120 in a hanging state, and the mechanical arms 130 preferably adopt multiple axes, so that different scanning angles can be conveniently changed. Of course, referring to fig. 3, in order to facilitate the movement of the two mechanical arms 130, a horizontal driving mechanism 160 for driving the two mechanical arms 130 to move in the horizontal direction may be further provided, so that the mechanical arms 130 may respectively move longitudinally and transversely in the horizontal direction, and the form of the horizontal driving mechanism 160 may be a form of an existing horizontal guide rail+motor screw assembly. Of course, a vertical moving mechanism 170 for driving the robot arm 130 to move in the vertical direction may be provided, and in this case, it is preferable that the vertical driving mechanism 170 is connected to an output end of the horizontal driving mechanism 160, and the robot arm 130 is connected to an output end of the vertical driving mechanism 170. Meanwhile, each of the free ends of the two mechanical arms 130 is provided with an ultrasonic probe 140, and in order to facilitate the installation of the ultrasonic probe 140 on the mechanical arm 130, it is preferable that a fixing clamp is further provided on the free end of the mechanical arm 130, and the ultrasonic probe 140 is installed on the fixing clamp. The fixing fixture preferably comprises a connecting plate connected with the free end of the mechanical arm 130 and two clamping plates arranged on the connecting plate, wherein the two clamping plates and the connecting plate enclose a clamping space for installing the ultrasonic probe 140. The scanning bed 200 may be movably disposed on the first base 110 in such a manner that the scanning bed 200 is slidably disposed on the first base 110 and may be automatically or manually moved in a horizontal direction, wherein the automatic movement may be performed with reference to a CT machine, or, of course, the scanning bed 200 may be detachably connected to the first base 110. Meanwhile, a display screen 150, such as a portal frame 120, may be further disposed on the scanner 100, and preferably, the display screen 150 is a touch screen, so that an ultrasonic image can be conveniently displayed in real time by using the display screen 150, and meanwhile, the real-time relative positions of the ultrasonic scanning and the image can be obtained, and the scanned breast is selected through the display screen 150, so as to determine the corresponding information of the two-dimensional ultrasonic image and the three-dimensional scanning. In this embodiment, the ultrasonic probe 140 is disposed on the mechanical arm 130, and the scanning machine 100 and the scanning bed 200 are integrally disposed, so that a patient can lie on the scanning bed 200 conveniently, and the mechanical arm 130 is used to drive the ultrasonic probe 140 to automatically scan the breast of the human body, so that the accuracy of obtaining the ultrasonic scanning result is improved. Meanwhile, an automatic scanning mode is also beneficial to realizing the automation and standardization of ultrasonic scanning, and the efficiency of ultrasonic scanning is greatly improved.
In a preferred embodiment, as shown in fig. 3, in order to conveniently control the mechanical arm 130 to drive the ultrasonic probe 140 to precisely move, three structural light assemblies 180 are further included, preferably one of the structural light assemblies 180 (not shown) is located at the center position of the top of the inner wall of the gantry 120, and the other two structural light assemblies 180 are respectively located at the upper end positions of the two side walls of the inner wall of the gantry 120, so that the three structural light assemblies 180 are conveniently used to construct a 3D image of the double breast of the patient. At this time, the structured light assemblies 180 preferably located at two sides are arranged at an inclined angle of 45 degrees toward the scanning bed 200, that is, the light rays emitted by the structured light assemblies 180 are at an angle of 45 degrees with the horizontal plane, and the two structured light assemblies 180 arranged at the side surfaces of the portal frame 120 are symmetrically arranged, so that accuracy of acquiring breast surface information is improved greatly, and problems of inaccurate path planning, poor lamination between the ultrasonic probe 140 and the skin surface of a human body, poor ultrasonic image and even failure in scanning caused by clear and fuzzy side surfaces of the front image of the breast are avoided. The form of the structured light assembly 180 may be arranged according to the existing form, for example, the structured light assembly 180 includes a camera and an emitter. In this embodiment, the camera may include an infrared camera and a visible camera, and the emitter may be an infrared emitter. When the image acquisition is carried out, a visible light camera is used for shooting a 2D picture, and plane axis (namely X, Y axes) information of the breast is acquired; the infrared transmitter is used for transmitting invisible infrared light which is modulated specially to the breast, then the infrared camera is used for receiving the infrared light reflected by the breast, depth axis (namely Z axis) information is acquired, and depth information of the breast to be measured is determined. Of course, a processing module (i.e. a processing chip) electrically connected to the structured light assembly 180 is further included at this time to combine the captured 2D image with the obtained 3D information to generate a 3D image with spatial information, so that the mechanical arm 130 can drive the ultrasonic probe 140 to move according to the corresponding track according to the generated 3D image. When the breast ultrasound scanning device is operated, the structured light assembly 180 is used for collecting double-breast data of a patient to construct a double-breast 3D image of the patient, and then the mechanical arm 130 can drive the ultrasound probe 140 to scan along a track calculated according to the 3D image.
In a preferred embodiment, as shown in fig. 4, the scanning bed 200 includes a second base 210, rollers 220, and a folding bed body 230, the rollers 220 are disposed at the bottom of the second base 210, and the rollers 220 preferably take the form of universal wheels, so as to facilitate multi-directional movement during transportation. One end of the folding bed body 230 is rotatably connected with the second base 210 and can rotate around the horizontal direction, so that the folding bed body 230 can be conveniently rotated from the horizontal state to the vertical state after the scanning bed 200 is disassembled from the scanning machine 100, and the occupied space is further reduced. As for the fixing manner of the folding bed 230 and the first base 110, the end of the folding bed 230 far from the second base 210 may be detachably connected with the first base 110, and the specific detachable connection manner may be through a screw connection or through a clamping structure. In this embodiment, the folding bed 230 is rotatably connected with the second base 210, so that the space occupied by the scanning bed 200 can be reduced by rotating the folding bed 230 and folding the folding bed 230 when transporting the scanning bed 200. Meanwhile, the rollers 220 are provided on the second base 210, thereby facilitating transportation of the scanning bed 200.
In a preferred embodiment, as shown in fig. 4 and 5, in order to facilitate folding of the folding bed 230, it is preferable that the folding bed 230 includes a first bed 231 and a second bed 232. The first bed 231 and the second bed 232 may have the same structure, and one end of the first bed 231 is hinged to one end of the second bed 232, so that the first bed 231 and the second bed 232 can be folded to reduce occupied space. At this time, the first bed body 231 and the second bed body 232 may be hinged by two folding profiles 270, specifically, one end of the two folding profiles 270 is connected with the first bed body 231, and the other end is connected with the second bed body 232, and the connection mode may be through screws, and preferably the folding profiles 270 have a limiting portion, so that the included angle between the two sections of the folding profiles 270 is prevented from rotating from 0 degree to 180 degrees.
In a preferred embodiment, as shown in fig. 5, for facilitating the storage of the folding bed 230, the second base 210 preferably includes a bottom 211 and two mounting plates 212. Wherein, the two mounting plates 212 are oppositely arranged on the circumference of the bottom plate 211 to form a storage space for storing the folding bed 230, and the roller 220 is positioned at the bottom of the bottom plate 211. At this time, the opposite sides of the first bed body 231 are rotatably connected with the two mounting plates 212 through the rotating shafts, respectively, so that the folding bed body 230 can be conveniently rotated around the rotating shafts and stored in the storage space after being in a folded state. In this embodiment, the rotating shaft is preferably formed by one rotating shaft, that is, the rotating shaft passes through the through holes formed in the first bed 231 and is connected to the two mounting plates 212, so that the bearing performance of the rotation is improved.
In a preferred embodiment, as shown in fig. 4 and 5, in order to prevent the folding bed 230 from freely rotating when the scanning bed 200 is used, it is preferable that the mounting plate 212 is provided with a positioning pin 213, and the first bed 231 is provided with a positioning hole corresponding to the positioning pin 213, so that the folding bed 230 is conveniently inserted into the positioning hole in the axial direction of the rotating shaft by using the positioning pin 213 when rotating to a horizontal state, so as to prevent the folding bed 230 from continuing to rotate. In this case, the positioning pins 213 may be disposed on both mounting plates 212, and the positioning holes may be correspondingly disposed on the first bed 231, and the form of the positioning pins 213 may be preferably a reset type indexing pin.
Of course, in order to facilitate stability of the folding bed 230 in the unfolded state, it is preferable that the bottom of the first bed 231 is provided with a fixing pin, the bottom of the second bed 232 is provided with a fixing block, and a fixing hole corresponding to the fixing pin is formed on the fixing block, so that the fixing pin is conveniently inserted in the fixing hole when the folding bed 230 is in the unfolded state, thereby preventing the hinge joint of the first bed 231 and the second bed 232 from rotating. In this case, the fixing pin is preferably located at an end of the first bed 231 near the second bed 232, and the fixing block is preferably located at an end of the second bed 232 near the first bed 231.
In a preferred embodiment, for convenience in controlling the folding bed 230 to be arranged in a horizontal state, a baffle is preferably provided on the mounting plate 212, and an abutment plate is provided on the first bed 231, so that when the folding bed 230 rotates to a horizontal state, the abutment plate can abut against the baffle, and thus the folding bed 230 stops rotating when rotating to a horizontal state, so that the positioning pin 213 is conveniently inserted into the positioning hole.
In a preferred embodiment, as shown in fig. 6 and 7, in order to facilitate the patient to lie on the scanning bed 200, the folding bed 230 is connected to the first connecting base 310 through the sliding assembly 240, wherein the sliding assembly 240 includes a sliding block 241 disposed on the first bed 231 or the second bed 232 and a sliding rail 242 disposed on the first base 110 and slidably connected to the sliding block 241, so that the scanning bed 200 is conveniently movable horizontally as a whole, thereby allowing the patient to lie on the scanning bed 200 while the scanning bed 200 is located in the first position (i.e., most of the area of the folding bed 230 is located outside of the scanning machine 100), and then the scanning bed 200 is pushed by the medical staff to move to the second position (i.e., even if the double breast of the patient is located in the scanning area of the two ultrasonic probes 140) for breast scanning. At this time, the scanning bed 200 may be manually pushed to translate, or a driving device, such as a motor rack-and-pinion mechanism or a motor screw mechanism, may be disposed on the scanning bed 200, so as to facilitate automatic control of movement of the scanning bed 200, and a specific connection manner, such as a motor, is disposed on the scanning bed 200, a screw in the screw is connected with an output end of the motor, and a nut is connected with the slide rail 242.
In a preferred embodiment, as shown in fig. 4,7 and 8, in order to avoid the movement of the scanning bed 200 after being located at the preset position, the scanning bed further comprises a braking device 250 disposed on the folding bed 230, wherein the braking device 250 comprises a handle 251, a fixed rack 252, a movable tooth block 253, a return spring and a brake cable. The handle 251 is hinged to the first bed body 231, the fixed rack 252 is fixedly arranged on the sliding rail 242 and is arranged along the extending direction of the sliding rail 242, the movable tooth block 253 is slidably arranged on the sliding block 241 and can be meshed with the fixed rack 252, preferably, the movable tooth block 253 is slidably connected with the sliding block 241 through a guide post and can slide along the vertical direction, at this time, the movable tooth block 253 is located right above the fixed rack 252, two ends of a brake cable are respectively connected with the handle 251 and the movable tooth block 253, so that the movable tooth block 253 is conveniently driven to move upwards by using the pulling handle 251 through the brake cable, and the locking state of the movable tooth block 253 to the sliding assembly 240 is relieved. And both ends of the return spring are respectively connected with the movable tooth block 253 and the sliding block 241, so that the movable tooth block 253 is driven to move downwards and meshed with the fixed rack 252 by the elastic force of the return spring after the handle 251 is conveniently loosened, and the scanning bed 200 is prevented from moving. Of course, in order to facilitate the assembly and disassembly of the movable tooth 253, it is preferable that the slider 241 is slidably connected to the movable tooth 253 by a mounting block, and the mounting block is screwed to the slider 241. At this time, the principle of the whole brake device 250 is just to refer to a bicycle brake system, so that the return spring is preferably sleeved on one end of the brake cable close to the movable tooth 253. Meanwhile, in order to facilitate the use of the handle 251, it is preferable that the side of the first bed 231 is provided with an inverted U-shaped armrest 260, and the handle 251 is located at the bottom of the top edge of the armrest 260. Of course, it is also possible to use a universal wheel with a locking function for the roller 220, and to prevent the movement of the scanning bed 200 by controlling the locking means on the universal wheel.
In a preferred embodiment, as shown in fig. 6 and 7, in order to facilitate the sliding of the scanning bed 200 on the scanning machine 100, the number of sliding assemblies 240 is preferably two, and the two sliding assemblies 240 are spaced apart from each other at the bottom of the folding bed body 230, and further include connection strips 243 respectively connected to the two sliding rails 242, so as to facilitate the synchronous sliding of the two sliding rails 242. At this time, the first connector 310 is preferably located on the connecting strip 243.
In a preferred embodiment, as shown in fig. 4 and 9, the connection structure 300 includes a first connection base 310, a second connection base 320, and a fixing member 330 for facilitating connection of the folding bed 230 with the first base 110. The first connecting seat 310 is disposed on the folding bed body 230, the second connecting seat 320 is disposed on the first base 110, the first connecting seat 310 can be abutted with the second connecting seat 320, and the fixing member 330 is used for fixing the first connecting seat 310 on the second connecting seat 320, and the fixing member 330 can be in the form of a screw, a clamping device or electromagnetic adsorption. At this time, the first connecting seat 310 is preferably located on the sliding rail 242. In this embodiment, the folding bed body 230 is fixed on the first base 110 by adopting the connection structure 300, so that the quick assembly and disassembly of the scanning bed 200 and the scanning machine 100 are facilitated.
In a preferred embodiment, as shown in fig. 7, 9 and 10, to facilitate the quick assembly and disassembly of the first connecting seat 310 and the second connecting seat 320, the fixing member 330 includes a rotating rod 331 and a clamping block 332. At this time, the first connecting seat 310 is fixed on the sliding rail 242, and the second connecting seat 320 is fixed on the first base 110, wherein the first connecting seat 310 and the second connecting seat 320 are both in block structures and can be fixed on the sliding rail 242 or the second base 210 respectively through screws. The second connecting seat 320 is provided with a bayonet 321, the bayonet 321 is transversely arranged (i.e. arranged along the extending direction of the sliding rail 242), the first connecting seat 310 is provided with a mounting hole 311 which is transversely arranged, and the rotating rod 331 is positioned in the mounting hole 311 and can rotate around the axis thereof. As shown in fig. 11, the clamping block 332 includes an integrally formed moving portion 333 and a clamping portion 334, which is integrally L-shaped, the moving portion 333 is in threaded engagement with the threaded section of the rotating rod 331, and the clamping portion 334 is located below the moving portion 333 and is adapted to the bayonet 321. Preferably, the catch 334 may be wedge-shaped. Further, in order to achieve the rotational arrangement of the rotating rod 331 on the first connection seat 310, a bearing may be provided in the mounting hole 311 to mount the rotating rod 331. At this time, it is preferable that two connection structures 300 are arranged on the same sliding rail 242 at intervals, and the two connection structures 300 are arranged opposite to each other or opposite to each other, so that the first connection base 310 is limited to move in the horizontal direction on the second connection base 320 by using two opposite or opposite arrangement of the clamping blocks 332 on the basis that the clamping blocks 332 are inserted into the clamping holes 321 to limit the first connection base 310 to move in the vertical direction on the second connection base 320, and the two connection structures 300 are preferably arranged opposite to each other, i.e., the two first connection bases 310 are located between the two second connection bases 320 after the assembly is completed.
Based on the above-arranged connecting structure 300, when the scanning bed 200 is assembled on the scanning machine 100, after the scanning bed 200 is moved to a preset position, the folding bed body 230 is unfolded and the first connecting seat 310 is matched with the corresponding second connecting seat 320, then the rotating rod 331 on the first connecting seat 310 is rotated, the rotation of the clamping block 332 is limited by the limiting part 312 of the first connecting seat 310 under the condition that the moving part 333 of the clamping block 332 is in threaded fit with the rotating shaft, so that the moving part 333 translates along the axial direction of the rotating rod 331, and the clamping part 334 is driven to enter the bayonet 321 of the second connecting seat 320 to form clamping fit with the bayonet 321 of the second connecting seat 320, so that the connection locking of two assembled objects is realized. The connecting structure 300 is arranged between two assembling objects, so that quick assembly and disassembly can be realized, and the assembly convenience and the working efficiency are improved.
It should be noted that, the rotating rod 331 rotates forward and backward, and the moving portion 333 of the clamping block 332 drives the clamping portion 334 to move in and out the bayonet 321. In practical applications, the connection structure 300 may be provided with a plurality of square layouts to improve the connection stability between the sliding rail 242 and the first base 110, which is not limited to this arrangement.
In a preferred embodiment, as shown in fig. 9 and 11, an elastic member 335 is disposed between the latch 332 and the first connecting seat 310. The elastic piece 335 is arranged along the axial direction of the rotating rod 331, and the elastic piece 335 is used for applying elastic force to the clamping block 332 so as to assist the clamping block 332 to move when the rotating rod 331 rotates to release the clamping block 332, and stability of action fit between structures is improved. Wherein, the elastic member 335 may be a spring or a shrapnel.
Further, for convenience of arrangement, the elastic member 335 is a spring, which is sleeved on the rotating rod 331, and two ends of the spring are respectively abutted with the first connecting seat 310 and the clamping block 332.
In a preferred embodiment, as shown in fig. 9 and 11, the rotating rod 331 is provided with a blocking piece 336, and the blocking piece 336 is located on a side of the clamping block 332 away from the first connecting seat 310. The blocking piece 336 can block the clamping block 332, so as to prevent the clamping block 332 from being separated from the rotating shaft when the rotating shaft is rotated.
Further, the first connecting seat 310 further includes a blocking portion 313 located on the same side of the latch 332 as the blocking piece 336 for limiting the moving range of the latch 332. The blocking portions 313 are respectively integrally formed with the two limiting portions 312, and are located on the same side of the clamping block 332 as the blocking piece 336, and are located on the moving path of the clamping block 332, so as to limit the distance of outward translation of the clamping block 332. The blocking portion 313 limits the movement range of the clamping block 332, so that the compactness and the integrity of the structure are improved.
In a preferred embodiment, as shown in fig. 12, the second connecting seat 320 includes a seat body 322 and a seat plate 323, the seat body 322 is provided with grooves with two communicating sides, and the seat plate 323 covers the grooves to form a bayonet 321. The opposite sides of the groove are communicated, the seat plate 323 is covered on the groove, and the two ends of the seat plate 323 are fixedly connected with the second connecting seat 320 through screws, so that the structure is simple. As can be seen in fig. 8 and 11, the clamping portion 334 of the clamping block 332 enters the bayonet 321 from one side of the groove.
In a preferred embodiment, as shown in fig. 9 to 12, the second connecting seat 320 (i.e. the seat body 322) is provided with a positioning slot 324, and the first connecting seat 310 further includes a positioning portion 314 that is inserted into and engaged with the positioning slot 324. When assembled, the positioning portion 314 of the first connecting seat 310 is inserted into the positioning slot 324 of the second connecting seat 320. Through the set positioning slot 324 and the positioning portion 314, the quick alignment of the connection position can be facilitated, and the assembly efficiency is improved.
Further, as shown in fig. 10, the positioning portion 314 is located at one side of the clamping block 332 and has a avoiding space 315 for the clamping portion 334 to move. The positioning portion 314 is recessed from bottom to top to form a avoidance space 315, and the holding portion 334 of the clamping block 332 is located in the avoidance space 315 and moves in the avoidance space to enter and exit the bayonet 321, so that the clamping block is closely matched and has a compact structure.
In a preferred embodiment, as shown in fig. 11, one end of the rotating lever 331 is provided with an operating lever 337 perpendicular thereto. The operation rod 337 is located at one end of the rotation rod 331, the rotation rod 331 is provided with a through hole perpendicular to the axial direction thereof, the operation rod 337 is penetrated in the through hole, and one end is locked by a screw, i.e., the operation rod 337 can slide in the through hole. Through controlling the operation rod 337 in order to rotate the bull stick 331, convenient operation, labour saving and time saving.
The above description and drawings should not be taken as limiting the scope of the invention in any way, but rather should be understood to cover all modifications, structural equivalents, or direct/indirect applications of the invention in the light of the general principles of the present invention which may be employed in the present invention and illustrated by the accompanying drawings.
Claims (8)
1. The automatic mammary gland scanning equipment is characterized by comprising a scanning machine and a scanning bed, wherein the scanning machine comprises a first base, a portal frame, a mechanical arm and an ultrasonic probe, the portal frame is arranged on the first base, the mechanical arm is arranged on the portal frame in a hoisting state, and the ultrasonic probe is positioned at the free end of the mechanical arm; the scanning bed is movably arranged on the first base and is positioned below the mechanical arm;
The scanning bed is fixed on the first base through a connecting structure, and the connecting structure comprises a first connecting seat arranged on the scanning bed, a second connecting seat arranged on the first base and capable of being in butt joint with the first connecting seat, and a fixing piece for fixing the first connecting seat and the second connecting seat;
The two connecting structures are arranged in opposite directions or opposite directions, a bayonet is arranged on the second connecting seat, the fixing piece comprises a rotating rod rotatably arranged on the first connecting seat and a clamping block positioned on the rotating rod, the rotating rod is provided with a threaded section, the clamping block comprises a moving part in threaded fit with the threaded section and a clamping part in clamping fit with the bayonet, and the first connecting seat is respectively provided with limiting parts in joint arrangement with two opposite sides of the clamping block;
The first connecting seat is provided with a mounting hole, the rotating rod is arranged in the mounting hole and can rotate around the axis of the first connecting seat, the second connecting seat comprises a seat body and a seat plate, two sides of the seat body are provided with grooves communicated, the seat plate cover is arranged on the grooves to form the bayonet, the seat body is provided with a positioning groove, and the first connecting seat further comprises a positioning part which is inserted and assembled with the positioning groove.
2. The automatic breast scanning apparatus of claim 1, wherein said scanning machine further comprises three structured light assemblies respectively disposed on top and on both sides of an inner wall of said gantry for acquiring three-dimensional images.
3. The automatic breast scanning device according to claim 1, wherein the scanning bed comprises a second base, rollers and a folding bed body, wherein a plurality of the rollers are positioned at the bottom of the second base, one end of the folding bed body is rotatably connected with the second base and can rotate around the horizontal direction, and the other end of the folding bed body is detachably arranged on the first base.
4. The automatic breast scanning device of claim 3, wherein the folding bed comprises a first bed and a second bed, wherein an end of the first bed is hinged to an end of the second bed, and the first bed is rotatably connected to the second base.
5. The automatic breast scanning device according to claim 4, wherein the second base comprises a bottom plate and two mounting plates oppositely arranged on the bottom plate, the first bed body is located between the two mounting plates, the side faces of the first bed body are respectively connected with the two mounting plates in a rotating mode through rotating shafts, and the rollers are located at the bottoms of the bottom plate.
6. The automatic breast scanning device according to claim 5, wherein the scanning bed further comprises a positioning pin movably arranged on the mounting plate, a positioning hole matched with the positioning pin is formed in the first bed body, and the positioning pin can be inserted into the positioning hole along the axial direction of the rotating shaft when the first bed body is in a horizontal state.
7. The automatic breast scanning apparatus of claim 4, wherein the folding bed is connected to the first base by a sliding assembly comprising a slider disposed on the first/second bed and a slide rail disposed on the first base and slidably connected to the slider.
8. The automatic breast scanning device according to claim 7, wherein the scanning bed further comprises a brake device arranged on the folding bed body, the brake device comprises a handle hinged with the first bed body, a fixed rack arranged on the sliding rail, a movable tooth block which is arranged on the sliding block in a sliding manner and can be meshed with the fixed rack, a reset spring respectively connected with the sliding block and the movable tooth block, and a brake cable respectively connected with the handle and the movable tooth block.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010301486.8A CN111528902B (en) | 2020-04-16 | 2020-04-16 | Automatic mammary gland scanning equipment |
| PCT/CN2020/121230 WO2021208384A1 (en) | 2020-04-16 | 2020-10-15 | Automatic mammary gland scanning apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010301486.8A CN111528902B (en) | 2020-04-16 | 2020-04-16 | Automatic mammary gland scanning equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111528902A CN111528902A (en) | 2020-08-14 |
| CN111528902B true CN111528902B (en) | 2024-08-09 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010301486.8A Active CN111528902B (en) | 2020-04-16 | 2020-04-16 | Automatic mammary gland scanning equipment |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111528902B (en) |
| WO (1) | WO2021208384A1 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111528902B (en) * | 2020-04-16 | 2024-08-09 | 深圳瀚维智能医疗科技有限公司 | Automatic mammary gland scanning equipment |
| CN114403907B (en) * | 2021-12-31 | 2025-05-09 | 深圳瀚维智能医疗科技有限公司 | A breast screening device |
| CN114305506B (en) * | 2021-12-31 | 2024-11-01 | 深圳瀚维智能医疗科技有限公司 | Mammary gland screening equipment |
| CN115153626B (en) * | 2022-06-30 | 2025-11-04 | 成都思多科医疗科技有限公司 | An ultrasonic three-dimensional scanning probe |
| CN116138975A (en) * | 2023-02-06 | 2023-05-23 | 深圳瀚维智能医疗科技有限公司 | Body surface laminating operation platform |
| CN117224165B (en) * | 2023-11-15 | 2024-02-27 | 浙江省肿瘤医院 | Mammary gland ultrasonic screening device |
| CN118452985B (en) * | 2024-07-12 | 2024-09-20 | 浙江省肿瘤医院 | An automated breast ultrasound screening device |
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Also Published As
| Publication number | Publication date |
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| WO2021208384A1 (en) | 2021-10-21 |
| CN111528902A (en) | 2020-08-14 |
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