CN111823258A - Shear wave elastic imaging detection mechanical arm - Google Patents
Shear wave elastic imaging detection mechanical arm Download PDFInfo
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- CN111823258A CN111823258A CN202010684078.5A CN202010684078A CN111823258A CN 111823258 A CN111823258 A CN 111823258A CN 202010684078 A CN202010684078 A CN 202010684078A CN 111823258 A CN111823258 A CN 111823258A
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- 238000001514 detection method Methods 0.000 title claims abstract description 53
- 238000003384 imaging method Methods 0.000 title claims description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 238000002099 shear wave elastography Methods 0.000 claims abstract description 19
- 230000003068 static effect Effects 0.000 claims abstract description 19
- 238000005452 bending Methods 0.000 claims abstract description 18
- 239000003638 chemical reducing agent Substances 0.000 claims description 43
- 239000000523 sample Substances 0.000 claims description 23
- 238000000034 method Methods 0.000 claims description 12
- 238000012544 monitoring process Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 239000003292 glue Substances 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 4
- 238000005259 measurement Methods 0.000 description 6
- 238000013459 approach Methods 0.000 description 4
- 238000002091 elastography Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000105 evaporative light scattering detection Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000002113 ultrasound elastography Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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Abstract
The invention discloses a shear wave elastography detection mechanical arm, which comprises a first rotating joint, a second rotating joint, two bending joints, a 3-RPS parallel mechanism, a front end detection device, a base, a first connecting rack, a second connecting rack and a third connecting rack, wherein the first rotating joint is fixed on the base, an output part is connected with the first connecting rack, the second rotating joint is fixed on the second connecting rack, an output part is connected with the third connecting rack, the two bending joints are respectively arranged on the first connecting rack and the third connecting rack, and the output part is respectively connected with the second connecting rack, the 3-RPS parallel mechanism and a static plate of the front end detection device. And the detection efficiency is high, and the automation degree is higher.
Description
Technical Field
The invention relates to the field of shear wave elastography detection devices, in particular to a shear wave elastography detection mechanical arm.
Background
In recent years, the ultrasonic elastography technology has emerged, and is a novel ultrasonic diagnostic technology. The technique can provide an image of the distribution of tissue stiffness, from which information about the diseased tissue can be obtained. Shear wave elastography is an important ultrasound elastography technique that requires ensuring a pressure-free and good contact between the probe and the skin during the examination. The detection condition has high requirements on the operation level of operators, and the detection result can be more accurate only by detecting the operators with abundant experience. Moreover, the operating specification brings great burden to the shoulders, elbows and wrists of testers holding the probe, and is not suitable for intensive and mass detection. Therefore, in order to solve the above problems, a probe clamping detection device capable of adjusting the posture, detecting the pressure, and stabilizing and accurately is urgently needed.
Disclosure of Invention
The invention aims to solve the problems that the existing shear wave elastography technology in the background art requires abundant experience of operators and heavy workload, and is difficult to intensively detect, and provides a shear wave elastography detection mechanical arm.
A shear wave elastography detection mechanical arm comprises a first rotary joint, a second rotary joint, two bending joints, a 3-RPS parallel mechanism, a front end detection device, a base, a first connecting rack, a second connecting rack and a third connecting rack, wherein the first rotary joint is fixed on the base, an output part is connected with the first connecting rack, the second rotary joint is fixed on the second connecting rack, the output part is connected with the third connecting rack, the two bending joints are respectively arranged on the first connecting rack and the third connecting rack, and the output part is respectively connected with the second connecting rack, the 3-RPS parallel mechanism and a static plate of the front end detection device;
the first rotating joint comprises a first rotating motor, a planetary reducer, a first connecting key and a first back-to-back mounting bearing, the large bearing end cover, the small bearing end cover and the first connecting flange, the output shaft of the first rotating motor and the shaft hub of the planetary reducer are tightly hooped by screws to transmit power, the mounting flange of the first rotating motor and the connecting flange of the planetary reducer are connected by screws, the mounting flange of the planetary reducer is mounted on the base by bolts, the output shaft of the planetary reducer and the first connecting flange are connected by a first connecting key, the first connecting flange and the first connecting frame are connected by screws, the first connecting frame and the base are supported by a first back-to-back mounting bearing, the small bearing end cover is mounted on the base, the large bearing end cover is mounted on the first connecting frame, and the small bearing end cover, the large bearing end cover, the first connecting frame and the base are used for axially positioning and radially positioning the first back-to-back bearing together.
The second rotary joint comprises a second rotary motor, a second connecting key, a first harmonic reducer, a second back-to-back mounting bearing, a second connecting flange, a sleeve and a bearing end cover, the second rotary motor and the first harmonic reducer are fixedly mounted on a second connecting rack by screws, the second rotary motor and the first harmonic reducer are connected by the second connecting key to transmit motion and power, the second connecting flange is an intermediate connecting piece for transmitting power between the first harmonic reducer and a third connecting rack, the second connecting flange, the first harmonic reducer and the third connecting rack are connected by screws, the third connecting rack and the second connecting rack are supported by the second back-to-back mounting bearing, the sleeve is sleeved on the third connecting rack and mounted between the second connecting flange and the second back-to-back mounting bearing to serve as an axial positioning piece of the inner ring of the second back-to-back mounting bearing, the bearing end cover is installed on the second connecting rack through screws and serves as an axial positioning piece for installing the bearing outer ring back to back, and the second connecting rack and the third connecting rack simultaneously perform axial positioning and radial positioning on the second back to back installation bearing;
the bending joint comprises a shaft, a torque motor, a second harmonic reducer, a third connecting flange, a first surface-to-surface mounting bearing, a long sleeve, a first mounting bearing, a second mounting bearing, a bearing end cover and a clamp spring, wherein the torque motor is fixed on the shaft by using industrial glue and is positioned by using a shaft shoulder, the torque motor transmits motion and power to the shaft, the shaft is connected with the input part of the second harmonic reducer by using screws, the output part of the second harmonic reducer is connected with the third connecting flange by using screws to transmit power, the fixed end of the second harmonic reducer is connected with the connecting flange of the long sleeve by using a bolt component, the other end of the third connecting flange is connected with the left ear of the second connecting frame by using screws, the first mounting bearing is mounted on the third connecting flange and is a main support piece of the first connecting frame and the third connecting frame, and the second mounting bearing is mounted at the right end of the shaft, the long sleeve is a main supporting piece of a second connecting rack, the other end of the long sleeve is connected with a flange, the first connecting rack and a third connecting rack through bolts, and a first face-to-face mounting bearing is used as a supporting piece between the long sleeve and a shaft;
the 3-RPS parallel mechanism and the front end detection device comprise a static plate, a rotating shaft, an electric push rod, a Hooke's hinge, a movable plate, a probe installation fixing piece, a sound guide pad, a film pressure sensor, a distance sensor, a spring, a baffle plate and an integrated supporting piece, wherein one end of the static plate of the parallel mechanism is connected with a third connecting flange on a bending joint by a screw, the other end of the static plate of the parallel mechanism is installed on a second installation bearing on a shaft of the bending joint, the rotating shaft is a connecting shaft of the static plate and the electric push rod, the rotating shaft, the connecting part of the static plate and the electric push rod, forms a rotating pair of the parallel mechanism, the three electric push rods are uniformly distributed in the radial direction, an actuating piece on the electric push rod, namely, the telescopic rod is connected with the movable plate by the Hooke's hinge, the, the rigidity of the spring is as large as possible on the premise of not influencing the service performance of the probe and not damaging the probe, so that the probe is more stable during working, the sound guide pad and the film pressure sensor are arranged on the integrated supporting piece, the bottom surfaces of the pressure sensor and the sound guide pad which are arranged are positioned on the same plane, the three laser distance sensors are arranged on the probe mounting and fixing piece, and the integrated supporting piece is provided with three small holes at corresponding positions so as to facilitate the laser to penetrate through the distance to the skin;
the laser distance sensor is used for measuring the distance to the skin, when one or more than one feedback value (including the height of the head of the probe, the thickness of the sound guide pad and the distance from the bottom surface of the sound guide pad to the skin) is/are respectively present at three distance feedback values X1, X2 and X3, the executing tail end of the mechanical arm is considered to be close to the skin of the substitute measurement area at the moment, the machine continuously approaches the skin at a slower speed, the posture of the executing tail end is adjusted until the difference between the three distance feedback values is within the range of 0 +/-1.2 mm, the posture of the executing tail end is ensured to be unchanged at the moment, the mechanical arm continues to approach the skin, until the pressure sensor feeds back the pressure value, the mechanical arm stops approaching command (before the pressure feedback value appears, the posture adjustment of the executing tail end is completed), the detection stage is started, the posture of the probe is adjusted within the acceptable error range according to the command of the user, until the clear and accurate ultrasonic image is displayed on the display, pressure monitoring is always carried out in the detection process, and the three pressure feedback values are always in the range of the safety threshold value. When the reading of the pressure sensor is 1.0 +/-0.5 Pa in the adjustment approaching stage before the measurement stage, the average value of three feedback readings of the distance sensor at the moment is recorded and recorded as A0, and A0 is the distance standard value of shear wave elastic ultrasonic imaging, namely in the shear wave elastic ultrasonic imaging mode, the difference of the three distance feedback values is ensured to be within an allowable range during the measurement process, and the difference of the three values between the standard values A0 is also ensured to be within a range of 0 +/-0.5 mm.
Based on the working principle, the shear wave elastography detection mechanical arm provided by the invention can be well adapted to the detection condition of shear wave elastography, and can keep the posture at the moment to perform elastography under the condition of ensuring that the mechanical arm is in small pressure and good contact with skin.
The 3-RPS parallel mechanism and the front-end detection device can realize whole-course real-time pressure-distance monitoring in the detection process, and can ensure the safety of the detection process and the reliability of the detection result.
The invention has the beneficial effects that:
1. the mechanical arm disclosed by the invention can be well adapted to the operation specification of shear wave ultrasonic elastography, and is good in adaptability and flexible and reliable in detection.
2. The mechanical arm can reduce the workload of operators, and has high detection efficiency and high automation degree.
3. The invention monitors the distance and pressure all the time during the detection of the front end, namely the important component of the execution tail end, the posture adjustment and the ultrasonic detection, thereby ensuring the reliability and the accuracy of the detection.
Drawings
FIG. 1 is a schematic view of the final assembly of the present invention;
FIG. 2 is an exploded view of the assembly of the first revolute joint of the present invention;
FIG. 3 is an exploded view of the assembly of a second revolute joint of the present invention;
FIG. 4 is a front view of the bending joint of the present invention with the long sleeve holding the second harmonic reducer removed;
FIG. 5 is a schematic diagram of the 3-RPS parallel mechanism and front end detection device of the present invention;
fig. 6 is an enlarged illustration of the front end detecting device.
Detailed Description
Referring to fig. 1 to 6, a shear wave elastography detection mechanical arm includes a first rotating joint 1, a second rotating joint 2, two bending joints 3, 3-RPS parallel mechanisms, a front end detection device 4, a base 5, a first connecting frame 6, a second connecting frame 7 and a third connecting frame 8, wherein the first rotating joint 1 is fixed on the base 5, an output part is connected with the first connecting frame 6, the second rotating joint 2 is fixed on the second connecting frame 7, the output part is connected with the third connecting frame 8, the two bending joints 3 are respectively installed on the first connecting frame 6 and the third connecting frame 8, and the output part is respectively connected with the second connecting frame 7, the 3-RPS parallel mechanisms and a static plate 401 of the front end detection device 4;
the first rotating joint 1 comprises a first rotating motor 101, a planetary reducer 103, a first connecting key 104, a first back-to-back mounting bearing 106, a large bearing end cover 107, a small bearing end cover 105 and a first connecting flange 108, wherein an output shaft of the first rotating motor 101 is tightly hooped with a shaft hub of the planetary reducer 103 by a screw 102 for power transmission, a mounting flange of the first rotating motor 101 is connected with a connecting flange of the planetary reducer 103 by a screw, the mounting flange of the planetary reducer 103 is mounted on a base 5 by a bolt, the output shaft of the planetary reducer 103 is connected with the first connecting flange 108 by the first connecting key 104, the first connecting flange 108 is connected with a first connecting frame 6 by a screw, the first connecting frame 6 and a base 5 are supported by the first back-to-back mounting bearing 106, the small bearing end cover 105 is mounted on the base 5, the large bearing end cover 107 is mounted on the first connecting frame 6, the small bearing end cap 105, the large bearing end cap 107, the first attachment bracket 6 and the base 5 together axially and radially position the first back-to-back mounted bearing 106.
The second rotary joint 2 comprises a second rotary motor 201, a second connecting key 202, a first harmonic reducer 203, a second back-to-back mounting bearing 206, a second connecting flange 204, a sleeve 205 and a bearing end cover 207, wherein the second rotary motor 201 and the first harmonic reducer 203 are fixedly mounted on the second connecting frame 7 by screws, the second rotary motor 201 and the first harmonic reducer 203 are connected by the second connecting key 202 to transmit motion and power, the second connecting flange 204 is an intermediate connecting piece for transmitting power between the first harmonic reducer 203 and the third connecting frame 8, the second connecting flange 204 is connected with the first harmonic reducer 203 and the third connecting frame 8 by screws, the third connecting frame 8 and the second connecting frame 7 are supported by the second back-to-back mounting bearing 206, the sleeve 205 is sleeved on the third connecting frame 8 and mounted between the second connecting flange 204 and the second back-to-back mounting bearing 206, as an axial positioning element for the inner ring of the second back-to-back mounting bearing 206, the bearing end cap 207 is mounted on the second connecting frame 7 by using a screw as an axial positioning element for the outer ring of the second back-to-back mounting bearing 206, and the second connecting frame 7 and the third connecting frame 8 simultaneously perform axial positioning and radial positioning for the second back-to-back mounting bearing 206;
the bending joint 3 comprises a shaft 309, a torque motor 307, a second harmonic reducer 303, a third connecting flange 302, a first face-to-face mounting bearing 305, a long sleeve, a first mounting bearing 301, a second mounting bearing 308, a bearing end cover 304 and a clamp spring 306, wherein the torque motor 307 is fixed on the shaft 309 by using industrial glue and is positioned by using a shaft shoulder, the torque motor 307 transmits motion and power to the shaft 309, the shaft 309 is connected with the input part of the second harmonic reducer 303 by using screws, the output part of the second harmonic reducer 303 is connected with the third connecting flange 302 by using screws to transmit power, the fixed end of the second harmonic reducer 303 is connected with the connecting flange of the long sleeve by using a bolt assembly, the other end of the third connecting flange 302 is connected with the left ear of the second connecting frame 7 by using screws, the first mounting bearing 301 is mounted on the third connecting flange 302 and is a main supporting piece of the first connecting frame 6 and the third connecting frame 8, the second mounting bearing 308 is mounted at the right end of the shaft 309 and is a main supporting piece of the second connecting frame 7, the connecting flange at the other end of the long sleeve is connected with the first connecting frame 6 and the third connecting frame 8 through bolts, and the first face-to-face mounting bearing 305 is used as a supporting piece between the long sleeve and the shaft 309;
the 3-RPS parallel mechanism and front end detection device 4 comprises a static plate 401, a rotating shaft 402, an electric push rod 403, a Hooke's hinge 404, a moving plate 405, a probe mounting fixing piece 406, a sound guide pad 409, a film pressure sensor 408, a distance sensor 411, a spring 412, a baffle 413 and an integrated support 407, wherein one end of the static plate 401 of the parallel mechanism is connected with a third connecting flange 302 on a bending joint 3 through a screw, the other end of the static plate 401 is mounted on a second mounting bearing 308 on a shaft 309 of the bending joint 3, the rotating shaft 402 is a connecting shaft of the static plate 401 and the electric push rod 403, and forms a rotating pair of the parallel mechanism together with the connecting part of the static plate 401 and the electric push rod 403, the three electric push rods are uniformly distributed in the radial direction, an actuating part on the electric push rod 403, namely the telescopic rod 404 is connected with the moving plate 405 through the Hooke's hinge 404, the three, the probe mounting fixing piece 406 is mounted on the movable plate 405 by screws, a fixing device on the probe mounting fixing piece 406 is composed of a spring 412 and a baffle 413, the spring stiffness is as large as possible on the premise of not influencing the using performance of the probe and not damaging the probe, so that the probe can be more stable during working, the sound guide pad 409 and the film pressure sensor 408 are mounted on the integrated supporting piece 407, the bottom surfaces of the mounted pressure sensor 408 and the sound guide pad 409 are positioned on the same plane, three laser distance sensors 411 are mounted on the probe mounting fixing piece 406, and the integrated supporting piece 407 is provided with three small holes at corresponding positions so as to facilitate the laser to penetrate through and measure the distance to the skin;
the laser distance sensor 411 is used for measuring the distance to the skin, when there is one or more than one feedback value less than or equal to 50 (the values include the height of the head of the probe, the thickness of the sound guide pad 409 and the distance from the bottom surface of the sound guide pad to the skin) at the same time as three feedback values of the distance to the skin are respectively X1, X2 and X3, the executing tail end of the mechanical arm is considered to be close to the skin of the substitute measurement area at the moment, the machine continuously approaches the skin at a slower speed and adjusts the posture of the executing tail end until the difference between the three feedback values is within the range of 0 +/-1.2 mm, the posture of the executing tail end is ensured to be unchanged at the moment, the executing tail end continues to approach the skin until the pressure sensor 408 feeds back the pressure value, the mechanical arm stops approaching command (the executing tail end posture adjustment is completed before the pressure feedback value appears), the detection stage is started, the posture of the probe is adjusted within the acceptable error, until the clear and accurate ultrasonic image is displayed on the display, pressure monitoring is always carried out in the detection process, and the three pressure feedback values are always in the range of the safety threshold value. When the reading of the pressure sensor is 1.0 +/-0.5 Pa in the adjustment approaching stage before the measurement stage, the average value of the three feedback readings of the distance sensor 408 at this time is recorded as A0, and A0 is the distance standard value of the shear wave elastic ultrasonic imaging, namely in the shear wave elastic ultrasonic imaging mode, the difference of the three distance feedback values is ensured to be within an allowable range during the measurement process, and the difference of the three values between the standard values A0 is also ensured to be within a range of 0 +/-0.5 mm.
Based on the working principle, the shear wave elastography detection mechanical arm provided by the invention can be well adapted to the detection condition of shear wave elastography, and can keep the posture at the moment to perform elastography under the condition of ensuring that the mechanical arm is in small pressure and good contact with skin.
The 3-RPS parallel mechanism and the front-end detection device 4 can realize whole-course real-time pressure-distance monitoring in the detection process, and can ensure the safety of the detection process and the reliability of the detection result.
Claims (5)
1. A shear wave elasticity imaging detection mechanical arm is characterized in that: the shear wave elastography detection mechanical arm comprises a first rotary joint (1), a second rotary joint (2), two bending joints (3), a 3-RPS parallel mechanism and front end detection devices (4), a base (5), a first connecting rack (6), a second connecting rack (7) and a third connecting rack (8), wherein the first rotary joint (1) is fixed on the base (5), an output part is connected with the first connecting rack (6), the second rotary joint (2) is fixed on the second connecting rack (7), the output part is connected with the third connecting rack (8), the two bending joints (3) are respectively arranged on the first connecting rack (6) and the third connecting rack (8), the output part is respectively connected with the second connecting rack (7), the 3-RPS parallel mechanism and a static plate (401) of the front end detection devices (4), and the shear wave elastography detection mechanical arm can well adapt to detection conditions of shear wave elastography, the posture at the moment can be kept for elastic imaging under the condition of ensuring that the pressure between the elastic imaging device and the skin is small and the elastic imaging device is in good contact with the skin.
2. The shear wave elastography inspection robot of claim 1, wherein: the first rotating joint (1) comprises a first rotating motor (101), a planetary reducer (103), a first connecting key (104), first back-to-back mounting bearings (106), a large bearing end cover (107), a small bearing end cover (105) and a first connecting flange (108), an output shaft of the first rotating motor (101) and a shaft hub of the planetary reducer (103) are tightly hooped by a screw (102) to transmit power, a mounting flange of the first rotating motor (101) and a connecting flange of the planetary reducer (103) are connected by screws, a mounting flange of the planetary reducer (103) is mounted on a base (5) by bolts, an output shaft of the planetary reducer (103) is connected with the first connecting flange (108) by the first connecting key (104), the first connecting flange (108) is connected with a first connecting machine frame (6) by screws, and the first connecting machine frame (6) and the base (5) are supported by the first back-to-back mounting bearings (106), the small bearing end cover (105) is installed on the base (5), the large bearing end cover (107) is installed on the first connecting rack (6), and the small bearing end cover (105), the large bearing end cover (107), the first connecting rack (6) and the base (5) are used for axially positioning and radially positioning the first back-to-back installation bearing (106).
3. The shear wave elastography inspection robot of claim 1, wherein: the second rotary joint (2) comprises a second rotary motor (201), a second connecting key (202), a first harmonic reducer (203), a second back-to-back mounting bearing (206), a second connecting flange (204), a sleeve (205) and a bearing end cover (207), the second rotary motor (201) and the first harmonic reducer (203) are fixedly mounted on a second connecting rack (7) through screws, the second rotary motor (201) and the first harmonic reducer (203) are connected through the second connecting key (202) to transmit motion and power, the second connecting flange (204) is an intermediate connecting piece for transmitting power between the first harmonic reducer (203) and a third connecting rack (8), the second connecting flange (204), the first harmonic reducer (203) and the third connecting rack (8) are connected through screws, and the third connecting rack (8) and the second connecting rack (7) are supported through the second back-to-back mounting bearing (206), the sleeve (205) is sleeved on the third connecting frame (8) and is arranged between the second connecting flange (204) and the second back-to-back mounting bearing (206) to serve as an axial positioning piece for the inner ring of the second back-to-back mounting bearing (206), the bearing end cover (207) is arranged on the second connecting frame (7) through screws to serve as an axial positioning piece for the outer ring of the second back-to-back mounting bearing (206), and the second connecting frame (7) and the third connecting frame (8) are used for axial positioning and radial positioning of the second back-to-back mounting bearing (206) at the same time.
4. The shear wave elastography inspection robot of claim 1, wherein: the bending joint (3) comprises a shaft (309), a torque motor (307), a second harmonic reducer (303), a third connecting flange (302), a first face-to-face mounting bearing (305), a long sleeve, a first mounting bearing (301), a second mounting bearing (308), a bearing end cover (304) and a clamp spring (306), wherein the torque motor (307) is fixed on the shaft (309) by using industrial glue and is positioned by using a shaft shoulder, the torque motor (307) transmits motion and power to the shaft (309), the input parts of the shaft (309) and the second harmonic reducer (303) are connected by using screws, the output part of the second harmonic reducer (303) and the third connecting flange (302) are connected by using screws to transmit power, the fixed end of the second harmonic reducer (303) is connected with the connecting flange of the long sleeve by using a bolt component, the other end of the third connecting flange (302) is connected with the left ear of the second connecting rack (7) by using screws, the first mounting bearing (301) is mounted on the third connecting flange (302) and is a main supporting piece of the first connecting frame (6) and the third connecting frame (8), the second mounting bearing (308) is mounted at the right end of the shaft (309) and is a main supporting piece of the second connecting frame (7), the connecting flange at the other end of the long sleeve is connected with the first connecting frame (6) and the third connecting frame (8) through bolts, and the first face-to-face mounting bearing (305) is used as a supporting piece between the long sleeve and the shaft (309).
5. The shear wave elastography inspection robot of claim 1, wherein: the 3-RPS parallel mechanism and the front end detection device (4) comprise a static plate (401), a rotating shaft (402), an electric push rod (403), a Hooke's hinge (404), a moving plate (405), a probe mounting fixing part (406), a sound guide pad (409), a film pressure sensor (408), a distance sensor (411), a spring (412), a baffle (413) and an integrated support (407), wherein one end of the static plate (401) of the parallel mechanism is connected with a third connecting flange (302) on a bending joint (3) through a screw, the other end of the static plate (401) of the parallel mechanism is arranged on a second mounting bearing (308) on a shaft (309) of the bending joint (3), the rotating shaft (402) is a connecting shaft of the static plate (401) and the electric push rod (403), the rotating shaft (402), the static plate (401) and the connecting part on the electric push rod (403) form a rotating pair of the parallel mechanism together, and the three electric push rods (, an actuating member on an electric push rod (403), namely a telescopic rod is connected with a movable plate (405) by using a Hooke hinge (404), three Hooke hinges (404) are welded on the movable plate (405) and are uniformly distributed in the radial direction, a probe mounting fixing member (406) is mounted on the movable plate (405) by using screws, a fixing device on the probe mounting fixing member (406) consists of a spring (412) and a baffle (413), a sound guide pad (409) and a film pressure sensor (408) are mounted on an integrated supporting member (407), the bottom surfaces of the mounted pressure sensor 408 and the sound guide pad (409) are positioned on the same plane, three laser distance sensors (411) are mounted on the probe mounting fixing member (406), the integrated supporting member (407) is provided with three small holes under corresponding positions so that laser can conveniently penetrate through the distance to the skin, and a 3-RPS parallel mechanism and a front end detection device (4) can realize whole-course pressure-distance monitoring in the detection process, and the safety of the detection process and the reliability of the detection result are ensured.
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| CN202010684078.5A CN111823258B (en) | 2020-07-16 | 2020-07-16 | Shear wave elasticity imaging detection mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010684078.5A CN111823258B (en) | 2020-07-16 | 2020-07-16 | Shear wave elasticity imaging detection mechanical arm |
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| CN111823258A true CN111823258A (en) | 2020-10-27 |
| CN111823258B CN111823258B (en) | 2022-09-02 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113171121A (en) * | 2021-04-20 | 2021-07-27 | 吉林大学 | Multi-physical-field-coupling-based skeletal muscle system disease diagnosis device and method |
| CN113252781A (en) * | 2021-04-25 | 2021-08-13 | 杭州电子科技大学 | Ultrasonic automatic detection device and cable internal damage detection method |
| CN117503374B (en) * | 2024-01-08 | 2024-06-07 | 北京中科鸿泰医疗科技有限公司 | Holding mechanical arm of surgical robot |
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