CN112790787A - Intelligent ultrasonic scanning device based on mechanical arm - Google Patents
Intelligent ultrasonic scanning device based on mechanical arm Download PDFInfo
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- CN112790787A CN112790787A CN202011637923.XA CN202011637923A CN112790787A CN 112790787 A CN112790787 A CN 112790787A CN 202011637923 A CN202011637923 A CN 202011637923A CN 112790787 A CN112790787 A CN 112790787A
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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
- A61B8/42—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
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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
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4272—Details of probe positioning or probe attachment to the patient involving the acoustic interface between the transducer and the tissue
- A61B8/4281—Details of probe positioning or probe attachment to the patient involving the acoustic interface between the transducer and the tissue characterised by sound-transmitting media or devices for coupling the transducer to the tissue
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- General Health & Medical Sciences (AREA)
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- Acoustics & Sound (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
The invention relates to an intelligent ultrasonic scanning device based on a mechanical arm, which comprises: an ultrasonic probe; a mechanical arm; the camera support is provided with a camera; the probe support is arranged at the free end of the mechanical arm and is provided with an ultrasonic probe accommodating cavity for accommodating an ultrasonic probe and a camera accommodating cavity for accommodating a camera; and a first opening communicating with the ultrasonic probe accommodation cavity; and a second opening communicating with the camera accommodating cavity; the first pushing mechanism is used for controlling the ultrasonic probe to extend out of the accommodating cavity through the opening part, and the first pushing mechanism is arranged on the probe bracket and is in transmission connection with the ultrasonic probe; and the second pushing mechanism is used for controlling the camera support to move towards the second opening, is arranged on the probe support and is connected with the camera support. The invention has simple structure and small occupied space; ultrasonic probe and camera obtain the protection when accomodating, and can carry out the coating of leading the sound glue to ultrasonic probe automatically.
Description
Technical Field
The invention belongs to the technical field of ultrasonic equipment, and relates to an intelligent ultrasonic scanning device based on a mechanical arm.
Background
When ultrasonic examination is performed on a subject by an ultrasonic apparatus, automatic scanning has become a necessary trend in future development. Although some mechanical arms have been used in ultrasonic diagnosis, that is, an ultrasonic probe and a camera are fixed at the front end of one mechanical arm of an ultrasonic diagnosis device to locate and scan a focus, the existing ultrasonic probe and camera are directly leaked outside, and a protection device is lacked, and when the ultrasonic probe works, a sound guide adhesive needs to be manually applied.
Disclosure of Invention
The invention aims to provide an intelligent ultrasonic scanning device based on a mechanical arm, which can solve the problems.
According to the technical scheme provided by the invention: the utility model provides an intelligence supersound scanning device based on arm which characterized in that includes:
a mechanical arm;
the probe bracket is arranged at the free end of the mechanical arm and is provided with an accommodating cavity and a first opening communicated with the accommodating cavity;
the ultrasonic probe is arranged in the accommodating cavity;
and the sound guide glue supply assembly is arranged on the probe bracket and is used for coating the sound guide glue on the ultrasonic probe.
As a further improvement of the present invention, the sound guiding glue supply assembly includes:
the storage box is used for storing the sound guide glue;
the sound guide glue pump is provided with an input end and an output end, and the input end of the sound guide glue pump is connected with the storage box;
the cabin door cover is provided with a coating structure connected with the output end of the sound guide glue pump;
and the transmission structure is connected with the hatch cover so as to control the hatch cover to close the first opening and open the first opening.
As a further improvement of the invention, a cabin door sliding groove matched with the cabin door cover is arranged in the probe bracket.
As a further improvement of the present invention, the coating structure comprises:
the coating cavity is arranged on the side surface, opposite to the ultrasonic probe, of the door cover, and a plurality of coating holes are formed in the side wall, opposite to the ultrasonic probe, of the coating cavity;
and the flow guide channel is arranged on the cabin door cover and is communicated with the coating holes.
As a further improvement of the present invention, the transmission structure includes an opening and closing motor, the opening and closing motor is installed in the probe bracket, an output shaft of the opening and closing motor is fixedly connected to one end of a first connecting rod, the other end of the first connecting rod is hinged to a first end of a second connecting rod, and a second end of the second connecting rod is hinged to the hatch cover.
As a further improvement of the invention, the output end of the sound guiding glue pump is connected with the coating structure through a hose.
As a further improvement of the invention, the method comprises the following steps:
and the first pushing mechanism is arranged on the probe bracket and is in transmission connection with the ultrasonic probe so as to control the ultrasonic probe to extend out of the accommodating cavity through the first opening part.
The method comprises the following steps:
the camera support is provided with a camera;
a second opening in communication with the receiving cavity;
and the second pushing mechanism is arranged in the accommodating cavity and connected with the camera support to control the camera to pass through the second opening to enter and exit the accommodating cavity.
As a further improvement of the invention, the method comprises the following steps:
the mechanism that opens and shuts, with camera leg joint in order second push mechanism drives camera support stretches out when holding the cavity, synchro control camera support is to keeping away from probe stand's direction extends second push mechanism drives camera support gets into when holding the cavity, synchro control camera support is to being close to probe stand's direction is closed.
As a further improvement of the invention, the method comprises the following steps:
and the rotating mechanism is connected with the camera support, and the unfolding and folding mechanism controls the camera support to rotate after being completely extended.
The positive progress effect of this application lies in:
the invention has simple structure and small occupied space; ultrasonic probe and camera obtain the protection when accomodating, and can carry out the coating of leading the sound glue to ultrasonic probe automatically.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is an exploded view of the present invention.
Fig. 3 is a schematic structural diagram of the second pushing mechanism according to the present invention in an operating state.
Fig. 4 is a schematic structural view of the working state of the rotating mechanism of the present invention.
Fig. 5 is a schematic structural diagram of the working state of the unfolding and folding mechanism of the invention.
Fig. 6 is a schematic structural view of the hatch opening and closing structure of the present invention.
Fig. 7 is a schematic structural view of the cabin door opening and closing structure according to the present invention in an operating state.
Fig. 8 is a schematic structural view of the sound guide gel supply system of the present invention.
FIG. 9 is a schematic view of the present invention in connection with a robotic arm.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover such processes, methods, systems, articles, or apparatus that comprise a list of steps or elements, are not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such processes, methods, articles, or apparatus.
Fig. 1 to 9 include a probe holder 100, a first pushing mechanism 200, an ultrasonic probe 300, a camera holder 400, a folding mechanism 700, a camera 800, and the like.
As shown in fig. 1-2, the invention is an intelligent ultrasonic scanning device based on a mechanical arm, which comprises a probe support 100, as shown in fig. 4-5, the end part of the probe support 100 close to a patient is a first end, the end part far away from the patient is a second end, the probe support 100 is of a hollow structure, an ultrasonic probe accommodating cavity 110 and a camera accommodating cavity 120 are arranged in the probe support, a first opening 150 communicated with the ultrasonic probe accommodating cavity 110 is arranged on one side of the ultrasonic probe accommodating cavity 110, and a second opening 160 communicated with the camera accommodating cavity 120 is arranged on one side of the camera accommodating cavity 120. The ultrasonic probe 300 is driven to move through the first pushing mechanism 200 in the probe support 100, the camera support 400 is driven to move through the second pushing mechanism 500 in the probe support 100, the camera support 400 is driven to rotate through the rotating mechanism 600, the camera support 400 is driven to unfold and fold through the unfolding and folding mechanism 700, and the camera 800 is installed in the camera support 400.
A hatch cover 1000 is disposed on one side of the first opening 150, and the hatch opening and closing structure 1100 drives the hatch cover 1000 to open and close the first opening 150.
A sound guiding glue supply system 1200 is provided in the probe holder 100 for applying sound guiding glue to the ultrasound probe 300.
As shown in fig. 9, one end of the mechanical arm is connected with other components to form a connecting end, and the other end of the mechanical arm can rotate around the connecting end to form a free end. The probe carrier 100 is connected to the free end of the robotic arm.
The first pushing mechanism 200 includes a pushing driving device, a pushing transmission structure, and a pushing actuator.
The pushing driving device drives the pushing executing part to move through the pushing transmission structure, and the switching of the linear position of the ultrasonic probe 300 is achieved.
The first pushing mechanism 200 may be installed outside the probe holder 100 or in the ultrasound probe accommodating chamber 110.
In this embodiment, the pushing driving device is an electric push rod 210, and the electric push rod 210 is installed at the lower part of the probe holder 100.
The pushing transmission structure is in threaded connection.
The propelling movement executive component is probe connecting rod 220, and the removal end of electric putter 210 is connected to probe connecting rod 220 lower extreme, and ultrasonic probe 300 is connected to probe connecting rod 220 upper end.
In other embodiments, the pushing driving device is a moving motor in this embodiment, and the moving motor is installed at the bottom of the probe holder 100.
The pushing transmission structure is a screw rod transmission structure. The screw rod is rotatably disposed inside the probe holder 100 and driven by a moving motor.
The pushing execution part is a nut seat which is sleeved on the periphery of the screw rod and is connected with the ultrasonic probe 300. In order to facilitate the nut seat to be connected with the ultrasonic probe 300, a nut seat avoiding groove is formed on the probe bracket 100.
In order to maintain stability when the ultrasonic probe 300 moves, an ultrasonic probe rail is provided in the probe carriage 100, and the ultrasonic probe 300 slides on the ultrasonic probe rail.
In order to prevent the probe connecting rod 220 from being directly connected to the ultrasonic probe 300 and causing a loss to the ultrasonic probe 300, a probe sheath 310 is sleeved on the outer circumference of the ultrasonic probe 300.
The probe sheath 310 is made of an elastic material and has a split structure. The probe is composed of an upper probe sheath 311 and a lower probe sheath 312. The probe sheath 310 is internally provided with a probe installation cavity which is matched with the shape of the ultrasonic probe 300. The bottom of the probe sheath 310 is provided with a connecting groove for connecting with the upper end of the probe connecting rod 220.
In order to maintain stability when the camera mount 400 moves, the camera rail 130 is provided on the probe mount 100, and the camera mount 400 slides on the camera rail 130.
As shown in fig. 2-3, the second pushing mechanism 500 includes a second pushing driving device, and the second pushing driving device pushes the camera support 400 to move by connecting with the second pushing transmission structure, so that the camera support 400 moves towards the second opening 160.
The second pushing driving device is connected with the second pushing transmission structure through the second transmission connection structure, the second pushing transmission structure pushes the camera support 400 to move through the second connection structure, and the camera support 400 moves towards the second opening 160.
In this embodiment, the second pushing driving device is a motor a, the motor a is installed in the probe bracket 100, and the output shaft of the motor a is vertically upward.
The second pushing transmission structure comprises a lead screw b, the lead screw b is vertically arranged, one end of the lead screw b is rotatably installed in the probe bracket 100, and a nut seat c is sleeved in the lead screw b through threads.
The second pushing transmission structure comprises a second driving gear d and a second driven gear e, the second driving gear d is fixedly mounted on an output shaft of the motor a, the second driven gear e is fixedly mounted on the screw rod b, and the second driving gear d is meshed with the second driven gear e.
The second connecting structure comprises a connecting bolt and a connecting through hole, the connecting through hole is respectively formed in the nut seat c and the camera support 400, the connecting bolt sequentially penetrates through the connecting through holes in the nut seat c and the camera support 400 and then is sleeved with a second connecting nut, and the second pushing transmission structure is connected with the camera support 400.
The motor a drives the screw rod b to rotate through the gear structure, and the nut seat c moves up and down along the screw rod b to drive the camera support 400 to enter and exit the second opening 160.
In order to stabilize the camera stand 400 during the up-and-down movement, a second push guide mechanism 900 is provided at one side of the second push mechanism 500.
The second pushing guide mechanism 900 in this embodiment includes a guide rod 910 and a guide opening 920 adapted thereto. The guide rod 910 is vertically disposed in the probe bracket 100, the guide opening 920 is opened on the nut seat c, and the guide opening 920 is located at the periphery of the guide rod 910.
In order to prevent the nut seat c from sliding out of the screw rod b, a limiting disc f is arranged at the top of the screw rod b.
As shown in fig. 2 and 4, the rotating mechanism 600 includes a rotation driving device, and the rotation driving device drives the camera holder 400 to rotate through a rotation transmission structure.
The rotation driving device is connected with the rotation transmission structure through the rotation transmission connection structure, and the rotation transmission structure pushes the camera support 400 to rotate through the rotation connection structure, so that the camera support 400 moves towards the second opening 160.
In this embodiment, the rotation driving device is a motor a, the motor a is installed in the probe bracket 100, and the output shaft of the motor a is vertically upward.
The rotary transmission structure comprises a screw rod b, the screw rod b is vertically arranged, one end of the screw rod b is rotatably installed in the probe bracket 100, and a nut seat c is sleeved in the screw rod b through threads.
The rotation transmission structure comprises a driving gear d and a driven gear e, the driving gear d is fixedly installed on an output shaft of the motor a, the driven gear e is fixedly installed on the screw rod b, and the driving gear d is meshed with the driven gear e.
The rotary connecting structure comprises a connecting bolt and a connecting through hole, the connecting through hole is respectively formed in the nut seat c and the camera support 400, the connecting bolt sequentially penetrates through the connecting through holes in the nut seat c and the camera support 400 and then is sleeved with a connecting nut, and the rotary transmission structure is connected with the camera support 400.
The motor a drives the screw rod b to rotate through a gear structure, and the nut seat c moves up and down along the screw rod b and simultaneously drives the camera support 400 to rotate.
The camera bracket 400 includes a bracket fixing plate 410 and a bracket rotating plate 420, wherein a connecting through hole is formed in the bracket fixing plate 410, one side of the bracket fixing plate 410 is hinged to the bracket rotating plate 420 through a hinge shaft 430, one end of the hinge shaft 430 is fixedly connected to the bracket rotating plate 420, the other end of the hinge shaft 430 is rotatably installed in the bracket fixing plate 410, and a camera 800 is installed on the bracket rotating plate 420.
As shown in fig. 2 and 5, the unfolding and folding mechanism 700 includes an unfolding and folding driving device, and the unfolding and folding driving device drives the camera support 400 to unfold and fold through an unfolding and folding transmission structure.
The unfolding and folding driving device is connected with the unfolding and folding transmission structure through the unfolding and folding transmission connection structure, the unfolding and folding transmission structure drives the camera support 400 to unfold and fold through the unfolding and folding connection structure, and the conversion of the position of the camera 800 is realized.
In this embodiment, the folding and unfolding driving device is a motor a, the motor a is installed in the probe bracket 100, and the output shaft of the motor a is vertically upward.
The unfolding and folding transmission structure comprises a screw rod b, an unfolding and folding rack 710 and an unfolding and folding gear 720, wherein the screw rod b is vertically arranged, one end of the screw rod b is arranged in the probe bracket 100 in an unfolding and folding mode, and a nut seat c is sleeved in the screw rod b through threads. The unfolding rack 710 is vertically installed in the probe bracket 100, and the unfolding gear 720 is fixedly connected to the side of the hinge shaft 430.
The unfolding and folding transmission structure comprises a driving gear d and a driven gear e, the driving gear d is fixedly installed on an output shaft of the motor a, the driven gear e is fixedly installed on the screw rod b, and the driving gear d is meshed with the driven gear e.
The unfolding and folding connecting structure comprises a connecting bolt and a connecting through hole, the connecting through hole is respectively formed in the nut seat c and the support fixing plate 410, the connecting bolt sequentially penetrates through the connecting through holes in the nut seat c and the support fixing plate 410 and then is sleeved with the connecting nut, and the unfolding and folding transmission structure is connected with the camera support 400.
In order to facilitate the fixation of the camera support 400 after the unfolding and the folding, a locking mechanism is arranged on the camera support 400.
In the present embodiment, the locking mechanism is a hinge shaft 430, and the hinge shaft 430 is a damping hinge shaft.
The motor a drives the screw rod b to rotate through the gear structure, the nut seat c drives the camera bracket 400 to move up and down along the screw rod b, and when the unfolding and folding gear 720 is meshed with the unfolding and folding rack 710, the unfolding and folding rack 710 drives the bracket rotating plate 420 to unfold and fold relative to the bracket fixing plate 410 through the hinge shaft 430.
When the unfolding/folding gear 720 is separated from the unfolding/folding rack 710, the damping hinge shaft 430 fixes the supporter rotating plate 420 and the supporter fixing plate 410 relatively.
In other embodiments, the second pushing mechanism 500 is a second pushing cylinder, the second pushing cylinder is vertically disposed, the cylinder body of the second pushing cylinder is installed in the probe bracket 100, and the piston end of the second pushing cylinder is connected to the camera bracket 400.
The rotating mechanism 600 is a linear moving device, and the linear moving device drives the camera support 400 to rotate through a rack-and-pinion structure.
The linear moving device is a linear cylinder, the linear cylinder is located at the piston end of the second pushing cylinder, the piston end of the linear cylinder is connected with a rack, a rotating gear is mounted on the camera support 400, and the rack is driven by the linear cylinder to drive the rotating gear and the camera support 400 to rotate.
The unfolding and folding mechanism 700 comprises an unfolding and folding cylinder, and the cylinder body end and the piston end of the unfolding and folding cylinder are respectively hinged with the bracket fixing plate 410 and the bracket rotating plate 420. The unfolding and folding of the camera support 400 are realized by the expansion and contraction of the piston rod of the unfolding and folding cylinder.
As shown in fig. 6, a door sliding groove 170 is formed in the probe holder 100, the door sliding groove 170 is located at one side of the first opening 150, and a door cover 1000 is slidably disposed in the door sliding groove 170.
The door opening and closing structure 1100 comprises an opening and closing motor 1110, the opening and closing motor 1110 is installed in the probe bracket 100, an output shaft of the opening and closing motor 1110 is connected with one end of a first connecting rod 1120, the other end of the first connecting rod 1120 is hinged with a first end of a second connecting rod 1130, and a second end of the second connecting rod 1130 is hinged with the door cover 1000.
An output shaft of the open/close motor 1110 is connected to one end of the first link 1120 through an open/close gear structure.
The opening and closing gear structure comprises an opening and closing driving gear and an opening and closing driven gear 1140 which are meshed with each other.
The open-close driving gear is installed on the output shaft of the open-close motor 1110, and the open-close driven gear 1140 is rotatably installed in the probe bracket 100.
The open/close driven gear 1140 is fixedly connected to one end of the first link 1120.
The hatch chute 170 has a circular arc shape and the hatch cover 1000 is made of an elastic material.
The opening and closing motor 1110 rotates to drive the first connecting rod 1120 and the second connecting rod 1130 to rotate through the opening and closing gear structure, and the second connecting rod 1130 drives the door cover 1000 to slide along the door chute 170, so as to open and close the first opening 150.
In other embodiments, the door cover 1000 is a rolling door structure, the fixed end of the door cover 1000 is installed above the door sliding groove 170, the door opening and closing structure 1100 is an opening and closing cylinder installed above the first opening 150, and the piston end of the opening and closing cylinder faces the first opening 150 and is connected to the moving end of the door cover 1000.
The piston end of the opening and closing cylinder stretches and retracts to drive the moving end of the hatch cover 1000 to move up and down, so that the opening and closing of the first opening 150 are realized.
As shown in fig. 8, the sound guiding glue supply system 1200 includes a sound guiding glue pump 1210, an input end of the sound guiding glue pump 1210 is connected to a sound guiding glue bag 1220, an output end of the sound guiding glue pump 1210 is connected to one end of an output hose 1230, and the other end of the output hose 1230 is located inside the door cover 1000.
In order to prevent the sound guide glue from overflowing, a glue storage groove 1010 is arranged on the inner side of the door cover 1000, and the glue storage groove 1010 is communicated with an output hose 1230.
In order to save the installation space, the sound guiding adhesive pump 1210 is a micro pump.
The working process of the invention is as follows:
as shown in fig. 3, when the apparatus is in operation, the sound guiding adhesive pump 1210 pumps the sound guiding adhesive of the sound guiding adhesive bag 1220 to the adhesive storage tank 1010 through the output hose 1230. The electric push rod 210 drives the ultrasonic probe 300 to enter the glue storage tank 1010 through the probe connecting rod 220. After the ultrasonic probe 300 is coated with the sound guiding glue, the ultrasonic probe slightly moves backwards, and the door opening and closing structure 1100 drives the door cover 1000 to move, so that the first opening 150 is opened. The ultrasound probe 300 is advanced to extend out of the ultrasound probe receiving cavity 110 in the probe holder 100.
The motor a drives the screw rod b to rotate through the gear structure, the nut seat c is limited to rotate by the guide rod 910, the intelligent device moves upwards along the screw rod b, the unfolding and folding gear 720 is meshed with the unfolding and folding rack 710 in the process of driving the camera support 400 to extend out of the second opening 160, and the unfolding and folding rack 710 rotates in cooperation with the unfolding and folding gear 720 along with the upward movement of the unfolding and folding gear 720, so that the support rotating plate 420 is unfolded relative to the support fixing plate 410, and the camera 800 is located at a working position.
The motor a continues to drive the nut seat c to ascend, when the nut seat c is separated from the limitation of the guide rod 910 and is blocked by the limiting disc f at the top end of the screw rod b, the nut seat c rotates horizontally, and the camera 800 can record more contents according to the working requirements.
In order to facilitate the guide rod 910 to be sleeved into the guide opening 920 on the nut seat c again, a return spring g is arranged between the limiting disk f and the nut seat c. The return spring g always provides the nut seat c with a downward force.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. The utility model provides an intelligence supersound scanning device based on arm which characterized in that includes:
a mechanical arm;
the probe bracket is arranged at the free end of the mechanical arm and is provided with an accommodating cavity and a first opening communicated with the accommodating cavity;
the ultrasonic probe is arranged in the accommodating cavity;
and the sound guide glue supply assembly is arranged on the probe bracket and is used for coating the sound guide glue on the ultrasonic probe.
2. The intelligent robotic-arm-based ultrasound scanning apparatus of claim 1, wherein the acoustic gel supply assembly comprises:
the storage box is used for storing the sound guide glue;
the sound guide glue pump is provided with an input end and an output end, and the input end of the sound guide glue pump is connected with the storage box;
the cabin door cover is provided with a coating structure connected with the output end of the sound guide glue pump;
and the transmission structure is connected with the hatch cover so as to control the hatch cover to close the first opening and open the first opening.
3. The intelligent ultrasonic scanning device based on the mechanical arm as claimed in claim 2, wherein a cabin door sliding groove matched with the cabin door cover is arranged in the probe bracket.
4. The intelligent robotic-arm-based ultrasonic scanning apparatus of claim 2, wherein the coating structure comprises:
the coating cavity is arranged on the side surface, opposite to the ultrasonic probe, of the door cover, and a plurality of coating holes are formed in the side wall, opposite to the ultrasonic probe, of the coating cavity;
and the flow guide channel is arranged on the cabin door cover and is communicated with the coating holes.
5. The intelligent ultrasonic scanning device based on the mechanical arm as claimed in claim 2, wherein the transmission structure comprises an opening and closing motor, the opening and closing motor is installed in the probe bracket, an output shaft of the opening and closing motor is fixedly connected with one end of a first connecting rod, the other end of the first connecting rod is hinged with a first end of a second connecting rod, and a second end of the second connecting rod is hinged with a door cover.
6. The intelligent ultrasonic scanning device based on the mechanical arm as claimed in claim 2, wherein the output end of the sound guiding glue pump is connected with the coating structure through a hose.
7. The intelligent ultrasonic scanning device based on mechanical arm as claimed in claim 1, which comprises:
and the first pushing mechanism is arranged on the probe bracket and is in transmission connection with the ultrasonic probe so as to control the ultrasonic probe to extend out of the accommodating cavity through the first opening part.
8. The intelligent ultrasonic scanning device based on mechanical arm as claimed in claim 1, which comprises:
the camera support is provided with a camera;
a second opening in communication with the receiving cavity;
and the second pushing mechanism is arranged in the accommodating cavity and connected with the camera support to control the camera to pass through the second opening to enter and exit the accommodating cavity.
9. The intelligent robotic-arm-based ultrasound scanning apparatus of claim 8, comprising:
the mechanism that opens and shuts, with camera leg joint in order second push mechanism drives camera support stretches out when holding the cavity, synchro control camera support is to keeping away from probe stand's direction extends second push mechanism drives camera support gets into when holding the cavity, synchro control camera support is to being close to probe stand's direction is closed.
10. The intelligent robotic-arm-based ultrasound scanning apparatus of claim 9, comprising:
and the rotating mechanism is connected with the camera support, and the unfolding and folding mechanism controls the camera support to rotate after being completely extended.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011637923.XA CN112790787A (en) | 2020-12-31 | 2020-12-31 | Intelligent ultrasonic scanning device based on mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011637923.XA CN112790787A (en) | 2020-12-31 | 2020-12-31 | Intelligent ultrasonic scanning device based on mechanical arm |
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| CN112790787A true CN112790787A (en) | 2021-05-14 |
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| CN110664437A (en) * | 2019-10-22 | 2020-01-10 | 深圳瀚维智能医疗科技有限公司 | Automatic ultrasonic breast scanning device |
| CN210112733U (en) * | 2019-05-17 | 2020-02-25 | 王宇翔 | Medical ultrasonic probe |
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2020
- 2020-12-31 CN CN202011637923.XA patent/CN112790787A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012228413A (en) * | 2011-04-27 | 2012-11-22 | Fujifilm Corp | Probe protector and ultrasonic probe |
| CN210112733U (en) * | 2019-05-17 | 2020-02-25 | 王宇翔 | Medical ultrasonic probe |
| CN110101412A (en) * | 2019-05-30 | 2019-08-09 | 温州医科大学附属第二医院、温州医科大学附属育英儿童医院 | A kind of B ultrasound detection device of remote controlled automatic addition couplant |
| CN110664437A (en) * | 2019-10-22 | 2020-01-10 | 深圳瀚维智能医疗科技有限公司 | Automatic ultrasonic breast scanning device |
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Application publication date: 20210514 |