CN114699110B - Driving device for controlling ultrasonic probe - Google Patents
Driving device for controlling ultrasonic probe Download PDFInfo
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- CN114699110B CN114699110B CN202210424260.6A CN202210424260A CN114699110B CN 114699110 B CN114699110 B CN 114699110B CN 202210424260 A CN202210424260 A CN 202210424260A CN 114699110 B CN114699110 B CN 114699110B
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- 239000000523 sample Substances 0.000 title claims abstract description 97
- 230000007246 mechanism Effects 0.000 claims description 222
- 230000002457 bidirectional effect Effects 0.000 claims description 22
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 210000002307 prostate Anatomy 0.000 description 3
- 238000001574 biopsy Methods 0.000 description 2
- 238000002513 implantation Methods 0.000 description 2
- 230000003902 lesion Effects 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 231100000915 pathological change Toxicity 0.000 description 2
- 230000036285 pathological change Effects 0.000 description 2
- 210000000664 rectum Anatomy 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 208000000236 Prostatic Neoplasms Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 206010020718 hyperplasia Diseases 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008595 infiltration Effects 0.000 description 1
- 238000001764 infiltration Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 201000001514 prostate carcinoma Diseases 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 201000010653 vesiculitis Diseases 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
- A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
-
- 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
-
- 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
A driving device for controlling an ultrasonic probe belongs to the field of medical instruments. The device has the advantages of simple structure, convenient operation, capability of improving detection precision, stability and the like.
Description
Technical Field
The invention relates to a driving device for controlling an ultrasonic probe, and belongs to the field of medical instruments.
Background
The transrectal ultrasonic probe can be used for checking organs such as rectum, prostate, seminal vesicle gland, bladder, pelvic cavity and the like. The transrectal ultrasonic probe can identify each layer of the rectal wall, the tumor infiltration range and depth and the lesions around the rectum through longitudinal, transverse and radial scanning; measuring the volume of the prostate, displaying the pathological changes of the prostate to diagnose the hyperplasia and the cancer of the prostate, and performing puncture biopsy on the suspicious pathological changes under the guidance of an ultrasonic probe to definitely diagnose; the ultrasonic guidance can be used for carrying out the close-range particle radiation implantation treatment on the diagnosed lesion part. At present, the operation of the ultrasonic probe in the inspection process is mainly performed manually by a doctor, and the ultrasonic probe can be controlled by adopting a simple mechanism which only has two degrees of freedom of moving back and forth and rotating around the ultrasonic probe when performing particle implantation treatment and biopsy, and the ultrasonic probe can be placed at a designated position in advance by the doctor, and because the pitching angle and the plane rotation angle of the ultrasonic probe cannot be adjusted, the probe can squeeze organ tissues to deform in the use process, so that measurement is inaccurate, and a patient can feel uncomfortable. Therefore, there is a need for an ultrasonic probe driving device that can simultaneously satisfy the functions of back and forth movement, rotation about its own axis, adjustment of pitch angle, plane angle, and lateral movement.
Disclosure of Invention
The invention aims to provide a driving device for controlling an ultrasonic probe, which is used for realizing the functions of back and forth movement, rotation around the axis of the ultrasonic probe, adjustment of pitching angle, plane angle, transverse movement and the like, effectively improving the detection precision, improving the comfort level of a patient and reducing the labor intensity of doctors.
The invention aims at realizing the following technical scheme:
1. A driving device for controlling an ultrasonic probe, characterized by: the ultrasonic probe is arranged on the probe axial rotating mechanism, the probe axial rotating mechanism is arranged on the probe linear motion mechanism through a screw, the probe linear motion mechanism is connected with the pitching mechanism, the pitching mechanism is connected with the plane rotating mechanism through a screw, and the plane rotating mechanism is connected with the transverse translation mechanism through a screw;
The probe axial rotating mechanism comprises a probe axial rotating mechanism bottom plate, a probe axial rotating bracket is arranged on the probe axial rotating mechanism bottom plate, a rear bearing and a front bearing are arranged in a bearing hole of the probe axial rotating bracket, the rear bearing and a bearing ring for a middle mounting hole of the front bearing are arranged in the bearing hole of the probe axial rotating bracket, the rear bearing, the front bearing and the bearing ring for a shaft are arranged on a hollow driven gear shaft, the front end of the hollow driven gear shaft is provided with a circlip fixed bearing for the shaft, the outer ring of the front bearing is contacted with an end cover of the probe axial rotating bracket, the end cover of the probe axial rotating bracket is arranged on the probe axial rotating bracket, an anti-skid fixed rubber pad is arranged inside the hollow driven gear shaft, the anti-skid fixed rubber pad is internally provided with an ultrasonic probe, the hollow driven gear shaft is meshed with a driving gear, the driving gear is arranged on a rotary driving motor, the rotary motor is fixed on a motor shaft through a motor, and the probe axial rotating bracket is fixed on a screw through the probe axial rotating bracket.
2. The pitching mechanism comprises a pitching mechanism bottom plate, a front end jacking mechanism is arranged on the pitching mechanism bottom plate, a driven belt pulley is arranged at the tail of a bidirectional screw rod in the front end jacking mechanism, the driven belt pulley is connected with a driving belt pulley through a toothed belt, the driving belt pulley is arranged on a motor shaft of the front end jacking mechanism, a motor of the front end jacking mechanism is arranged on a motor bracket of the front end jacking mechanism, the motor bracket of the front end jacking mechanism is arranged on the pitching mechanism bottom plate, and a rear end supporting mechanism is also arranged on the pitching mechanism bottom plate;
The front end jacking mechanism comprises a jacking mechanism bottom plate, a groove-type sensor is arranged on one side of the jacking mechanism bottom plate, a jacking mechanism front bearing seat is arranged at the front end of the jacking mechanism bottom plate, the jacking mechanism front bearing seat is connected with the bidirectional screw rod through a bearing, the bidirectional screw rod is connected with a bidirectional screw rod nut seat through a screw rod nut, the bidirectional screw rod nut seat is connected with a guide rail, the guide rail is arranged on the jacking mechanism bottom plate, elastic gaskets are arranged on two sides of the bidirectional screw rod nut seat and are connected with a supporting shaft, the supporting shaft is connected with one end of a supporting rod through an oilless bushing, the outer side of the supporting shaft is axially fixed with the oilless bushing through a retainer ring for the supporting shaft, the other end of the supporting rod is connected with the supporting shaft through the oilless bushing, the supporting shaft penetrates through the elastic gaskets and is connected with a connecting shaft bearing seat, a connecting shaft bearing is arranged in a connecting shaft bearing seat bearing hole and axially fixed by a retainer ring for a connecting shaft hole, and the inner ring of the connecting shaft bearing is axially fixed by the connecting shaft retainer ring;
The rear end supporting mechanism comprises a rear end supporting mechanism bearing seat, a rear end supporting mechanism bearing is installed in a bearing hole of the rear end supporting mechanism bearing seat, the rear end supporting mechanism bearing is axially fixed by a check ring for the rear end supporting mechanism hole, and an inner ring of the rear end supporting mechanism bearing is installed on a rear end supporting mechanism rotating shaft and is axially positioned by the check ring for the rear end supporting mechanism shaft.
3. The probe linear motion mechanism comprises a linear motion bottom plate, a front bearing seat is arranged at the front end of the linear motion bottom plate, a linear motion front bearing is arranged in a bearing hole of the front bearing seat, an inner ring of the linear motion front bearing is arranged at the front end of the linear motion screw rod, the linear motion screw rod is matched with a linear motion screw rod nut, the linear motion screw rod nut is connected with a linear motion nut seat through a screw, the linear motion nut seat is arranged on a linear motion guide rail, the linear motion guide rail is arranged on the linear motion bottom plate, a linear motion baffle plate is arranged on the linear motion nut seat, the rear end of the linear motion screw rod is connected with an inner ring of the bearing, the bearing is arranged in a bearing hole of a rear bearing seat, the rear bearing seat is arranged on the linear motion bottom plate, the tail of the linear motion screw rod is connected with a linear motion driving motor arranged on a rear motor seat, the rear end of the linear motion bottom plate is arranged on the rear bearing seat, and the front bearing seat is provided with a photoelectric sensor and a sliding rail arranged on the left side and the rear bearing seat.
4. The plane rotating mechanism comprises a plane rotating mechanism bottom plate, a rotating table is arranged on the plane rotating mechanism bottom plate, and a motor is arranged on the rotating table.
5. The transverse translation mechanism comprises a transverse motion mechanism bottom plate, a transverse motion mechanism front bearing seat is arranged at the front end of the transverse motion mechanism bottom plate, the transverse motion mechanism front bearing seat is connected with a transverse motion screw rod through a bearing, the transverse motion mechanism front bearing seat is connected with a transverse motion mechanism nut seat through a transverse motion screw rod nut, the transverse motion mechanism nut seat is connected with a transverse motion guide rail, the transverse motion guide rail is arranged on the transverse motion mechanism bottom plate, a sensor baffle is arranged on the side face of the transverse motion mechanism nut seat, the rear end of the transverse motion screw rod is connected with a transverse motion mechanism rear bearing seat through a bearing, the transverse motion mechanism rear bearing seat is arranged on the transverse motion mechanism bottom plate, the tail of the transverse motion screw rod is connected with a transverse motion mechanism motor arranged on the transverse motion mechanism motor seat through a transverse motion mechanism coupler, and the transverse motion mechanism motor seat is arranged at the rear end of the transverse motion mechanism bottom plate.
6. The beneficial effects of the invention are as follows: the invention aims to provide a driving device for controlling an ultrasonic probe, which is based on the working principle that the ultrasonic probe rotates around an axis, and mainly transmits the motion to a hollow driven gear shaft through rotating a driving gear of a rotary driving motor so as to drive the ultrasonic probe arranged in the hollow driven gear shaft to rotate, wherein an anti-slip fixed rubber pad can protect the ultrasonic probe from being damaged in the fixing and moving processes; the back-and-forth motion of the ultrasonic probe is realized by driving a linear motion screw rod to rotate by a linear motion driving motor through a coupler and driving a linear motion screw rod nut and a linear motion nut seat to move; the pitching motion of the ultrasonic probe is that a motor of a front-end jacking mechanism drives a driving belt wheel to rotate, a toothed belt is transmitted to a driven belt wheel to drive a bidirectional screw rod in the front-end jacking mechanism to rotate, so that a bidirectional screw rod nut seat moves towards the middle or towards the two sides simultaneously, a parallelogram structure is formed by support rods arranged on two sides of the bidirectional screw rod nut seat and a connecting shaft bearing seat, a connecting shaft is connected with slide rails on two sides of a linear motion mechanism, and the tail end of the linear motion mechanism is fixedly connected with a rotating shaft of a rear-end supporting mechanism in a rear-end supporting mechanism, thereby realizing pitching motion of the ultrasonic probe; the plane rotation of the ultrasonic probe is realized by driving the rotary table to rotate through a motor so as to drive a mechanism arranged on the rotary table to rotate; the transverse movement is realized by the transverse movement mechanism motor driving the transverse movement screw rod to rotate through the transverse movement mechanism coupler and the transverse movement mechanism nut seat to move through the transverse movement mechanism nut; the invention can realize various forward and backward movements of the ultrasonic probe, rotation around the axis of the ultrasonic probe, pitching, plane rotation and transverse movement, satisfies multidirectional pose control, and has the advantages of high positioning precision, convenient control, effective improvement of comfort level of patients, reduction of labor intensity of doctors and the like.
Drawings
FIG. 1 is an assembly view of an ultrasonic probe drive apparatus of the present invention;
FIG. 2 is an assembly view of the probe axial rotation mechanism of the present invention;
FIG. 3 is an exploded view of the probe axial rotation mechanism of the present invention;
FIG. 4 is an assembly view of the linear motion mechanism of the probe of the present invention;
FIG. 5 is an assembly view of the pitch mechanism of the present invention;
FIG. 6 is an exploded view of the front end jack-up mechanism of the present invention;
FIG. 7 is an exploded view of the back end support mechanism of the present invention;
FIG. 8 is an assembly view of the planar rotary mechanism of the present invention;
FIG. 9 is an assembly view of the lateral translation mechanism of the present invention;
The names and the numbers of the components in the drawings are as follows:
The ultrasonic probe 1, the probe axial rotation mechanism 2, the probe rectilinear motion mechanism 3, the pitching mechanism 4, the plane rotation mechanism 5, the lateral translation mechanism 6, the probe axial rotation mechanism bottom plate 201, the probe axial rotation bracket 202, the probe axial rotation bracket end cover 203, the knurled high head screw 204, the hollow driven gear shaft 205, the driving gear 206, the rotating motor bracket 207, the rotating drive motor 208, the circlip 209 for shaft, the front bearing 210, the bearing ring 211 for hole, the bearing ring 212 for shaft, the rear bearing 213, the anti-slip fixing rubber pad 214, the rectilinear motion drive motor 301, the rear motor seat 302, the coupler 303, the rear bearing seat 304, the rectilinear motion screw 305, the rectilinear motion nut seat 306, the rectilinear motion front bearing 307, the front bearing seat 308, the photoelectric sensor 309, the rectilinear motion bottom plate 310, the rectilinear motion baffle 311, the slide rail 312, the rectilinear motion screw nut 313, the rectilinear motion guide rail 314 pitch mechanism bottom plate 401, front end jack mechanism 402, rear end support mechanism 403, front end jack mechanism motor mount 404, front end jack mechanism motor 405, driving pulley 406, toothed belt 407, driven pulley 408, backup shaft retainer 40201, oilless bushing 40202, support rod 40203, support shaft 40204, elastic pad 40205, bidirectional screw nut mount 40206, jack mechanism front bearing mount 40207, groove sensor 40208, jack mechanism bottom plate 40209, bidirectional screw 40210, guide rail 40211, backup shaft retainer 40212, backup shaft retainer 40213 for the connection shaft hole, connection shaft bearing 40214, connection shaft bearing mount 40215, connection shaft 40216, backup shaft retainer 40301 for the rear end support mechanism, backup shaft retainer 40302 for the rear end support mechanism hole, rear end support mechanism bearing mount 40303, rear end support mechanism rotation shaft 40304, planar rotation mechanism bottom plates, 502, motor 503, rotary table, the transverse motion mechanism comprises a transverse motion mechanism base plate 601, a sensor 602, a transverse motion mechanism front bearing seat 603, a transverse motion screw rod 604, a transverse motion guide rail 605, a sensor baffle 606, a transverse motion mechanism nut seat 607, a transverse motion screw rod nut 608, a transverse motion mechanism rear bearing seat 609, a transverse motion mechanism coupler 610, a transverse motion mechanism motor seat 611 and a transverse motion mechanism motor 612.
Detailed Description
The following describes the embodiments of the present invention further with reference to the accompanying drawings:
as shown in fig. 1,2 and 3, a driving device for controlling an ultrasonic probe is characterized in that: the ultrasonic probe 1 is arranged on a probe axial rotation mechanism 2, the probe axial rotation mechanism 2 is arranged on a probe linear motion mechanism 3 through a screw, the probe linear motion mechanism 3 is connected with a pitching mechanism 4, the pitching mechanism 4 is connected with a plane rotation mechanism 5 through a screw, and the plane rotation mechanism 5 is connected with a transverse translation mechanism 6 through a screw;
The probe axial rotation mechanism 2 comprises a probe axial rotation mechanism bottom plate 201, a probe axial rotation bracket 202 is arranged on the probe axial rotation mechanism bottom plate 201, a rear bearing 213 and a front bearing 210 are arranged in a bearing hole of the probe axial rotation bracket 202, a bearing ring 211 for a middle mounting hole of the rear bearing 213 and the front bearing 210 is arranged in a bearing hole of the probe axial rotation bracket 202, the rear bearing 213, the front bearing 210 and the bearing ring 212 for a shaft are arranged on a hollow driven gear shaft 205, a bearing is fixed at the front end of the hollow driven gear shaft 205 by an elastic retainer 209, an outer ring of the front bearing 210 is in contact with a probe axial rotation bracket end cover 203, the probe axial rotation bracket end cover 203 is arranged on the probe axial rotation bracket 202, an anti-slip fixing rubber pad 214 is arranged inside the hollow driven gear shaft 205, the ultrasonic probe 1 is fixed through a high-head screw 204 arranged on the hollow driven gear shaft 205, the hollow driven gear shaft 205 and a driving motor 208 are engaged with a driving motor shaft 208, and the driving motor 208 is arranged on the driving screw 207 through a driving screw which is rotatably fixed on the driving bracket 201.
As shown in fig. 1, 5, 6 and 7, a driving device for controlling an ultrasonic probe is characterized in that: the pitching mechanism 4 comprises a pitching mechanism bottom plate 401, a front-end jacking mechanism 402 is arranged on the pitching mechanism bottom plate 401, a driven belt pulley 408 is arranged at the tail of a bidirectional screw rod 40210 in the front-end jacking mechanism 402, the driven belt pulley 408 is connected with a driving belt pulley 406 through a toothed belt 407, the driving belt pulley 406 is arranged on a front-end jacking mechanism motor 405 shaft, the front-end jacking mechanism motor 405 is arranged on a front-end jacking mechanism motor bracket 404, the front-end jacking mechanism motor bracket 404 is arranged on the pitching mechanism bottom plate 401, and a rear-end supporting mechanism 403 is also arranged on the pitching mechanism bottom plate 401;
The front end jacking mechanism 402 comprises a jacking mechanism base plate 40209, a groove sensor 40208 is arranged on one side of the jacking mechanism base plate 40209, a jacking mechanism front bearing seat 40207 is arranged at the front end of the jacking mechanism base plate 40209, the jacking mechanism front bearing seat 40207 is connected with the bidirectional screw rod 40210 through a bearing, the bidirectional screw rod 40210 is connected with a bidirectional screw nut seat 40206 through a screw nut, the bidirectional screw nut seat 40206 is connected with a guide rail 40211, the guide rail 40211 is arranged on the jacking mechanism base plate 40209, elastic gaskets 40205 are arranged on two sides of the bidirectional screw nut seat 40206 and are connected with a supporting shaft 40204, the supporting shaft 40204 is connected with one end of a supporting rod 40203 through an oil-free bushing 40202, the outer side of the supporting shaft 40204 is axially fixed with the oil-free bushing 40202 through a supporting shaft collar 40201, the other end of the supporting shaft 40203 is connected with the supporting shaft 40204 through an oil-free bushing 40202, the supporting shaft 40204 passes through the elastic gaskets 40205 and is connected with a guide rail 40211, the supporting shaft 40211 is arranged on the supporting shaft 40214 through a bearing hole 40214, and is fixedly connected with the inner shaft 40214 through a bearing hole by the bearing;
The rear end supporting mechanism 403 includes a rear end supporting mechanism bearing seat 40304, a rear end supporting mechanism bearing 40303 is installed in a bearing hole of the rear end supporting mechanism bearing seat 40304 and is axially fixed by a retaining ring 40302 for the rear end supporting mechanism hole, and an inner ring of the rear end supporting mechanism bearing 40303 is installed on a rear end supporting mechanism rotating shaft 40305 and is axially positioned by a retaining ring 40301 for the rear end supporting mechanism shaft.
As shown in fig. 1 and 4, a driving device for controlling an ultrasonic probe is characterized in that: the probe linear motion mechanism 3 comprises a linear motion base plate 310, a front bearing seat 308 is arranged at the front end of the linear motion base plate 310, a linear motion front bearing 307 is arranged in a bearing hole of the front bearing seat 308, an inner ring of the linear motion front bearing 307 is arranged at the front end of a linear motion screw rod 305, the linear motion screw rod 305 is matched with a linear motion screw rod nut 313, the linear motion screw rod nut 313 is connected with a linear motion nut seat 306 through a screw, the linear motion nut seat 306 is arranged on a linear motion guide rail 314, the linear motion guide rail 314 is arranged on the linear motion base plate 310, a linear motion baffle 311 is arranged on the linear motion nut seat 306, the rear end of the linear motion screw rod 305 is connected with the bearing inner ring, a bearing is arranged in a bearing hole of a rear bearing seat 304, the rear bearing seat 304 is arranged on the linear motion base plate 310, the rear end of the linear motion screw rod 305 is connected with a linear motion driving motor seat 301 arranged on the rear bearing seat 302 through a linear motion motor seat 303, the rear base 302 is arranged on the rear end of the linear motion base plate 310, the rear electric sensor 308 is arranged on the left side of the rear base plate 310, and the right side of the linear motion base plate 310 is provided with a coupling 312.
As shown in fig. 1 and 8, a driving device for controlling an ultrasonic probe is characterized in that: the plane rotating mechanism 5 comprises a plane rotating mechanism bottom plate 501, a rotating table 502 is arranged on the plane rotating mechanism bottom plate 501, and a motor 503 is arranged on the rotating table 502.
As shown in fig. 1 and 9, a driving device for controlling an ultrasonic probe is characterized in that: the transverse translation mechanism 6 comprises a transverse motion mechanism bottom plate 601, a transverse motion mechanism front bearing seat 603 is arranged at the front end of the transverse motion mechanism bottom plate 601, the transverse motion mechanism front bearing seat 603 is connected with a transverse motion screw rod 604 through a bearing, the transverse motion mechanism front bearing seat 603 is connected with a transverse motion mechanism nut seat 607 through a transverse motion screw rod nut 608, the transverse motion mechanism nut seat 607 is connected with a transverse motion guide rail 605, the transverse motion guide rail 605 is arranged on the transverse motion mechanism bottom plate 601, a sensor baffle 606 is arranged on the side face of the transverse motion mechanism nut seat 607, the rear end of the transverse motion screw rod 604 is connected with a transverse motion mechanism rear bearing seat 609 through a bearing, the transverse motion mechanism rear bearing seat 609 is arranged on the transverse motion mechanism bottom plate 601, the tail of the transverse motion screw rod 604 is connected with a transverse motion mechanism motor 612 arranged on a transverse motion mechanism motor seat 611 through a transverse motion mechanism coupler 610, the transverse motion mechanism motor seat 611 is arranged at the rear end of the transverse motion mechanism bottom plate 601, and the transverse motion mechanism front bearing seat 603 and the transverse motion mechanism rear bearing seat 609 are provided with a sensor 602.
The foregoing is merely illustrative of the basic structure, principles and advantages of the present invention, and not in limitation thereof, but rather, the invention is capable of modification and variation without departing from the scope of the invention.
Claims (4)
1. A driving device for controlling an ultrasonic probe, characterized by: the ultrasonic probe (1) is arranged on the probe axial rotation mechanism (2), the probe axial rotation mechanism (2) is arranged on the probe linear motion mechanism (3) through a screw, the probe linear motion mechanism (3) is connected with the pitching mechanism (4), the pitching mechanism (4) is connected with the plane rotation mechanism (5) through a screw, and the plane rotation mechanism (5) is connected with the transverse translation mechanism (6) through a screw;
The probe axial rotation mechanism (2) comprises a probe axial rotation mechanism bottom plate (201), a probe axial rotation bracket (202) is arranged on the probe axial rotation mechanism bottom plate (201), a rear bearing (213) and a front bearing (210) are arranged in a bearing hole of the probe axial rotation bracket (202), a bearing ring (211) for a middle mounting hole of the rear bearing (213) and the front bearing (210) is arranged in a bearing hole of the probe axial rotation bracket (202), the rear bearing (213) is arranged on a hollow driven gear shaft (205) together with the front bearing (210) and the bearing ring (212) for a shaft, an elastic retainer ring (209) for a shaft is arranged at the front end of the hollow driven gear shaft (205), an outer ring of the front bearing (210) is in contact with a probe axial rotation bracket end cover (203), the probe axial rotation bracket end cover (203) is arranged on the probe axial rotation bracket (202), a fixed rubber cushion (214) is arranged in the middle of the hollow driven gear shaft (205), the hollow driven gear shaft (205) is arranged in an internal manner, the hollow driven gear shaft (205) is meshed with the hollow driven gear (206) through an ultrasonic vibration-absorbing screw, the driving gear (206) is arranged on a motor shaft of the rotary driving motor (208), the rotary driving motor (208) is fixed on the rotary motor bracket (207) through a screw, and the rotary motor bracket (207) is fixed on the probe axial rotary mechanism bottom plate (201) through a screw;
The front end jacking mechanism (402) comprises a jacking mechanism bottom plate (40209), a groove-type sensor (40209) is arranged on one side of the jacking mechanism bottom plate (40209), an elastic gasket (40205) is arranged on two sides of the jacking mechanism bottom plate (40209), a front bearing seat (40207) of the jacking mechanism is arranged at the front end of the jacking mechanism, the front bearing seat (40207) of the jacking mechanism is connected with a bidirectional screw rod (40210) through a bearing, the bidirectional screw rod (40210) is connected with a bidirectional screw rod nut seat (40206) through a screw rod nut, the bidirectional screw rod nut seat (40206) is connected with a guide rail (40211), the guide rail (40211) is arranged on the jacking mechanism bottom plate (40209), an elastic gasket (40205) is arranged on two sides of the bidirectional screw rod nut seat (40206) and connected with one end of a supporting shaft (40204), the outer side of the supporting shaft (40204) is axially fixed with the supporting shaft through a supporting sleeve (40201), the oilless sleeve (40202) is axially fixed with the supporting sleeve (40235), the other end of the supporting shaft (40292) is fixedly connected with the supporting shaft (40204) through the supporting shaft (40215) through the supporting shaft (40214) and the supporting shaft (40204), the other end of the supporting shaft (40204) is fixedly connected with the supporting shaft (40204), the inner ring of the connecting shaft bearing (40214) is arranged on the connecting shaft (40216) and is axially fixed by a check ring (40212) for the connecting shaft, and the connecting shaft (40216) is connected with sliding rails (312) at two sides of the probe linear motion mechanism (3);
The rear end supporting mechanism (403) comprises a rear end supporting mechanism bearing seat (40304), a rear end supporting mechanism bearing (40303) is arranged in a bearing hole of the rear end supporting mechanism bearing seat (40304) and is axially fixed by a check ring (40302) for the rear end supporting mechanism hole, and an inner ring of the rear end supporting mechanism bearing (40303) is arranged on a rear end supporting mechanism rotating shaft (40305) and is axially positioned by a check ring (40301) for the rear end supporting mechanism shaft.
2. A driving device for controlling an ultrasonic probe according to claim 1, wherein: the probe linear motion mechanism (3) comprises a linear motion base plate (310), a front bearing seat (308) is arranged at the front end of the linear motion base plate (310), a linear motion front bearing (307) is arranged in a bearing hole of the front bearing seat (308), an inner ring of the linear motion front bearing (307) is arranged at the front end of a linear motion screw rod (305), the linear motion screw rod (305) is matched with a linear motion screw rod nut (313), the linear motion screw rod nut (313) is connected with a linear motion screw nut seat (306) through a screw, the linear motion screw nut seat (306) is arranged on a linear motion guide rail (314), the linear motion guide rail (314) is arranged on the linear motion base plate (310), a linear motion baffle (311) is arranged on the linear motion screw nut seat (306), the rear end of the linear motion screw rod (305) is connected with the bearing inner ring, the bearing is arranged in a bearing hole of a rear bearing seat (304), the rear bearing seat (304) is arranged on the linear motion base plate (310), the rear motor (305) is connected with the linear motion base plate (301) through a linear motion motor seat (302) at the rear motor seat (302), photoelectric sensors (309) are arranged on the front bearing seat (308) and the rear bearing seat (304), and sliding rails (312) are arranged on the left side and the right side of the linear motion bottom plate (310).
3.A driving device for controlling an ultrasonic probe according to claim 1, wherein: the plane rotating mechanism (5) comprises a plane rotating mechanism bottom plate (501), a rotating table (502) is arranged on the plane rotating mechanism bottom plate (501), and a motor (503) is arranged on the rotating table (502).
4. A driving device for controlling an ultrasonic probe according to claim 1, wherein: the transverse translation mechanism (6) comprises a transverse movement mechanism bottom plate (601), a transverse movement mechanism front bearing seat (603) is arranged at the front end of the transverse movement mechanism bottom plate (601), the transverse movement mechanism front bearing seat (603) is connected with a transverse movement screw rod (604) through a bearing, a transverse movement screw rod nut (608) is connected with a transverse movement mechanism nut seat (607), the transverse movement mechanism nut seat (607) is connected with a transverse movement guide rail (605), the transverse movement guide rail (605) is arranged on the transverse movement mechanism bottom plate (601), a sensor baffle (606) is arranged on the side surface of the transverse movement mechanism nut seat (607), the rear end of the transverse movement screw rod (604) is connected with a transverse movement mechanism rear bearing seat (609) through a bearing, the transverse movement mechanism rear bearing seat (609) is arranged on the transverse movement mechanism bottom plate (601), the tail of the transverse movement screw rod (604) is connected with a transverse movement mechanism motor (612) arranged on the transverse movement mechanism bottom plate (611) through a transverse movement mechanism coupling (610), the transverse movement mechanism motor (611) is arranged at the rear end of the transverse movement motor (601), the lateral sides of the front bearing seat (603) and the rear bearing seat (609) of the lateral movement mechanism are respectively provided with a sensor (602).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210424260.6A CN114699110B (en) | 2022-04-22 | 2022-04-22 | Driving device for controlling ultrasonic probe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210424260.6A CN114699110B (en) | 2022-04-22 | 2022-04-22 | Driving device for controlling ultrasonic probe |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114699110A CN114699110A (en) | 2022-07-05 |
| CN114699110B true CN114699110B (en) | 2024-06-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210424260.6A Active CN114699110B (en) | 2022-04-22 | 2022-04-22 | Driving device for controlling ultrasonic probe |
Country Status (1)
| Country | Link |
|---|---|
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Citations (3)
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| CN114209400A (en) * | 2021-12-13 | 2022-03-22 | 天津科技大学 | Ultrasound image navigation prostate puncture surgical robot |
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| CN109434426A (en) * | 2018-12-14 | 2019-03-08 | 江苏海事职业技术学院 | A kind of steering engine gear shaft quick press mounting equipment |
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| CN113509210A (en) * | 2021-04-26 | 2021-10-19 | 上海卓昕医疗科技有限公司 | Transrectal ultrasonic guiding device capable of being freely positioned |
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| CN105962971A (en) * | 2016-05-03 | 2016-09-28 | 上海交通大学 | Multi-freedom-degree driving device of medical ultrasonic probe |
| CN111493934A (en) * | 2020-04-24 | 2020-08-07 | 上海市第十人民医院 | Mammary gland supersound full scan mechanism and full scanning device |
| CN114209400A (en) * | 2021-12-13 | 2022-03-22 | 天津科技大学 | Ultrasound image navigation prostate puncture surgical robot |
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