CN115299984A - Parallel ultrasonic robot and ultrasonic diagnosis and treatment system - Google Patents

Abstract

The invention relates to the technical field of ultrasonic equipment, and provides a parallel ultrasonic robot and an ultrasonic diagnosis and treatment system, wherein the parallel ultrasonic robot comprises: the ultrasonic probe comprises a first platform, a second platform and a connecting and driving unit, wherein the first platform is connected with the second platform through the connecting and driving unit, the first platform comprises a first connecting part used for being connected with a positioning arm, and the second platform comprises a probe clamping unit used for being connected with an ultrasonic probe; the connecting and driving unit comprises a plurality of connecting and driving parts, each connecting and driving part comprises a motor module and a connecting rod module, the motor modules can move relative to the first platform along the circumferential direction of the first platform, and the connecting rod modules are connected with the motor modules and the second platform. Aiming at the problems of large volume, complex structure, poor rigidity and inconvenient and quick construction of the existing serial ultrasonic robot, the invention designs a novel parallel robot, has the advantages of compact structure, portability, high rigidity and safety, and is suitable for being popularized to an ultrasonic diagnosis and treatment system.

Description

Parallel ultrasonic robot and ultrasonic diagnosis and treatment system

Technical Field

The invention relates to the technical field of ultrasonic equipment, in particular to a parallel ultrasonic robot and an ultrasonic diagnosis and treatment system.

Background

In recent years, with the continuous development of medical technology, an expert doctor carries out ultrasonic diagnosis by remotely controlling an ultrasonic robot, medical resources are shared, and the phenomena of remote and scarce resources in a basic region are effectively relieved. The remote operation external ultrasonic robot means that the robot clamps an ultrasonic probe and utilizes a wireless communication technology to carry out near or remote human body ultrasonic detection in vitro.

The existing teleoperation extracorporeal ultrasonic robot adopts a serial robot configuration to realize the positioning and control of a probe, and the serial robot configuration has the problems of large system size, high manufacturing cost, poor rigidity, inconvenience in transportation and quick construction, need of a larger range of probe rotation angle in some detection scenes and the like.

Disclosure of Invention

The invention provides a parallel ultrasonic robot and an ultrasonic diagnosis and treatment system, which are used for overcoming the defects of a serial robot in the prior art, and the parallel robot has the advantages of large rigidity, compact structure, large axial rotation angle, portability and low cost, and realizes the safe use of the ultrasonic diagnosis and treatment system.

The invention provides a parallel ultrasonic robot, comprising: the ultrasonic probe comprises a first platform, a second platform and a connecting driving unit, wherein the first platform is connected with the second platform through the connecting driving unit, the first platform comprises a first connecting part used for being connected with a positioning arm, and the second platform comprises a probe clamping unit used for being connected with an ultrasonic probe;

the connecting driving unit comprises a plurality of connecting driving parts, each connecting driving part comprises a motor module and a connecting rod module, the motor modules can move relative to the first platform along the circumferential direction of the first platform, and the connecting rod modules are connected with the motor modules and the second platform.

According to the parallel ultrasonic robot provided by the invention, the first platform further comprises a central gear and a gear fixing plate, the central gear is connected with the first connecting part through the gear fixing plate, and the motor module is arranged in the circumferential direction of the central gear.

According to the parallel ultrasonic robot provided by the invention, the motor module comprises a motor, a first gear and a first bearing, the first gear is arranged on an output shaft of the motor and is meshed with the central gear, the first bearing and the first gear are respectively arranged on the inner and outer circular surfaces of the central gear, and the first bearing is connected with the connecting rod module.

According to the parallel ultrasonic robot provided by the invention, the connecting rod module comprises a connecting rod, a first hinge and a second hinge, the first hinge and the second hinge are respectively arranged at two ends of the connecting rod, the first hinge is connected with the first bearing, and the second hinge is connected with the second platform.

According to the parallel ultrasonic robot provided by the invention, the first bearing comprises an upper bearing, a bearing support and a lower bearing, the circular surface of the central gear, which is connected with the first bearing, comprises a boss, the upper bearing is connected with the lower bearing through the bearing support, the upper bearing is connected with the upper surface of the boss, and the lower bearing is connected with the lower surface of the boss.

According to the parallel ultrasonic robot provided by the invention, the first bearing comprises an upper bearing, a lower bearing and a bearing fixing plate, the circular surface of the central gear, which is connected with the first bearing, comprises a boss, the upper bearing is connected with the upper surface of the boss, the lower bearing is connected with the lower surface of the boss, and the bearing fixing plate is used for fixing the relative position between the first gear and the upper bearing.

According to the parallel ultrasonic robot provided by the invention, the handheld unit is arranged on the first platform.

According to the parallel ultrasonic robot provided by the invention, the connecting driving unit comprises three groups, each group comprises two connecting driving parts, and the three groups of connecting driving parts are symmetrically distributed relative to the first platform.

According to the parallel ultrasonic robot provided by the invention, the probe clamping unit comprises a first clamping piece and a second clamping piece, and the first clamping piece and the second clamping piece are used for clamping the ultrasonic probe from two sides.

According to the parallel ultrasonic robot provided by the invention, the second platform further comprises a force sensor, a probe fixing plate and a connecting piece, wherein the lower surface of the force sensor is connected with the probe clamping unit, and the connecting piece is connected with the upper surface of the force sensor and the probe fixing plate.

The invention also provides an ultrasonic diagnosis and treatment system, comprising: platform truck, ultrasonic probe, operation table and according to the aforesaid arbitrary parallelly connected ultrasonic robot, the platform truck sets up the one side at the operation table, be provided with the location arm on the platform truck, parallelly connected ultrasonic robot passes through first connecting portion sets up on the location arm, ultrasonic probe passes through probe centre gripping unit sets up parallelly connected ultrasonic robot is last.

According to the parallel ultrasonic robot and the ultrasonic diagnosis and treatment system, the ultrasonic probe is fixed by the remote ultrasonic robot based on the parallel configuration, and compared with the traditional serial robot, the parallel ultrasonic robot and the ultrasonic diagnosis and treatment system have higher safety. Through the arrangement of the first platform, the second platform and the connection driving unit, the plurality of groups of connection driving parts are connected with the first platform and the second platform through a parallel connection structure, and respectively control respective motors to move, so that the calculation error of a series connection structure is reduced, and more accurate control movement is realized. In addition, the parallel configuration has the advantages of objective economic cost and higher safety, and is suitable for large-area popularization of the ultrasonic diagnosis and treatment system.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic diagram of a parallel ultrasound robot according to an embodiment of the present invention;

fig. 2 is a second schematic structural diagram of a parallel ultrasonic robot according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a second platform according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a first platform provided in an embodiment of the present invention;

fig. 5 is a schematic structural diagram of an electric machine module according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of the motor module and sun gear of the present invention;

FIG. 7 is a schematic diagram of the pose of a parallel ultrasound robot provided by an embodiment of the present invention;

FIG. 8 is a schematic diagram illustrating end pose adjustment for a parallel ultrasound robot according to an embodiment of the present invention;

fig. 9 is a third schematic structural diagram of a parallel ultrasonic robot according to an embodiment of the present invention;

fig. 10 is a second schematic structural diagram of an electric machine module according to a second embodiment of the present invention;

fig. 11 is a schematic structural diagram of an ultrasonic diagnosis and treatment system according to an embodiment of the present invention.

Reference numerals:

1: a trolley and a positioning arm; 2: parallel ultrasonic robots; 3: an ultrasonic probe; 4: a patient; 5: an operating bed;

101: a first platform; 102: connecting a driving unit; 103: a second platform;

201: a probe clamping unit; 202: a connecting rod; 203: a motor module; 204: a sun gear; 205: a gear fixing plate; 206: mounting a fixing piece; 207: a handle;

2011: a first clamping member; 2012: a fixing plate; 2013: a force sensor; 2014: a connecting member; 2015: a second clamping member;

2031: a motor; 2032: a motor mounting plate; 2033: a fixing plate; 2034: a first gear; 2035: an upper bearing cover plate; 2036: an upper bearing; 2037: a bearing support; 2038: a lower bearing;

2041: an inner circular surface; 2042: a boss; 2043: a gear mounting hole; 2044: a first hinge; 2045: a second hinge; 2046: a horizontal fixing plate; 2047: a vertical fixing plate;

2061: a first connection portion.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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.

Ultrasonic diagnosis is a technique in which an ultrasonic detection technique is applied to a human body, and data and morphology of physiology or tissue structures are known through measurement, so that diseases are found and a prompt is given. Ultrasonic diagnosis is a non-invasive, painless, convenient and intuitive effective examination means, especially B-ultrasonic, has wide application and great influence, and is called as four medical imaging technologies together with X-ray, CT and magnetic resonance imaging. The remote in-vitro ultrasonic robot is mainly used for expanding and assisting doctors in carrying out ultrasonic diagnosis, and has high application value in the scenes of needing the doctors to keep specific actions for a long time to carry out ultrasonic diagnosis and carrying out ultrasonic diagnosis in remote mountainous areas.

However, all existing ultrasonic robot technical solutions adopt a serial robot configuration to realize the positioning and control of the probe, and generally adopt an industrial-grade 6-axis robot as the positioning and control of the probe. The serial robot structure related to the schemes has the problems of large system size, high manufacturing cost, redundant motion space and the like. On this background, an embodiment of the present invention provides a parallel ultrasound robot, which is described below with reference to fig. 1 to 8, and as shown in fig. 1, an embodiment of the present invention provides a parallel ultrasound robot, including:

a first platform 101, a second platform 103 and a connection driving unit 102, wherein the first platform 101 is connected with the second platform 103 through the connection driving unit 102, the first platform 101 comprises a first connection portion 2061 for connecting with a positioning arm, and the second platform 103 comprises a probe clamping unit 201 for connecting with an ultrasonic probe 3;

the connection driving unit 102 includes a plurality of groups of connection driving portions, each of the connection driving portions includes a motor module and a link module, the motor module can move relative to the first platform 101 along the circumferential direction of the first platform 101, and the link module connects the motor module and the second platform 103.

It should be noted that, in the embodiment of the present invention, the first platform is used to connect a positioning arm of an ultrasound diagnosis and treatment system, and the second platform is connected to an ultrasound probe, so that when the remote ultrasound diagnosis and treatment system is actually used, a doctor can issue an instruction to control a motor module of the first platform, and the second platform is moved by connecting a driving unit, thereby facilitating detection and diagnosis and treatment of a patient.

The embodiment of the invention provides a parallel ultrasonic robot, wherein a first platform is used as a fixed platform, a second platform is used as a movable platform, when a motor module works, the motor module drives a connecting rod module to move, and the first platform and the second platform are connected and fixed through a plurality of groups of connecting and driving parts, so that the parallel ultrasonic robot can realize multi-direction translation and multi-direction posture adjustment movement of the second platform relative to the first platform, and a multi-degree-of-freedom parallel robot configuration is formed. Compared with the serial relay robot configuration in the comparison file, the parallel robot configuration has the advantages of high rigidity, compact structure, large axial rotation angle range, light weight, low cost and the like, and meanwhile, the motor module can move along the circumferential direction of the first platform 101, so that the connecting rod module can be driven to rotate relative to the first platform, and finally, the ultrasonic probe clamped by the second platform can realize 360-degree axial freedom relative to the first platform.

In at least one embodiment of the present invention, the first platform 101 includes a sun gear 204 and a gear fixing plate 205, the sun gear 204 is connected to the first connecting portion 2061 through the gear fixing plate 205, and the motor module is disposed in a circumferential direction of the sun gear 204.

It should be noted that, in the embodiment of the present invention, the motor module can move around the circumference of the central gear, which means that the motor module can move around the outer circumference of the central gear, and since the central gear 204 is connected to the first connecting portion 2061 through the gear fixing plate 205, the central gear is fixed during the ultrasonic diagnosis and treatment operation, the motor module is driven by the motor operation, and thus the motor module can move around the central gear 204 during the operation.

As shown in fig. 4, in the embodiment of the present invention, the first platform mainly includes a sun gear 204, a gear fixing plate 205, and a mounting fixture 206. The gear fixing plate 205 is fixed to the sun gear 204. The mounting fixture 206 is fixed to the gear fixing plate 205. The mounting fixture 206 includes a first connecting portion 2061 for fixedly mounting to the end of the trolley and the positioning arm 1.

Specifically, the mounting fixture 206 is usually composed of two parts, including a planar fixture and a first connecting portion 2061, the planar support is tightly fixed to the gear fixing plate 205, as shown in fig. 4, the planar fixture is a cross fixture, and the first connecting portion is generally configured as a protruding portion, which is adapted to the shape of the interface of the positioning arm, and is connected to the mechanical arm or the positioning arm in the diagnosis and treatment system.

In at least one embodiment of the invention, a handheld unit is disposed on the first platform.

It should be noted that, the robot joints in the existing scheme all adopt active joints, and the motion control of the robot is controlled by the operation of a far-end doctor. Meanwhile, the control mode of the active joint can cause that the accident in the diagnosis and treatment process can not be processed in time, so that the possibility of accidentally injuring the patient exists, and the safety is not high. Therefore, the handheld unit is arranged on the first platform, so that a nurse on site can participate in work for assisting a remote doctor, and the handheld unit is not limited to be arranged and can be arranged at any position on the first platform, which does not interfere with the movement of the driving connecting part.

Specifically, in the present embodiment, the handheld unit is a handle 207. Referring to fig. 2 and 4, the handle 207 is fixed to the mounting fixture 206.

When the ultrasonic diagnosis and treatment needs to be provided for a patient, by using the embodiment of the invention, a nurse can drag the robot to a proper position through the handheld unit, and a remote doctor finishes a scanning task of a target position by operating and controlling the robot to move. When the robot breaks down, medical personnel at the patient end can quickly remove the robot from the patient, and unnecessary injury to the patient caused by the robot is avoided. Therefore, the technical implementation scheme has good safety.

In at least one embodiment of the present invention, the motor module includes a motor 2031, a first gear 2034, and a first bearing, the first gear 2034 is disposed on an output shaft of the motor, the first gear 2034 is engaged with the sun gear 204, the first bearing and the first gear 2034 are disposed on an inner and outer circumferential surface of the sun gear 204, respectively, and the first bearing is connected to the link module.

It should be noted that, when the sun gear is an external gear, the first bearing is disposed on the inner circular surface 2041 of the sun gear 204, and when the sun gear is an internal gear, the first bearing is disposed on the outer circular surface of the sun gear 204. The first gear and the first bearing are not arranged on the same circular surface of the central gear and are respectively arranged on the inner side and the outer side of the central gear. In this embodiment, the motor 2031 is connected to the first gear 2034, so that the rotation of the output shaft of the motor will be transmitted to the first gear to drive the gear to rotate, and since the first gear 2034 is engaged with the central gear 204, the first gear 2034 will drive the motor module 203 to move along the circumferential direction of the central gear 204. Since the first bearing is connected to the first gear 2034 and is disposed on the inner circular surface 2041 of the sun gear 204, the movement of the first gear 2034 will drive the first bearing to move with a constant relative position. The first bearing-coupled link 202 is also moved by the first gear 2034.

As shown in fig. 5, a schematic diagram of a motor module according to an embodiment of the present invention includes: a motor 2031, a motor mounting plate 2032, a fixing plate 2033, a first gear 2034, and a first bearing. The first motor 2031 is fixed to the motor mounting plate 2032. The motor mounting plate 2032 and the fixing plate 2033 are relatively fixed through screws, and the gap between the gap reduction gears can be obtained through fine adjustment of the screws and the large gears, so that the gears are meshed more accurately. To ensure that gear 2034 meshes with the teeth of sun gear 204. The gear 2034 is fixed to the output shaft of the motor 2031 to realize that the motor output shaft drives the first gear 2034 to rotate together.

Therefore, when the output shaft of the motor 203 rotates, the first gear 2034 rotates together with the motor shaft. The sun gear 204 is stationary. The first gear 2034 carries the motor 203 and performs a circular meshing motion around the sun gear 204. And the movement of the motor drives the connecting rod module to move, and finally the position of the second platform is changed relative to the first platform.

In at least one embodiment of the present invention, the link module includes a link 202, a first hinge 2044 and a second hinge 2045, the first hinge 2044 and the second hinge 2045 are respectively disposed at two ends of the link 202, the first hinge 2044 is connected to the first bearing, and the second hinge 2045 is connected to the second platform 103.

The first hinge 2044 and the second hinge 2045 are used for enabling both ends of the connecting rod to rotate around the end of the connecting rod in multiple directions, so as to realize rotation in multiple directions. Specifically, in this embodiment, the first hinge 2044 and the second hinge 2045 both adopt universal cross hinges, which can facilitate the end portion to rotate smoothly by 360 degrees.

In at least one embodiment of the present invention, the first bearing includes an upper bearing 2036, a bearing support 2037 and a lower bearing 2038, the circular surface of the sun gear 204, which is connected to the first bearing, includes a boss, the upper bearing 2036 is connected to the lower bearing 2038 through the bearing support 2037, the upper bearing is connected to the upper surface of the boss 2042, the lower bearing 2038 is connected to the lower surface of the boss 2042, and the axial direction fixation of the sun gear is realized through the matching of the upper bearing and the lower bearing with the boss.

When the sun gear is an external gear, the boss 2042 is provided on the inner circular surface 2041 of the sun gear. When the central gear is an internal gear, a boss is arranged on the outer circular surface of the central gear. The first bearing is used for facilitating the motor module to drive the connecting rod module to move, and due to the transmission effect, the movement error of the motor module can be amplified to the connecting rod module. Therefore, the boss 2042 is disposed on the inner circular surface 2041 of the sun gear, and the height of the boss 2042 is close to that of the bearing support 2037, so that the first bearing is mounted on the boss 2042, the upper bearing 2036 is connected with the upper surface of the boss 2042, and the lower bearing 2038 is connected with the lower surface of the boss 2042, thereby effectively limiting the longitudinal displacement of the motor module, i.e., the axial displacement of the sun gear.

In addition, to achieve the function of a boss, a sliding track may also be provided on the inner circular surface 2041 of the sun gear, and the upper bearing 2036 and the lower bearing 2038 may just slide in the sliding track.

As shown in fig. 5, the first bearing further includes an upper bearing cap 2035, and the upper bearing cap 2035 is disposed on the upper bearing 2036 to improve stability. As shown in fig. 6, when the motor module is engaged with the sun gear, the motor module unit 203 is engaged with the sun gear 203 at the upper bearing 2036 and the lower bearing 2038. Wherein, the upper bearing 2036 and the lower bearing 2038 are matched with the inner circular surface 2041 of the sun gear to realize the radial position movement of the motor module unit, and the axial movement of the motor module unit is limited by the matching of the boss 2042 of the inner layer of the sun gear and the first bearing.

Specifically, a series of gear mounting holes 2043 are formed on the circumference of the sun gear 204 for connecting and fixing the sun gear 204 and the gear fixing plate 205 together.

In at least one embodiment of the present invention, the first bearing includes an upper bearing 2036, a lower bearing 2038, and a bearing fixing plate, the circular surface where the sun gear meets the first bearing includes a boss 2042, the upper bearing 2036 meets the upper surface of the boss 2042, the lower bearing 2038 meets the lower surface of the boss 2042, and the bearing fixing plate is used to fix the relative position between the first gear and the upper bearing, and the axial direction of the sun gear is fixed by the upper and lower bearings and the cooperation of the bearing fixing plate and the boss.

It should be noted that the motor module may be configured in another form, as shown in fig. 9, a bearing fixing plate is added, and the first bearing is limited by the bearing fixing plate.

Specifically, as shown in fig. 10, the bearing fixing plate includes two parts, namely a horizontal fixing plate 2046 and a vertical fixing plate 2047, the horizontal fixing plate 2046 is provided with two through holes, and the first gear and the upper bearing can be respectively embedded in the respective through holes, so that the relative position between the first gear 2034 and the upper bearing 2036 is not changed. The vertical fixing plate 2047 is perpendicular to the fixing plate 2033 and is used for connecting the horizontal fixing plate 2046 and the fixing plate 2033, so that the position of the motor module in the axial direction of the sun gear is limited, and fixation is realized.

In at least one embodiment of the present invention, the connection driving unit includes 6 sets of connection driving parts.

It should be noted that, at least 6 degrees of freedom need to be set for the robot to complete the displacement and rotation of each angle, so this embodiment is provided with 6 sets of connection driving parts, specifically:

the first platform is provided with 6 groups of motor modules 203 and the second platform is provided with 6 groups of hinges. The first platform and the second platform are connected and fixed by 6 groups of connecting rods 202. Thus, a 6-degree-of-freedom parallel robot configuration is formed. The parallel robot can realize three-direction translation and three-direction posture adjustment movement of the tail end relative to the central gear 204. It will be understood from the above description that when the output shaft of the motor 203 rotates, the first gear 2034 rotates together with the motor shaft. Sun gear 204 is stationary. The first gear 2034 carries the motor 203 to perform a circular meshing motion around the sun gear 204. The 6 groups of motor module units 203 do circular meshing motion around the central gear relatively independently, so that the relative motion of the second platform 203 relative to the central gear 204 can be realized, wherein the motion comprises three-degree-of-freedom translation and three-direction posture adjustment, and the total number of the degrees of freedom is 6.

Compared with the traditional serial industrial grade 6-axis robot as a probe, the parallel ultrasonic robot provided by the embodiment of the invention has the advantages of large rigidity, compact structure, large axial rotation angle, portability, low cost and the like.

In at least one embodiment of the present invention, the probe clamping unit 201 includes a first clamp 2011 and a second clamp 2015, which are used to clamp the ultrasound probe 3 from both sides.

It should be noted that two clamping members, a first clamping member 2011 and a second clamping member 2015, are respectively located at two sides of the ultrasound probe 3 and are surface-fitted to the probe 3. The two first clamping members 2011 are screwed by screws, and the ultrasonic probe 3 is fixed.

According to the parallel ultrasonic robot provided by the embodiment of the invention, the probe clamping unit is clamped from two sides through the first clamping piece 2011 and the second clamping piece 2015, so that the parallel ultrasonic robot can adapt to different probe sizes, has certain universality on the probe specification, is simple to install and is convenient to disassemble.

In at least one embodiment of the present invention, the second platform further includes a force sensor, a probe fixing plate, and a connector, a lower surface of the force sensor is connected to the probe clamping unit, and the connector connects an upper surface of the force sensor and the probe fixing plate.

As shown in fig. 3, the second stage includes: first clamp 2011 and second clamp 2015, fixing plate 2012, force sensor 2013, connecting piece 2014. The two probe clamping pieces are fixed with the lower surface of the force sensor 2013. The upper surface of the force sensor 2013 is connected and fixed to the fixing plate 2012 by three symmetrically distributed connecting pieces 2014. The probe clamping unit 201 can realize the space fixation of the ultrasonic probe 3 and measure the contact force between the tail end of the ultrasonic probe 3 and the body surface of the patient 4. The fixing plate 2012 further includes a hole for fixing the second hinge 2045.

The parallel ultrasonic robot of the embodiment of the invention ensures the quality of ultrasonic imaging and the safety between the robot and a patient by measuring the contact force between the probe and the body surface of the patient through the force sensor integrated at the tail end.

In at least one embodiment of the present invention, referring to fig. 2, an embodiment of the present invention provides a parallel ultrasound robot comprising: the probe clamping unit 201, the connecting rod 202, the motor module unit 203, the central gear 204, the gear fixing plate 205, the mounting fixing piece 206 and the handle 207. The probe holding unit 201 provides a holding fixing function for the ultrasonic probe 3. The probe clamping unit 201 is connected to a set of motor modules 203 through a set of links 202. Hinges are respectively fixed at two ends of the connecting rod 202. The motor module unit 203 and the sun gear 204 can move relatively around the sun gear 204. The gear fixing plate 205 is fixed to the sun gear 204. The mounting fixture 206 is fixed to the gear fixing plate 205. The handle 207 is fixed to the mounting fixture 206.

The parallel ultrasonic robot provided by the embodiment of the invention adopts a passive handheld auxiliary mode to fix the ultrasonic probe, and has higher safety compared with the technical scheme of an active probe fixing mode in other comparison files. In addition, the parallel ultrasonic robot of the embodiment of the invention can rotate 360 degrees around the probe, so that the shaft of the parallel ultrasonic robot in the embodiment has stronger rotation freedom degree and is more suitable for the human body scanning part needing large angle change.

The parallel ultrasonic robot provided by the embodiment of the invention has the characteristics of small size, portability, high flexibility, multiple redundant degrees of freedom and the like. Compared with the traditional configuration, the robot realizes man-machine integration under high electromechanical integration, and has the advantages of light weight, strong flexibility, high motion precision and the like. Due to the portability and the safety, the system can be flexibly deployed in a community health institute, a primary hospital and a mobile rescue platform, realizes ultrasonic diagnosis and interventional operation navigation under remote teleoperation, and meets the popularization requirement of primary medical treatment.

As shown in fig. 7 and 8, the different relative poses of the end of the parallel ultrasonic robot with respect to the central gear 204 under different motor motions are shown, which represents various detection poses of the parallel ultrasonic robot.

The embodiment of the invention also discloses an ultrasonic diagnosis and treatment system, which comprises: platform truck, ultrasonic probe, operation table and according to above-mentioned embodiment arbitrary parallelly connected ultrasonic robot, the platform truck sets up the one side at the operation table, be provided with the location arm on the platform truck, parallelly connected ultrasonic robot passes through first connecting portion sets up on the location arm, ultrasonic probe passes through probe centre gripping unit sets up parallelly connected ultrasonic robot is last.

As shown in fig. 10, in particular, the remote ultrasound robot mainly includes the following components: a trolley, a positioning arm 1, a parallel ultrasonic robot 2, an ultrasonic probe 3 and an operating table 5. The trolley and the positioning arm 1 can conveniently perform initial three-dimensional positioning on the whole robot system and facilitate placement and arrangement of the robot in an operation room. The parallel ultrasonic robot 2 is fixed at the tail end of the trolley and the positioning arm 1, so that the trolley and the positioning arm 1 are used for completing the initial fixation of the tail end ultrasonic probe 3 on the body surface of a patient. The ultrasonic probe 3 is fixed at the tail end of the parallel ultrasonic robot 2, and the examination and scanning of the probe on the body surface of the patient 4 are realized by the parallel ultrasonic robot 2. The ultrasonic probe 3, the parallel ultrasonic robot 2, the trolley and the positioning arm 1 can be quickly disassembled and assembled.

The ultrasonic diagnosis and treatment system in the embodiment of the invention has the working process as follows: firstly, a nurse confirms the range of ultrasonic diagnosis and treatment, the trolley and the positioning arm 1 are moved to proper positions, then a doctor can know the detection condition of a patient in real time through remote image feedback, the parallel ultrasonic robot 2 is remotely controlled to carry out detection, and the nurse can carry out auxiliary movement on the parallel ultrasonic robot 2 at any time according to the doctor instruction and the field condition until the detection is finished.

The ultrasonic diagnosis and treatment system in the embodiment of the invention realizes the passive large-range positioning and active small-range control modes of the probe, and realizes the small-range scanning diagnosis and treatment task of the tail-end probe by controlling the robot by remote operation of a far-end doctor and contacting the probe with the body surface of a patient. The ultrasonic diagnosis and treatment device has the advantages of being small in ultrasonic scanning area, large in influence of body surface contact force on scanning results and the like, and meanwhile the problems of safety in the diagnosis and treatment process, body fatigue workload of medical workers and the like are considered.

In at least one embodiment of the present invention, the first platform further includes a sun gear and a gear fixing plate, the sun gear is connected to the first connection portion through the gear fixing plate, and the motor module is disposed in a circumferential direction of the sun gear.

In at least one embodiment of the present invention, the motor module includes a motor, a first gear and a first bearing, the first gear is disposed on an output shaft of the motor, the first gear is engaged with the sun gear, the first bearing and the first gear are disposed on an inner and outer circumferential surface of the sun gear, respectively, and the first bearing is connected to the link module.

In at least one embodiment of the present invention, the link module includes a link, a first hinge and a second hinge, the first hinge and the second hinge are respectively disposed at two ends of the link, the first hinge is connected to the first bearing, and the second hinge is connected to the second platform.

In at least one embodiment of the present invention, the first bearing comprises an upper bearing, a bearing support and a lower bearing, the circular surface of the sun gear, which is connected with the first bearing, comprises a boss, the upper bearing is connected with the lower bearing through the bearing support, the upper bearing is connected with the upper surface of the boss, and the lower bearing is connected with the lower surface of the boss.

In at least one embodiment of the present invention, the first bearing includes an upper bearing, a lower bearing, and a bearing fixing plate, the circular surface of the sun gear, which is connected to the first bearing, includes a boss, the upper bearing is connected to the upper surface of the boss, the lower bearing is connected to the lower surface of the boss, and the bearing fixing plate is used for fixing the relative position between the first gear and the upper bearing.

In at least one embodiment of the invention, a handheld unit is disposed on the first platform.

In at least one embodiment of the present invention, the connection driving unit includes three groups, each group including two connection driving parts, and the three groups of connection driving parts are symmetrically distributed with respect to the first platform.

In at least one embodiment of the present invention, the probe clamping unit includes a first clamping member and a second clamping member for clamping the ultrasonic probe from both sides.

In at least one embodiment of the present invention, the second platform further includes a force sensor, a probe fixing plate, and a connector, a lower surface of the force sensor is connected to the probe clamping unit, and the connector connects an upper surface of the force sensor and the probe fixing plate.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (11)

1. A parallel ultrasound robot, comprising: the ultrasonic probe comprises a first platform, a second platform and a connecting driving unit, wherein the first platform is connected with the second platform through the connecting driving unit, the first platform comprises a first connecting part used for being connected with a positioning arm, and the second platform comprises a probe clamping unit used for being connected with an ultrasonic probe;

the connecting driving unit comprises a plurality of connecting driving parts, each connecting driving part comprises a motor module and a connecting rod module, the motor modules can move relative to the first platform along the circumferential direction of the first platform, and the connecting rod modules are connected with the motor modules and the second platform.

2. The parallel ultrasonic robot of claim 1, wherein the first platform further comprises a sun gear and a gear fixing plate, the sun gear is connected to the first connection portion through the gear fixing plate, and the motor module is disposed in a circumferential direction of the sun gear.

3. The parallel ultrasonic robot of claim 2, wherein the motor module comprises a motor, a first gear and a first bearing, the first gear is disposed on an output shaft of the motor, the first gear is engaged with the central gear, the first bearing and the first gear are disposed on an inner and outer circumferential surface of the central gear, respectively, and the first bearing is connected to the link module.

4. The parallel ultrasonic robot of claim 3, wherein the link module comprises a link, a first hinge and a second hinge, the first hinge and the second hinge are respectively disposed at two ends of the link, the first hinge is connected to the first bearing, and the second hinge is connected to the second platform.

5. The parallel ultrasound robot of claim 3, wherein the first bearing comprises an upper bearing, a bearing support and a lower bearing, wherein the circular surface of the sun gear that interfaces with the first bearing comprises a boss, wherein the upper bearing interfaces with the lower bearing through the bearing support, wherein the upper bearing interfaces with an upper surface of the boss, and wherein the lower bearing interfaces with a lower surface of the boss.

6. The parallel ultrasonic robot of claim 3, wherein the first bearing comprises an upper bearing, a lower bearing and a bearing fixing plate, the circular surface of the central gear, which is connected with the first bearing, comprises a boss, the upper bearing is connected with the upper surface of the boss, the lower bearing is connected with the lower surface of the boss, and the bearing fixing plate is used for fixing the relative position between the first gear and the upper bearing.

7. The parallel ultrasound robot of any of claims 1 to 6, wherein a handheld unit is disposed on the first platform.

8. The parallel ultrasound robot of any of claims 1 to 6, wherein the linkage drive unit comprises three groups, each group comprising two linkage drives, the three groups of linkage drives being symmetrically distributed with respect to the first platform.

9. The parallel ultrasound robot of any of claims 1 to 6, wherein the probe clamping unit comprises a first clamp and a second clamp for clamping the ultrasound probe from both sides.

10. The parallel ultrasonic robot of claims 1 to 6, wherein the second platform further comprises a force sensor, a probe fixing plate, and a connector, wherein a lower surface of the force sensor is connected to the probe clamping unit, and the connector connects an upper surface of the force sensor and the probe fixing plate.

11. An ultrasonic medical treatment system, comprising: platform truck, ultrasonic probe, operation table and according to any one of claims 1 to 10 parallelly connected ultrasonic robot, the platform truck sets up the one side at the operation table, be provided with the locating arm on the platform truck, parallelly connected ultrasonic robot passes through first connecting portion sets up on the locating arm, ultrasonic probe passes through probe centre gripping unit sets up parallelly connected ultrasonic robot is last.

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