CN115736820A - Four-degree-of-freedom automatic palpation probe - Google Patents
Four-degree-of-freedom automatic palpation probe Download PDFInfo
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- CN115736820A CN115736820A CN202211300177.4A CN202211300177A CN115736820A CN 115736820 A CN115736820 A CN 115736820A CN 202211300177 A CN202211300177 A CN 202211300177A CN 115736820 A CN115736820 A CN 115736820A
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- 238000002559 palpation Methods 0.000 title claims abstract description 50
- 239000000523 sample Substances 0.000 title claims abstract description 35
- 238000005259 measurement Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 9
- 210000000056 organ Anatomy 0.000 abstract description 4
- 238000003745 diagnosis Methods 0.000 description 2
- 230000036285 pathological change Effects 0.000 description 2
- 231100000915 pathological change Toxicity 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
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Abstract
The invention discloses a four-freedom automatic palpation probe, comprising: the first degree-of-freedom module comprises a motion part and is driven by a first servo motor through the linear module to linearly extend and retract; the second degree of freedom module comprises an output shaft of a second servo motor and a rotating base which is driven by the second servo motor to perform rotary motion; the third degree of freedom module comprises a first shaft connected with an output shaft of the third servo motor through a first gear set, and the first shaft drives the third motor frame to synchronously rotate when rotating; the fourth degree of freedom module comprises a second shaft connected with an output shaft of the fourth servo motor through a second gear set, and the second shaft can drive the tail end of the probe to synchronously rotate when rotating. The invention has four degrees of freedom and higher operation flexibility, can realize the palpation of various tissues and organs, and meets the requirements of different palpation examination strategies and palpation methods in the palpation process.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a four-degree-of-freedom automatic palpation probe.
Background
Palpation is a common medical examination means, and by touching the examined body part, the physical characteristics such as the size, hardness, outline of the body surface and the internal organs can be known, so that important information is provided for judging whether tissues and organs have pathological changes and the pathological change positions, and the palpation is widely applied clinically. However, there are some disadvantages in manual palpation, such as the diagnosis effect is easily affected by the experience of the doctor, it is impossible to obtain quantitative data, and there are problems in privacy in examination, so the palpation robot development is of great significance.
Multiple degrees of freedom and automation are important problems which currently limit the practical application of the palpation robot. Most of traditional palpation robots are handheld, only have few passive degrees of freedom, and only can meet the needs of few palpation examination strategies and palpation techniques. In addition, in the palpation examination process, the existing handheld palpation robot can not realize automatic palpation operation, and needs the whole-process participation of professional doctors and the completion of handheld operation.
Disclosure of Invention
The invention aims to provide a four-degree-of-freedom automatic palpation probe aiming at the technical defects in the prior art, which can not only meet the requirements of different palpation examination strategies and palpation methods, but also realize the automatic palpation examination of a target body part by being carried at the tail end of a medical mechanical arm, thereby meeting the requirements of the palpation probe on the aspects of operation flexibility, automatic diagnosis, miniaturization and the like.
The technical scheme adopted for realizing the purpose of the invention is as follows:
a four degree-of-freedom automatic palpation probe comprising:
the first freedom degree module comprises a fixed part and a moving part connected with the fixed part, the fixed part is provided with a cylindrical shell, one end of the moving part is arranged in the shell, and the moving part can linearly extend and retract along the axis direction of the shell under the driving of a first servo motor in the shell through a linear module;
the second degree of freedom module comprises a second servo motor fixed at the exposed end of the moving part through a second motor frame, and a rotating base which is connected with an output shaft of the second servo motor and is driven by the second servo motor to perform rotary motion;
the third degree of freedom module comprises a third servo motor arranged on a third motor frame, an output shaft of the third servo motor is connected with a first shaft through a first gear set so as to drive the first shaft to rotate, the first shaft is arranged on the rotating base and connected with the third motor frame, and the first shaft drives the third motor frame to synchronously rotate when rotating;
and the fourth degree-of-freedom module comprises a fourth servo motor arranged on a fourth motor frame, an output shaft of the fourth servo motor is connected with a second shaft through a second gear set so as to drive the second shaft to rotate, the second shaft is arranged on the fourth motor frame and is connected with the tail end of the probe, and the second shaft can drive the tail end of the probe to synchronously rotate when rotating.
The shell is fixed on the base, and the tail end of the base is provided with a connecting piece used for being connected with the medical mechanical arm.
Wherein, the straight line module including set up in the inside first motor frame of shell, arrange in the inboard slide rail of first motor frame, with sliding rail connection's slider, the slider passes through slider connecting piece and flange joint, flange is connected with the screw nut on the lead screw, the one end and the first servo motor of lead screw are connected, first servo motor and slide rail are fixed in on the first motor frame, the other end of lead screw is fixed in first bearing frame through the bearing for the straight line module, the slider with the motion portion links firmly.
The rotating base comprises two shaft connecting plates which are oppositely arranged along the thickness direction in a spaced mode, one ends of the two shaft connecting plates are connected through one connecting plate, and an output shaft of the second servo motor is connected with the connecting plate.
The first shaft and the second shaft are D-shaped shafts with D-shaped sections, and the positions, close to the two ends, of the D-shaped shafts are round shafts.
The first shaft is connected with a shaft connecting plate of the rotating base through a first bearing, and the second shaft is connected with a shaft hole in the fourth motor frame through a second bearing.
The first gear set and the second gear set respectively comprise bevel gears connected with output shafts of the motors, and reversing gears matched with the bevel gears are coaxially arranged on the first shaft/the second shaft; the axial direction of the bevel gear is vertical to the axial direction of the reversing gear.
And the fourth motor frame is connected with the third motor frame through screws.
The moving part comprises a lifting cylinder, and the second servo motor is arranged in the lifting cylinder and fixed by a first motor frame arranged at the end part of the exposed side of the lifting cylinder.
The tail end of the probe is of a planar structure, and the surface of the probe is provided with a pressure sensor array for measuring contact force.
The invention has four degrees of freedom and higher operation flexibility, can realize palpation of various tissues and organs, and meets the requirements of different palpation examination strategies and palpation techniques in the palpation process.
The invention has an independent control system and a connecting module, can be carried at the tail end of a common medical mechanical arm, can realize the automatic palpation examination of human body surfaces and organs, and has higher degree of automation.
The invention adopts a motor vertical arrangement mode, arranges the motor in each joint, does not occupy additional working space, has more compact integral structure, does not cause overlarge center-of-gravity shift, and further improves the stability.
The palpation tail end of the invention is planar, meets the requirement of surface contact of doctors in the current 2-3 finger palpation, and is convenient for integrating the flexible touch sensing array.
Drawings
FIG. 1 is a schematic diagram of a four-degree-of-freedom automatic palpation probe of the invention;
FIG. 2 is a schematic front view of a four degree-of-freedom automatic palpation probe of the invention;
FIG. 3 is a schematic partial cross-sectional view of FIG. 2;
FIG. 4 is an exploded view of a first degree of freedom module and a second degree of freedom module of the present invention;
fig. 5 is an exploded view of a third degree of freedom module of the present invention.
In the figure:
101-a first degree of freedom module; 102-a second degree of freedom module; 103-a third degree of freedom module; 104-fourth degree of freedom module;
1-probe end; 2-a fourth upper bearing end cap; 3-a fourth motor mount; 4-a third upper housing; 5-a third motor frame; 6-a third upper bearing end cap; 7-rotating the base; 8-a second motor mount; 9-a lifting cylinder; 10-a first housing; 11-a base; 12-a connector; 13-a bolt; 14-a third lower bearing end cap; 15-a third D-axis; 16-a third set screw II; 17-a third lower housing; 18-a fourth set screw; 19-a fourth lower bearing end cap; 20-a fourth D-axis; 21-a fourth bearing; 22-a retainer ring for a shaft; 23-a fourth gear set; 24-a third set screw I; 25-a third gear set; 26-a second set screw; 27-a third bearing; 28-a second servo motor; 29-a first bearing seat; 30-a connecting flange; 31-a first motor mount; 32-a slide rail; 33-a slide block; 34-a motor screw assembly; 35-a slider connection; 36-a lead screw nut; 37-linear module bearings; 38-a fourth servo motor; 39-third servomotor.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to 5, the four-degree-of-freedom automatic palpation probe of the embodiment of the invention comprises a translational degree of freedom for linear telescopic movement and three rotational degrees of freedom;
the first degree-of-freedom module 101 realizes linear telescopic motion, the second degree-of-freedom module 102 realizes rotary motion, the third degree-of-freedom module 103 and the fourth degree-of-freedom module 104 realize rotary motion, the third degree-of-freedom module 103 is parallel to the axis of the rotating shaft of the fourth degree-of-freedom module 104, the axis directions of the third degree-of-freedom module 103 and the fourth degree-of-freedom module 104 are perpendicular to the axis direction of the first degree-of-freedom module 101, and when the second degree-of-freedom module 102 rotates, the second degree-of-freedom module rotates around the axis of the first degree-of-freedom module 101 to realize rotation.
Referring to fig. 2 and 4, in the first degree of freedom module of this embodiment, the fixed portion includes a base 11 and a first housing 10 connected to the base 11, the moving portion includes a lifting cylinder 9, and a first servo motor and a linear module for driving the lifting cylinder 9 to move linearly, the first servo motor is mounted on a first motor frame 31, and the first servo motor and the linear module are disposed in the first housing 10.
Wherein, the tail end of the base is provided with a connecting piece 12 through a bolt 13 for connecting with the medical mechanical arm.
Preferably, the linear module comprises a motor screw assembly 34, a slide rail 32, a slide block 33, a slide block connecting piece 35, a screw nut 36, a connecting flange 30, a bearing 37 for the linear module, and a first bearing seat 29;
the motor lead screw assembly 34 is fixed on the first motor frame 31 through a screw, one end of a lead screw in the motor lead screw assembly 34 is connected with the first servo motor, the other end of the lead screw is fixed in the first bearing seat 29 through a linear module by using a bearing 37, and the first bearing seat 29 is installed at one end of the first motor frame 31; the connecting flange 30 is connected with a screw nut 36 on the screw rod through threads; the slide rail 32 is fixed on the first motor frame 31 through a screw, the connecting flange 30 is connected with the slide block connecting piece 35 through a screw, and the slide block 33 is fixedly connected with the moving part through the slide block connecting piece 35.
The other end of the first motor frame 31 is fixed to the base 11 by screws to achieve connection between the fixed portion and the moving portion, the connecting flange 30 located on the inner side of the first bearing seat 29 is connected with the lifting cylinder 9, the inner end of the connecting flange penetrates through the first bearing seat 29, meanwhile, the connecting flange 30 is in threaded connection with the lead screw nut 36 on the lead screw, the moving portion is driven to do linear telescopic motion by the motor lead screw assembly 34 and the lead screw nut 36, and rotary motion is converted into linear motion of the lead screw nut through the linear module, so that the connecting flange and the lifting cylinder are driven to move axially.
In a preferred embodiment, the second degree of freedom module includes a second motor frame 8 mounted on the outer end of the elevator shaft 9, a second servo motor 28 mounted in the outer end of the elevator shaft and fixed by the second motor frame, and an output shaft of the second servo motor 28 and the rotating base 7 are fixed by a second set screw 26 to drive the rotating base 7 to perform a turning motion.
Referring to fig. 2, 3 and 5, the third degree-of-freedom module of this embodiment includes a third motor frame 5, a third upper housing 4, a third lower housing 17, a third D-shaped shaft 15, a third bearing 27, a third gear set 25, a third upper bearing cover 6, and a third lower bearing cover 14.
The third servo motor 39 is mounted on the third motor frame 5 and connected to the third D-shaped shaft 15 through the third gear set 25, and the third servo motor 39 transmits power to the third D-shaped shaft 15 through the third gear set 25, so as to drive the third degree-of-freedom module to rotate.
Wherein, both ends of the third D-shaped shaft 15 are respectively connected with the upper shaft hole of the shaft supporting plate of the rotating base 7 through a third bearing 27 in a rotating manner, and a third upper bearing end cover 6 and a third lower bearing end cover 14 are respectively arranged at the outer side of the third bearing for fixing.
The third gear set 25 is connected with an output shaft of a third servo motor through a third bevel gear, the third bevel gear of the third gear set 25 is meshed with a third reversing gear arranged on the third D-shaped shaft 15, the third reversing gear is fixedly arranged through a third set screw I24, and the output shaft of the third servo motor is fixedly connected with a third bevel gear through a third set screw II 16.
As a preferred embodiment, the third motor frame 5 is located between the third upper housing 4 and the third lower housing 17, the third upper housing 4 and the third lower housing 17 are arranged opposite to each other up and down, the third motor frame 5 includes two motor fixing plates which are arranged opposite to each other back and forth and fixed on one side of an end plate for extending a motor shaft, and the motor fixing plates are connected with the third upper housing 4 and the third lower housing 17 to form a rectangular structure; and the other surface of the end plate used for extending the motor shaft is provided with an ear plate used for supporting and connecting the third D-shaped shaft, and the ear plate is provided with a shaft hole.
As a preferred embodiment, the fourth degree of freedom module comprises a fourth D-shaped shaft 20, a fourth bearing 21, a fourth gear set 23, a shaft retainer 22, a probe end 1, a fourth upper bearing cover 2 and a fourth lower bearing cover 19; the fourth servo motor 38 is installed on the fourth motor frame 3, the third motor frame 5 is connected with the fourth motor frame 3, the fourth motor frame has a motor connecting plate, one surface of the motor connecting plate has two ear plates which are oppositely arranged at a distance to install the fourth D-shaped shaft 20 through the fourth bearing 21 in a rotating way, the probe end 1 has two shaft fixing ear plates which are connected with the fourth D-shaped shaft 20 and are fixed with the fourth D-shaped shaft 20, the fourth bevel gear of the fourth gear set 23 is connected with the output shaft of the fourth servo motor through a shaft retainer ring 22, the fourth reversing gear is installed on the fourth D-shaped shaft 20 through a shaft retainer ring 22 to realize the reversing function, the fourth bevel gear of the fourth gear set 23 is fixed with the output shaft of the fourth servo motor through a fourth set screw 18, and a fourth upper bearing end cover 2 and a fourth lower bearing end cover 19 are arranged outside the fourth bearing, wherein the fourth servo motor 38 transmits power to the fourth D-shaped shaft 20 through the fourth gear set 23 to drive the probe end to do corresponding rotating movement.
Compared with the traditional palpation probe, the probe of the invention has more freedom of movement, has an independent control system, and can meet the requirements of different palpation examination strategies and palpation techniques. The flexible touch sensor on the probe can be used for carrying out automatic palpation examination on a local body part, and can realize palpation on a body part with a larger range by being carried at the tail end of the medical mechanical arm.
While there have been shown and described the fundamental principles and essential features of the invention and advantages thereof, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof;
the present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. The automatic palpation probe of four degrees of freedom, its characterized in that includes:
the first freedom degree module comprises a fixed part and a moving part connected with the fixed part, the fixed part is provided with a cylindrical shell, one end of the moving part is arranged in the shell, and the moving part can linearly extend and retract along the axis direction of the shell under the driving of a first servo motor in the shell through a linear module;
the second degree of freedom module comprises a second servo motor fixed at the exposed end of the motion part through a second motor frame, and a rotating base which is connected with an output shaft of the second servo motor and is driven by the second servo motor to perform rotary motion;
the third degree of freedom module comprises a third servo motor arranged on a third motor frame, an output shaft of the third servo motor is connected with a first shaft through a first gear set so as to drive the first shaft to rotate, the first shaft is arranged on the rotating base and connected with the third motor frame, and the first shaft drives the third motor frame to synchronously rotate when rotating;
and the fourth degree-of-freedom module comprises a fourth servo motor arranged on a fourth motor frame, an output shaft of the fourth servo motor is connected with a second shaft through a second gear set so as to drive the second shaft to rotate, the second shaft is arranged on the fourth motor frame and is connected with the tail end of the probe, and the second shaft can drive the tail end of the probe to synchronously rotate when rotating.
2. The four-degree-of-freedom automatic palpation probe of claim 1, wherein the housing is fixed on a base, and the end of the base is provided with a connector for connecting with a medical manipulator.
3. The four-degree-of-freedom automatic palpation probe of claim 2, wherein the linear module comprises a first motor frame disposed inside the housing, a slide rail disposed inside the first motor frame, and a slide block connected to the slide rail, the slide block is connected to a connecting flange through a slide block connecting member, the connecting flange is connected to a lead screw nut on a lead screw, one end of the lead screw is connected to a first servo motor, the first servo motor and the slide rail are fixed to the first motor frame, the other end of the lead screw is fixed to a first bearing seat through the linear module by a bearing, and the slide block is fixedly connected to the moving part.
4. The four-degree-of-freedom automatic palpation probe of claim 3, wherein the rotating base comprises two shaft connecting plates arranged oppositely and spaced apart in the thickness direction, one end of the two shaft connecting plates is connected through one connecting plate, and the output shaft of the second servo motor is connected with the connecting plate.
5. The four-degree-of-freedom automatic palpation probe of claim 4, wherein said first and second axes are D-shaped with a D-shaped cross section, the proximal ends of the D-shaped axes being located on a circular axis.
6. The four-degree-of-freedom automatic palpation probe of claim 4, wherein the first shaft is connected with a shaft connecting plate of the rotating base by a first bearing, and the second shaft is connected with a shaft hole on a fourth motor frame by a second bearing.
7. The four-degree-of-freedom automatic palpation probe of claim 1, wherein the first gear set and the second gear set each comprise a bevel gear connected with an output shaft of a motor, a reversing gear matching with the bevel gear, the reversing gear being coaxially mounted on the first shaft/second shaft; the axial direction of the bevel gear is vertical to the axial direction of the reversing gear.
8. The four-degree-of-freedom automatic palpation probe of claim 1, wherein said fourth motor mount is screwed to said third motor mount.
9. The four-degree-of-freedom automatic palpation probe of claim 5, wherein said moving part comprises a lift cylinder, said second servo motor being disposed within said lift cylinder and being fixed by a first motor mount disposed at an end of an exposed side of said lift cylinder.
10. The four-degree-of-freedom automatic palpation probe of claim 1, wherein the probe tip is a planar structure with an array of pressure sensors on the surface for contact force measurement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211300177.4A CN115736820A (en) | 2022-10-24 | 2022-10-24 | Four-degree-of-freedom automatic palpation probe |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211300177.4A CN115736820A (en) | 2022-10-24 | 2022-10-24 | Four-degree-of-freedom automatic palpation probe |
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| CN115736820A true CN115736820A (en) | 2023-03-07 |
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| CN202211300177.4A Pending CN115736820A (en) | 2022-10-24 | 2022-10-24 | Four-degree-of-freedom automatic palpation probe |
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2022
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