CN116549003A - Ultrasonic diagnosis and treatment robot and ultrasonic diagnosis and treatment system - Google Patents
Ultrasonic diagnosis and treatment robot and ultrasonic diagnosis and treatment system Download PDFInfo
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- CN116549003A CN116549003A CN202310237195.0A CN202310237195A CN116549003A CN 116549003 A CN116549003 A CN 116549003A CN 202310237195 A CN202310237195 A CN 202310237195A CN 116549003 A CN116549003 A CN 116549003A
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- 238000003745 diagnosis Methods 0.000 title claims abstract description 66
- 239000000523 sample Substances 0.000 claims abstract description 61
- 230000005540 biological transmission Effects 0.000 claims abstract description 55
- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 238000002604 ultrasonography Methods 0.000 claims description 11
- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 239000013585 weight reducing agent Substances 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 5
- 230000036544 posture Effects 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000003759 clinical diagnosis Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000000338 in vitro Methods 0.000 description 1
- 238000013152 interventional procedure Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
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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
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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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
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Engineering & Computer Science (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- Radiology & Medical Imaging (AREA)
- Robotics (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
The invention relates to the technical field of ultrasonic equipment, and provides an ultrasonic diagnosis and treatment robot and an ultrasonic diagnosis and treatment system. The ultrasonic diagnosis and treatment robot includes: a plurality of groups of transmission mechanisms are annularly arranged in the first platform; the second platform is used for clamping the probe; the first end of each connecting component is rotationally connected with a transmission mechanism, and the second end of each connecting component is rotationally connected with the second platform; when the transmission mechanism acts, the connecting component and the second platform can be driven to move, so that the pose of the probe is changed. The ultrasonic diagnosis and treatment robot has the advantages that each group of transmission mechanisms are connected with one connecting component respectively, the plurality of connecting components can cooperate to act, the adjustment of the spatial position and the gesture of the probe is realized, the scanning range of the probe is further enlarged, each transmission mechanism drives one connecting component to act, the structure of the transmission system is simplified, the size of the first platform is reduced, the weight reduction of the ultrasonic diagnosis and treatment robot is realized, and meanwhile, the ultrasonic diagnosis and treatment robot has the functions of high rigidity and keeping the position and the gesture of the probe at the tail end.
Description
Technical Field
The invention relates to the technical field of ultrasonic equipment, in particular to an ultrasonic diagnosis and treatment robot and an ultrasonic diagnosis and treatment system.
Background
Ultrasonic imaging techniques are widely used in numerous medical operative fields such as cardiology, urology, neurology, and obstetrics by virtue of their non-invasive, low cost, and real-time properties. With the continuous development of medical technology in recent years, interventional puncture under ultrasound scanning and ultrasound guidance is becoming a common clinical diagnosis and treatment mode. Particularly in remote areas such as town sanitary facilities, the huge clinical demands of the urban sanitary facilities enable ultrasonic and related departments to be in overload working states for a long time. By means of the ultrasonic auxiliary diagnosis and treatment robot, the working efficiency of ultrasonic diagnosis and treatment can be effectively improved, and the problem of lack of ultrasonic medical resources in remote areas is relieved.
The ultrasonic auxiliary robot is used for carrying out ultrasonic detection on a human body in vitro by clamping an ultrasonic probe through a teleoperation or automatic scanning mode. The robot is mainly used for expanding and assisting doctors to carry out ultrasonic diagnosis, and has higher application value particularly in clinical diagnosis scenes such as long-time maintenance of specific actions by the doctors, remote mountain areas and the like.
Interventional procedures under ultrasound guidance often require high precision, large transmission ratios, and miniaturized design requirements for robotic systems. In the prior art, an ultrasonic diagnosis and treatment scheme is mainly completed by clamping an ultrasonic probe by a joint serial robot, and an industrial-level 6-axis robot is generally adopted as the positioning and control of the probe, so that the movement space is rich, the manufacturing cost is too high, and the huge space volume is occupied in the working process, so that the development of clinical operation in a man-machine cooperation environment is not facilitated. In recent years, some technical schemes have proposed parallel robot configurations and applied to the field of ultrasonic diagnosis and treatment, and the parallel ultrasonic diagnosis and treatment robot has the configuration advantages of high precision, compact structure and the like, but the complicated transmission mechanism limits the size optimization of the robot, so that the ultrasonic diagnosis and treatment robot has the defects of large size, heavy weight, high installation and maintenance difficulty and the like.
Disclosure of Invention
The invention provides an ultrasonic diagnosis and treatment robot and an ultrasonic diagnosis and treatment system, which are used for solving the defects of large size and heavy weight of the ultrasonic diagnosis and treatment robot in the prior art.
The invention provides an ultrasonic diagnosis and treatment robot, comprising: the first platform is internally provided with a plurality of groups of transmission mechanisms in a ring shape; the second platform is used for clamping the probe; the first end of each connecting component is rotationally connected with one transmission mechanism, and the second end of each connecting component is rotationally connected with the second platform; when the transmission mechanism acts, the connection assembly and the second platform can be driven to move, so that the pose of the probe is changed.
The ultrasonic diagnosis and treatment robot provided by the invention further comprises a plurality of force sensors, wherein the force sensors are annularly arranged on the second platform and are used for detecting the contact force between the probe and the body surface of a patient.
According to the ultrasonic diagnosis and treatment robot provided by the invention, each group of transmission mechanisms comprises: a motor; the worm is connected with the output shaft of the motor; the worm wheel is meshed with the worm, the worm wheel is provided with a swing arm, and the swing arm is rotationally connected with one connecting assembly.
According to the ultrasonic diagnosis and treatment robot provided by the invention, the swing arm comprises a first arm section, a second arm section and a third arm section which are sequentially connected, and the first arm section is connected with the worm wheel; the first arm section and the third arm section are respectively arranged at two ends of the second arm section and are perpendicular to the second arm section, the first arm section and the third arm section are respectively positioned at two sides of the second arm section, and the third arm section is rotationally connected with the connecting assembly.
The ultrasonic diagnosis and treatment robot provided by the invention further comprises a controller, wherein the controller is electrically connected with a plurality of motors, and the controller is used for controlling the rotating speed and the rotating direction of each motor so as to enable a plurality of swing arms to cooperatively act and further adjust the pose of the probe.
According to the ultrasonic diagnosis and treatment robot provided by the invention, each connecting assembly comprises: a connecting piece; the two ball joint bearings are respectively arranged at two ends of the connecting piece, one of the two ball joint bearings is fixedly connected with the swing arm and is rotationally connected with the first end of the connecting piece, and the other ball joint bearing is fixedly connected with the second platform and is rotationally connected with the second end of the connecting piece.
According to the ultrasonic diagnosis and treatment robot provided by the invention, the surface of the second platform facing the first platform is provided with the annular part, the outer wall of the annular part is provided with a plurality of joints along the circumferential direction of the annular part, and each joint is fixedly connected with one spherical joint bearing respectively.
According to the ultrasonic diagnosis and treatment robot provided by the invention, the second platform further comprises: a mount, each force sensor having opposed first and second surfaces, the first surface being connected to a surface of the mount facing away from the first platform; the clamping pieces are oppositely arranged to clamp the probe, and each clamping piece is connected with the second surface of the force sensor.
According to the invention, the first platform comprises: the plurality of transmission mechanisms are annularly arranged on the bottom plate, the bottom plate is provided with a through hole, and the connecting assembly penetrates through the through hole and is connected with the second platform; the shell, the shell with the bottom plate is connected, the outer wall of shell is equipped with a pair of handle, the handle is used for removing ultrasonic diagnosis and treat the robot.
The invention also provides an ultrasonic diagnosis and treatment system, which comprises: the trolley is provided with rollers at the bottom; the positioning arm comprises a vertical arm and a plurality of sections of cross arms which are sequentially hinged, a first end of the vertical arm is connected with the trolley, and a second end of the vertical arm is hinged with the head section of cross arm; the ultrasonic diagnosis and treatment robot is connected with the end cross arm and is clamped with the probe.
According to the ultrasonic diagnosis and treatment robot provided by the embodiment of the invention, the plurality of groups of transmission mechanisms are arranged in the first platform, each group of transmission mechanisms is connected with one connecting component respectively, so that the plurality of connecting components can cooperate to act, the adjustment of the spatial position and the posture of the probe is realized, the scanning range of the probe is further enlarged, meanwhile, each transmission mechanism drives one connecting component to act, the structure of a transmission system is simplified, the size of the first platform is reduced, the weight of the ultrasonic diagnosis and treatment robot is realized, and meanwhile, the ultrasonic diagnosis and treatment robot has the functions of high rigidity and keeping the position and the posture of the terminal probe.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of an ultrasonic diagnosis and treatment robot provided by the invention;
FIG. 2 is a schematic structural view of the first platform and the second platform shown in FIG. 1;
FIG. 3 is a schematic structural view of the transmission shown in FIG. 2;
FIG. 4 is a schematic structural view of the connection assembly shown in FIG. 2;
FIG. 5 is a schematic structural view of the second platform shown in FIG. 1;
FIG. 6 is a schematic structural view of an ultrasonic diagnostic robot after the probe pose is changed;
FIG. 7 is a schematic diagram of an ultrasound diagnostic system according to the present invention;
reference numerals:
10: a first platform; 11: a bottom plate; 12: a housing; 13: a handle; 14: a top plate; 15: a connection part; 20: a second platform; 21: a ring member; 22: a joint; 23: a fixing member; 24: a clamping member; 30: a connection assembly; 31: a connecting piece; 32: ball joint bearings; 41: a motor; 42: a worm; 43: a worm wheel; 44: swing arms; 45: a connecting rod; 50: a force sensor; 100: a probe; and (3) trolley: a platform; 301: a vertical arm; 302: a cross arm; 441: a first arm segment; 442: a second arm segment; 443: and a third arm segment.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The features of the invention "first", "second" and the like in the description and in the claims may be used for the explicit or implicit inclusion of one or more such features. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
The ultrasonic diagnosis and treatment robot and the ultrasonic diagnosis and treatment system of the present invention are described below with reference to fig. 1 to 7.
As shown in fig. 1, in an embodiment of the present invention, an ultrasonic diagnosis and treatment robot includes: the first platform 10, the second platform 20, a plurality of connection assemblies 30, and a plurality of transmission mechanisms. The first platform 10 is internally provided with a plurality of groups of transmission mechanisms in a ring shape, the second platform 20 is used for clamping the probe 100, the first end of each connecting component 30 is rotationally connected with one transmission mechanism, and the second end of each connecting component 30 is rotationally connected with the second platform 20, wherein when the transmission mechanism acts, the connecting components 30 and the second platform 20 can be driven to move so as to change the pose of the probe 100.
Specifically, the first platform 10 is used for connecting with a cross arm of the positioning arm, a plurality of groups of transmission mechanisms are arranged in the first platform 10, the plurality of groups of transmission mechanisms are annularly arranged in the first platform 10, each group of transmission mechanisms can independently act to drive a connecting assembly 30 connected with each group of transmission mechanisms to act, when the rotating speed and the rotating direction of each group of transmission mechanisms are the same, the positions of the connecting assemblies 30 are the same, and when the connecting assemblies 30 act, the second platform 20 can be driven to act, so that the probe 100 can translate in a three-dimensional space, and the bottom of the probe 100 is opposite to the surface of a human body; when the rotation speed and the rotation direction of each group of transmission mechanism are different, the positions and the postures of each connecting component 30 are different, and each connecting component 30 cooperates to act, so that the bottom of the probe 100 and the human body surface can be obliquely arranged. When the probe 100 moves, the scanning action of the probe 100 on the body surface of the human body can be completed.
Further, in the embodiment of the present invention, the transmission mechanism may be a worm gear transmission mechanism or a gear transmission mechanism. In this embodiment, each transmission mechanism drives one connection component 30 to act, so that the rotation speed and the rotation direction of each transmission mechanism can be controlled independently, and the pose of each connection component 30 is further controlled, so that the probe 100 can be translated or tilted in a three-dimensional space, and the scanning range of the probe 100 is increased. Further, compared with the prior art that one large gear is meshed with a plurality of small gears to drive each connecting component 30 to act, the transmission mechanism of the ultrasonic diagnosis and treatment robot provided by the embodiment of the invention is simple and small in size, and the difficulty in installation and maintenance of the ultrasonic diagnosis and treatment robot is reduced.
According to the ultrasonic diagnosis and treatment robot provided by the embodiment of the invention, the plurality of groups of transmission mechanisms are arranged in the first platform, each group of transmission mechanisms is connected with one connecting component respectively, so that the plurality of connecting components can cooperate to act, the adjustment of the spatial position and the posture of the probe is realized, the scanning range of the probe is further enlarged, meanwhile, each transmission mechanism drives one connecting component to act, the structure of a transmission system is simplified, the size of the first platform is reduced, the weight of the ultrasonic diagnosis and treatment robot is realized, and the difficulty in installation and maintenance is reduced.
As shown in fig. 1 and 2, in the embodiment of the present invention, the ultrasonic diagnosis and treatment robot further includes a plurality of force sensors 50, the plurality of force sensors 50 are annularly disposed on the second platform 20, and the force sensors 50 are used for detecting the contact force of the probe 100 with the body surface of the human body.
Specifically, the force sensor 50 is used to detect the contact force between the probe 100 and the body surface of the human body, so that the ultrasonic scan image can be better presented.
As shown in fig. 2, in an embodiment of the present invention, each set of transmission mechanisms includes: a motor 41, a worm 42, a worm wheel 43 and a swing arm 44. The worm 42 is connected with the output shaft of the motor 41, the worm wheel 43 is meshed with the worm 42, the worm wheel 43 is provided with a swing arm 44, and the swing arm 44 is rotatably connected with the connecting assembly 30.
Specifically, as shown in fig. 1, the first platform 10 includes a bottom plate 11, the bottom plate 11 is provided with a through hole, and a plurality of sets of transmission mechanisms are disposed above the bottom plate 11 in a circumferential direction of the bottom plate 11. Specifically, the motor 41 of each group of transmission mechanism is annularly arranged on the bottom plate 11, each worm wheel 43 is connected with the bottom plate 11 through a connecting rod 45, and each swing arm 44 penetrates through a through hole of the bottom plate 11 to be connected with the second platform 20 in a rotating manner. Further, when the motor 41 rotates, the worm 42 is driven to rotate synchronously, the worm wheel 43 is meshed with the worm 42, so that the worm wheel 43 can be driven to rotate, the worm wheel 43 drives the swing arm 44 to rotate, and the swing arm 44 drives the connecting assembly 30 to act, so that the position of the second platform 20 is changed, and the pose of the probe 100 is changed.
According to the ultrasonic diagnosis and treatment robot provided by the embodiment of the invention, through the arrangement of the transmission mechanism of the worm gear, the ultrasonic diagnosis and treatment robot has the advantages of small volume, large transmission ratio, reverse travel self-locking and the like, and when the power is suddenly cut off, the probe cannot shake, so that safer, more stable and more loaded working capacity is provided for the ultrasonic diagnosis and treatment robot.
As shown in fig. 3, in the embodiment of the present invention, the swing arm 44 includes a first arm section 441, a second arm section 442, and a third arm section 443 that are connected in sequence. The first arm section 441 is connected to the worm wheel 43, the first arm section 441 and the third arm section 443 are respectively disposed at two ends of the second arm section 442 and perpendicular to the second arm section 442, the first arm section 441 and the third arm section 443 are respectively disposed at two sides of the second arm section 442, and the third arm section 443 is rotatably connected to the connecting assembly 30.
Specifically, the swing arm 44 is configured to approximate a zigzag shape, so that the connection assembly 30 has more degrees of freedom during the rotation of the worm wheel 43, and thus the connection assembly 30 has more poses, so as to increase the scanning range of the probe 100.
Further, in the embodiment of the present invention, the ultrasonic diagnosis and treatment robot further includes a controller electrically connected to the plurality of motors 41, and the controller is configured to control the rotation speed and the rotation direction of each motor 41, so that the plurality of swing arms 44 cooperate to act, and further, the pose of the probe 100 is changed.
Specifically, as shown in fig. 6, in the present embodiment, the number of motors 41 is 6, the 6 motors 41 are all electrically connected with a controller, the controller controls the rotation speed and the rotation speed of each motor 41, and when the rotation speed and the rotation speed of each motor 41 are the same, the rotation direction of each swing arm 44 is the same, so that the pose of each connecting assembly 30 is the same, and the translation of the probe 100 in the three-dimensional space is realized; when the rotation speed and the rotation direction of the part of motors 41 in the plurality of motors 41 are different, the rotation directions of the part of swing arms 44 in the plurality of swing arms 44 are different, so that the plurality of connecting assemblies 30 cooperate to act, and the pose of the probe 100 is changed.
According to the ultrasonic diagnosis and treatment robot provided by the embodiment of the invention, the rotating speed and the steering of each motor can be controlled according to the detection requirement by arranging the plurality of transmission mechanisms and the controller, so that the position and the posture of the probe in the three-dimensional space are adjusted, and the detection range of the body surface is enlarged.
As shown in fig. 4, in an embodiment of the present invention, each connection assembly 30 includes: a connector 31 and a pair of ball bearings 32. Two ball joint bearings 32 are respectively disposed at two ends of the connecting member 31, one of the two ball joint bearings 32 is fixedly connected with the swing arm 44 and is rotatably connected with the first end of the connecting member 31, and the other ball joint bearing 32 is fixedly connected with the second platform 20 and is rotatably connected with the second end of the connecting member 31.
Specifically, the third arm section 443 of the swing arm 44 is connected to the first end of the connecting member 31 through a ball joint bearing 32, and when the swing arm 44 rotates, the connecting member 31 can be driven to move, and at the same time, the connecting member 31 can also rotate relative to the swing arm 44, so as to avoid interference between the connecting member 31 and the bottom plate 11 of the first platform 10. The second end of the connecting piece 31 is rotatably connected to the second platform 20 through another ball joint bearing 32, and when the connecting piece 31 moves, the second platform 20 can be driven to move, so as to drive the probe 100 to move.
As shown in fig. 5, in the embodiment of the present invention, the surface of the second platform 20 facing the first platform 10 is provided with a ring member 21, and the outer wall of the ring member 21 is provided with a plurality of joints 22 along the circumferential direction of the ring member 21, and each joint 22 is fixedly connected with one ball joint bearing 32.
Specifically, the second end of each connecting piece 31 is rotationally connected with one joint 22 through the ball joint bearing 32, when the motor 41 drives the worm 42 to rotate, the worm 42 drives the worm wheel 43 to rotate, and then drives the swing arm 44 to rotate, and the swing arm 44 drives the connecting pieces 31 to move, meanwhile, the first end of each connecting piece 31 can rotate relative to the swing arm 44, and the second end of each connecting piece 31 can rotate relative to the joint 22, so that the pose of each connecting piece 31 can be adjusted.
As shown in fig. 5, in the embodiment of the present invention, the second platform 20 includes: a fixing member 23 and a pair of holding members 24. Each force sensor 50 has opposed first and second surfaces, the first surface being connected to a surface of the fixture 23 facing away from the first platform 10 and the second surface being connected to a pair of clamps 24, wherein the pair of clamps 24 are oppositely disposed to clamp the probe 100.
Specifically, in the embodiment of the present invention, the force sensors 50 are plural in number, the plural force sensors 50 are annularly arranged along the circumferential direction of the fixing member 23, the first surface of each force sensor 50 is connected to the fixing member 23, the second surface of each force sensor 50 is connected to the holding member 24, and the force sensors 50 are used for detecting the contact force of the probe 100 with the body surface of the patient. The pair of clamping pieces 24 can clamp probes 100 with different diameters, so that the applicability of the ultrasonic diagnosis and treatment robot is improved, and meanwhile, the probes 100 and the clamping pieces 24 are simple to fix and convenient to detach.
Further, in an embodiment of the present invention, the fixing member 23 has opposite first and second surfaces, the second surface of which is connected to the force sensor 50, and the first surface is provided with the ring member 21.
As shown in fig. 1, in the embodiment of the present invention, the first platform 10 further includes a housing 12, the housing 12 is connected to the base plate 11, a pair of handles 13 are provided on an outer wall of the housing 12, and the handles 13 are used to move the ultrasonic diagnostic robot to adjust the position of the probe 100.
Specifically, in this embodiment, the operator can move the probe 100 to the approximately scanning range through the handle 13, then, the operator controls the rotation speed and the rotation direction of the motor 41, and further controls the probe 100 to move or tilt within the detection range of the body surface to complete the scanning of the specific part of the human body, further, when the operator moves the probe 100 to the approximately detection range, the operator can remotely or in the diagnosis room control the probe 100 to move, no operation mode is required, the operator is not required to keep the specific action for a long time, and the labor intensity of the operator is reduced.
Further, in the present embodiment, the first platform 10 further includes a top plate 14 and a connecting portion 15. The transmission mechanism is located in the housing 12, and the top plate 14 covers the top surface of the housing 12, thereby enclosing the transmission mechanism in the housing 12. The top plate 14 is connected with a connecting part 15, and the connecting part 15 is used for being connected with a positioning arm.
As shown in fig. 7, an embodiment of the present invention further provides an ultrasound diagnosis and treatment system, including: a trolley 200, a positioning arm, an ultrasound diagnostic robot and a probe 100. The bottom of the trolley 200 is provided with a roller, the positioning arm comprises a vertical arm 301 and a plurality of sections of cross arms 302 which are hinged in sequence, a first end of the vertical arm 301 is connected with the trolley 200, and a second end of the vertical arm 301 is hinged with the head section cross arms. The ultrasonic diagnosis and treatment robot is connected with the end cross arm, and the probe 100 is arranged in the ultrasonic diagnosis and treatment robot.
Specifically, the positioning arm comprises a plurality of cross arms 302 which are sequentially hinged, and the cross arms 302 can rotate, so that the position of the ultrasonic diagnosis and treatment robot can be adjusted to adjust the position of the probe 100. Meanwhile, the probe 100 is detachably connected with the ultrasonic diagnosis and treatment robot, the ultrasonic diagnosis and treatment robot is detachably connected with the end cross arm and the vertical arm 301 is detachably connected with the trolley 200, so that quick assembly and disassembly are realized.
According to the ultrasonic diagnosis and treatment system provided by the embodiment of the invention, the ultrasonic diagnosis and treatment robot is arranged, the plurality of groups of transmission mechanisms are arranged in the ultrasonic diagnosis and treatment robot, each group of transmission mechanisms is respectively connected with one connecting component, and the pose of each connecting component can be independently controlled, so that the probe has a position and pose adjusting function within a certain range, the scanning range of the probe is improved, meanwhile, each transmission mechanism drives one connecting component to act, the structure of the transmission system is simplified, the size of the first platform is reduced, the weight reduction of the ultrasonic diagnosis and treatment robot is realized, the size of the ultrasonic diagnosis and treatment system is reduced, the ultrasonic diagnosis and treatment system is convenient to move, and the convenience of an operator in operation is enhanced.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An ultrasonic diagnostic robot, comprising:
the first platform is internally provided with a plurality of groups of transmission mechanisms in a ring shape;
the second platform is used for clamping the probe;
the first end of each connecting component is rotationally connected with one transmission mechanism, and the second end of each connecting component is rotationally connected with the second platform;
when the transmission mechanism acts, the connection assembly and the second platform can be driven to move, so that the pose of the probe is changed.
2. The ultrasonic diagnostic robot of claim 1, further comprising a plurality of force sensors annularly disposed on the second platform, the force sensors being configured to detect contact forces of the probe with the patient's body surface.
3. The ultrasound diagnostic robot according to claim 1, wherein each set of the transmission mechanisms comprises:
a motor;
the worm is connected with the output shaft of the motor;
the worm wheel is meshed with the worm, the worm wheel is provided with a swing arm, and the swing arm is rotationally connected with one connecting assembly.
4. The ultrasonic diagnostic robot of claim 3, wherein the swing arm comprises a first arm section, a second arm section and a third arm section which are sequentially connected, and the first arm section is connected with the worm wheel;
the first arm section and the third arm section are respectively arranged at two ends of the second arm section and are perpendicular to the second arm section, the first arm section and the third arm section are respectively positioned at two sides of the second arm section, and the third arm section is rotationally connected with the connecting assembly.
5. An ultrasonic diagnostic robot according to claim 3, further comprising a controller electrically connected to a plurality of motors, wherein the controller is configured to control the rotation speed and the rotation direction of each motor, so that a plurality of swing arms cooperate to act, and further adjust the pose of the probe.
6. An ultrasound diagnostic robot according to claim 3, wherein each of the connection assemblies comprises:
a connecting piece;
the two ball joint bearings are respectively arranged at two ends of the connecting piece, one of the two ball joint bearings is fixedly connected with the swing arm and is rotationally connected with the first end of the connecting piece, and the other ball joint bearing is fixedly connected with the second platform and is rotationally connected with the second end of the connecting piece.
7. The ultrasonic diagnosis and treatment robot according to claim 6, wherein an annular member is arranged on the surface, facing the first platform, of the second platform, a plurality of joints are arranged on the outer wall of the annular member along the circumferential direction of the annular member, and each joint is fixedly connected with one ball joint bearing.
8. The ultrasonic diagnostic robot of claim 2, wherein the second platform further comprises:
a mount, each force sensor having opposed first and second surfaces, the first surface being connected to a surface of the mount facing away from the first platform;
the clamping pieces are oppositely arranged to clamp the probe, and each clamping piece is connected with the second surface of the force sensor.
9. The ultrasonic diagnostic robot of claim 1, wherein the first platform comprises:
the plurality of transmission mechanisms are annularly arranged on the bottom plate, the bottom plate is provided with a through hole, and the connecting assembly penetrates through the through hole and is connected with the second platform;
the shell, the shell with the bottom plate is connected, the outer wall of shell is equipped with a pair of handle, the handle is used for removing ultrasonic diagnosis and treat the robot.
10. An ultrasound diagnostic system, comprising:
the trolley is provided with rollers at the bottom;
the positioning arm comprises a vertical arm and a plurality of sections of cross arms which are sequentially hinged, a first end of the vertical arm is connected with the trolley, and a second end of the vertical arm is hinged with the head section of cross arm;
the ultrasound diagnostic robot of any one of claims 1 to 9, connected to a terminal arm, the ultrasound diagnostic robot holding a probe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310237195.0A CN116549003A (en) | 2023-03-13 | 2023-03-13 | Ultrasonic diagnosis and treatment robot and ultrasonic diagnosis and treatment system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202310237195.0A CN116549003A (en) | 2023-03-13 | 2023-03-13 | Ultrasonic diagnosis and treatment robot and ultrasonic diagnosis and treatment system |
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| CN (1) | CN116549003A (en) |
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