CN202960662U - External shock wave device six-freedom-degree movement mechanism - Google Patents
External shock wave device six-freedom-degree movement mechanism Download PDFInfo
- Publication number
- CN202960662U CN202960662U CN 201220698923 CN201220698923U CN202960662U CN 202960662 U CN202960662 U CN 202960662U CN 201220698923 CN201220698923 CN 201220698923 CN 201220698923 U CN201220698923 U CN 201220698923U CN 202960662 U CN202960662 U CN 202960662U
- Authority
- CN
- China
- Prior art keywords
- axis
- freedom
- freedom motion
- rotating mechanism
- probe
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Landscapes
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
The utility model discloses an external shock wave device six-freedom-degree movement mechanism which comprises a manual displacing mechanism, a main engine moving mechanism of a Y axis and a Z axis, and an X axis treatment table moving mechanism. The main engine moving mechanism is provided with a rotating mechanism rotating around the X axis and the Y axis and provided with a Z axis rotating mechanism. According to the external shock wave device six-freedom-degree movement mechanism, due to the added Z axis rotating mechanism, wave source can rotate around the central axis of an ultrasound probe, six-freedom-degree movement of an instrument is achieved and effect of location without blind spots is achieved; the ultrasonic probe is moved to a rough position by the manual displacing mechanism during positioning, then accurate positioning is conducted by a micro adjusting device provided with a digital display device, time is saved and positioning accuracy is ensured; an electromagnetic sucker is adopted as a locking device of the manual displacing mechanism, control of locking and unlocking is conducted through a button arranged on a handle, operation is flexible, convenient and reliable, and the purpose of the external shock wave device six-freedom-degree movement mechanism is achieved.
Description
Technical field
This utility model relates to technical field of medical instruments, is a kind of external knock wave equipment six-freedom motion mechanism specifically.
Background technology
External knock wave equipment mainly comprises lithotrite and cardiovascular treatment system, and its locate mode exists location efficiency low for manual positioning, complex operation, and doctor's labor intensity degree is large, and the relatively low defective of positioning accuracy.
Moreover the positioner of external knock wave equipment only has five degree of freedom, namely has 3 respectively along the rectilinear motion of X-axis, Y-axis and Z-direction and 2 rotatablely moving around X-axis and Y-axis respectively; Its structure generally comprises main frame, therapeutic bed and is arranged on manual displacement mechanism on main frame, and the main frame upper end arranges the Z axis master moving mechanism, and the top of Z axis master moving mechanism arranges the Y-axis master moving mechanism; The Y-axis master moving mechanism connects Ultrasonic-B probe by the Y-axis rotating mechanism, and the X-axis rotating mechanism is set on Ultrasonic-B probe; This kind mechanism, wave source is arranged on Ultrasonic-B probe, can not (around Z axis) rotate, and in the location, has the defective of the blind spot of location, does not reach practical effect.
Therefore, need especially a kind of external knock wave equipment six-freedom motion mechanism, to solve problems of the prior art.
The utility model content
The purpose of this utility model is in order to solve external knock wave equipment detent mechanism complex operation in prior art, can't reach the defective without the blind spot location, provides a kind of external knock wave equipment six-freedom motion mechanism to solve the problems referred to above.
To achieve these goals, the technical solution of the utility model is as follows:
A kind of external knock wave equipment six-freedom motion mechanism, comprise manual displacement mechanism, Y-axis and Z axis master moving mechanism, X-axis therapeutic bed travel mechanism, rotating mechanism around X-axis, Y-axis is set on described master moving mechanism, and it is characterized in that: described Y-axis master moving mechanism also arranges the Z axis rotating mechanism that rotates around Z axis.
In this utility model, described Z axis rotating mechanism is comprised of Ultrasonic-B probe and wave source, and described wave source rotates around Ultrasonic-B probe.
In this utility model, described Y-axis master moving mechanism and Z axis master moving mechanism are respectively the guidance sets that adopts linear axis and linear bearing.
At this utility model, the running fix of described Y-axis is comprised of rack and rinion adjustment and micromatic setting, on described micromatic setting with digital display device.
In this utility model, the rotating mechanism of the rotating mechanism of described X-axis, the rotating mechanism of Y-axis and Z axis is respectively axle sleeve structure.
In this utility model, described manual displacement mechanism adopts magnechuck as locking device.
In this utility model, also comprise the handle that is arranged on Ultrasonic-B probe, on described handle, control knob is set.
Beneficial effect
A kind of external knock wave equipment six-freedom motion of the present utility model mechanism, compared with prior art, by increasing the Z axis rotating mechanism, wave source can be realized the six-freedom motion of instrument around the rotation of Ultrasonic-B probe centrage, reaches the effect without the blind spot location; First with manual displacement mechanism, Ultrasonic-B probe is moved to Position Approximate in the location, then use the micromatic setting with digital display device to carry out precise positioning, namely save time, can guarantee positioning accuracy again; Manual displacement mechanism adopts magnechuck as locking device, and lock and unclamp control with the button that is arranged on handle, flexible operation, convenient and reliable, realize the purpose of this utility model.
Description of drawings
Fig. 1 is structural representation of the present utility model;
Fig. 2 is front view of the present utility model.
Labelling in figure:
1, manual displacement mechanism 2, Y-axis master moving mechanism 21, X-axis rotating mechanism
22, Y-axis rotating mechanism 3, Z axis master moving mechanism 4, X-axis therapeutic bed travel mechanism 5, Z axis rotating mechanism 51, Ultrasonic-B probe 511, handle 5111, control knob 52, wave source 6, therapeutic bed
The specific embodiment
Further understand and understanding for architectural feature of the present utility model and the effect reached are had, with following preferred embodiment and the detailed explanation of accompanying drawing cooperation, be described as follows:
Referring to Fig. 1 and Fig. 2, a kind of external knock wave equipment six-freedom motion mechanism, comprise manual displacement mechanism 1, Y-axis master moving mechanism 2 and Z axis master moving mechanism 3, X-axis therapeutic bed travel mechanism 4, the X-axis rotating mechanism 21 that rotates around X-axis and the Y-axis rotating mechanism 22 that rotates around Y-axis are set on Y-axis master moving mechanism 2, Y-axis master moving mechanism 2 also arranges the Z axis rotating mechanism 5 that rotates around Z axis, thus the location of realizing six degree of freedom.
Z axis rotating mechanism 5 is comprised of Ultrasonic-B probe 51 and wave source 52, and wave source 52 is realized the rotation location around Z axis around the centrage rotation of Ultrasonic-B probe 51.
Y-axis master moving mechanism 2 and Z axis master moving mechanism 3 are respectively the guidance sets that adopts linear axis (not shown) and linear bearing (not shown), thus the movement of Y-axis and Z axis when realizing the location.
The running fix of Y-axis is comprised of rack and rinion adjustment (not shown) and micromatic setting (not shown), on micromatic setting with the digital display device (not shown).
The rotating mechanism of the rotating mechanism of X-axis, the rotating mechanism of Y-axis and Z axis is respectively the axle sleeve structure (not shown), realizes rotatablely moving around X-axis, Y-axis, Z axis.
Manual displacement mechanism 1 adopts the magnechuck (not shown) as locking device, and when magnechuck unclamps, the detent mechanism of all directions can move together.
A kind of external knock wave equipment six-freedom motion mechanism also comprises the handle 511 that is arranged on Ultrasonic-B probe 51, and control knob 5111 is set on handle 511, and control knob 5111 is controlled the chucking, loosening of magnechucks, realizes the adjustment of angle.
When in use, this mechanism has three respectively along the straight-line motion mechanism of X-axis, Y-axis and Z-direction and three rotatablely moving around X-axis, Y-axis and Z axis respectively.Straight-line guiding adopts the guidance set of high-precision linear axis and linear bearing, and the displacement of Y-axis and Z axis is completed by the travel mechanism of main frame, and the displacement of X-axis is moved to complete by the bed surface of therapeutic bed 6; Wherein Y-axis is divided into rack and rinion adjustment (manually) and micromatic setting, both first with manually Ultrasonic-B probe 51 being moved to Position Approximate, then uses with the micromatic setting of digital display device and accurately locates, and has so just both saved positioning time, can guarantee positioning accuracy again.The structure that rotatablely moves is axle, nested structure, can realize the inclination all around of Ultrasonic-B probe axial line around the rotation of X and Y, realizes locating without blind spot.Rotation around Z axis can realize wave source 52 around Ultrasonic-B probe (being the Ultrasonic-B probe centrage) rotation, thereby selects shock wave to enter the position angle of human body.In this mechanism, all manual displacement all adopt magnechuck as locking device, and lock and unclamp control with the control knob 5111 that is arranged on handle 511, flexible operation, convenient and reliable.Reset conveniently, when needs resetted, as long as click SR, all olinear motion parts (except manual part) automatically returned to the home position simultaneously, thereby complete location of the present utility model and the work that resets.
A kind of external knock wave equipment six-freedom motion of the present utility model mechanism, compared with prior art, by increasing Z axis rotating mechanism 5, wave source 52 can be around Ultrasonic-B probe 51 centrage rotations, realize the six-freedom motion of instrument, reach the effect without the blind spot location; First with manual displacement mechanism 1, Ultrasonic-B probe 51 is moved to Position Approximate in the location, then use the micromatic setting with digital display device to carry out precise positioning, namely save time, can guarantee positioning accuracy again; Manual displacement mechanism adopts magnechuck as locking device, and lock and unclamp control with the control knob 5111 that is arranged on handle 511, flexible operation, convenient and reliable, realize the purpose of this utility model.
Above demonstration and described ultimate principle of the present utility model, principal character and advantage of the present utility model.The technical staff of the industry should understand; this utility model is not restricted to the described embodiments; what describe in above-described embodiment and description is principle of the present utility model; this utility model also has various changes and modifications under the prerequisite that does not break away from this utility model spirit and scope, and these changes and improvements all fall in claimed scope of the present utility model.The protection domain that this utility model requires is defined by appending claims and equivalent thereof.
Claims (7)
1. external knock wave equipment six-freedom motion mechanism, comprise manual displacement mechanism, Y-axis and Z axis master moving mechanism, X-axis therapeutic bed travel mechanism, rotating mechanism around X-axis, Y-axis is set on described master moving mechanism, and it is characterized in that: described Y-axis master moving mechanism also arranges the Z axis rotating mechanism that rotates around Z axis.
2. a kind of external knock wave equipment six-freedom motion according to claim 1 mechanism, it is characterized in that: described Z axis rotating mechanism is comprised of Ultrasonic-B probe and wave source, and described wave source rotates around Ultrasonic-B probe.
3. a kind of external knock wave equipment six-freedom motion according to claim 1 mechanism, it is characterized in that: described Y-axis master moving mechanism and Z axis master moving mechanism are respectively the guidance sets that adopts linear axis and linear bearing.
One of according to claim 1 to 3 described a kind of external knock wave equipment six-freedom motion mechanism, it is characterized in that: the running fix of described Y-axis is comprised of rack and rinion adjustment and micromatic setting, on described micromatic setting with digital display device.
5. a kind of external knock wave equipment six-freedom motion according to claim 1 mechanism, it is characterized in that: the rotating mechanism of the rotating mechanism of described X-axis, the rotating mechanism of Y-axis and Z axis is respectively axle sleeve structure.
6. a kind of external knock wave equipment six-freedom motion according to claim 1 mechanism is characterized in that: described manual displacement mechanism adopts magnechuck as locking device.
7. a kind of external knock wave equipment six-freedom motion according to claim 2 mechanism, is characterized in that, also comprises the handle that is arranged on Ultrasonic-B probe, on described handle, control knob is set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220698923 CN202960662U (en) | 2012-12-17 | 2012-12-17 | External shock wave device six-freedom-degree movement mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220698923 CN202960662U (en) | 2012-12-17 | 2012-12-17 | External shock wave device six-freedom-degree movement mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202960662U true CN202960662U (en) | 2013-06-05 |
Family
ID=48501802
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220698923 Expired - Lifetime CN202960662U (en) | 2012-12-17 | 2012-12-17 | External shock wave device six-freedom-degree movement mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202960662U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103860235A (en) * | 2012-12-17 | 2014-06-18 | 上海精诚医疗器械有限公司 | Six-degree-of-freedom moving mechanism for extracorporeal shock wave device |
| CN107198549A (en) * | 2017-07-05 | 2017-09-26 | 山东中医药大学 | A kind of electromagnetic shock-wave orthopaedics therapy device |
| CN108294781A (en) * | 2018-02-08 | 2018-07-20 | 王岳 | A kind of department of general surgery's abdominal ultrasonic diagnostic device |
-
2012
- 2012-12-17 CN CN 201220698923 patent/CN202960662U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103860235A (en) * | 2012-12-17 | 2014-06-18 | 上海精诚医疗器械有限公司 | Six-degree-of-freedom moving mechanism for extracorporeal shock wave device |
| CN107198549A (en) * | 2017-07-05 | 2017-09-26 | 山东中医药大学 | A kind of electromagnetic shock-wave orthopaedics therapy device |
| CN108294781A (en) * | 2018-02-08 | 2018-07-20 | 王岳 | A kind of department of general surgery's abdominal ultrasonic diagnostic device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107260269B (en) | Ultrasonic-guided prostate puncture biopsy robot | |
| CN204468146U (en) | CT guides light beam localized biopsy sting device | |
| CN106974707B (en) | CT-guided percutaneous pulmonary puncture space auxiliary positioning device | |
| CN107773305A (en) | A kind of four-degree-of-freedom tumor puncture auxiliary robot | |
| CN202960662U (en) | External shock wave device six-freedom-degree movement mechanism | |
| CN210354899U (en) | Medical surgical robot | |
| CN108143502A (en) | A kind of stereo brain orienting instrument that can accurately guide indwelling drainage tube | |
| CN103860235A (en) | Six-degree-of-freedom moving mechanism for extracorporeal shock wave device | |
| CN205126290U (en) | Novel various super localize puncture device | |
| CN201123837Y (en) | Locating and puncturing device with CT intervention | |
| CN111991086A (en) | Medical minimally invasive surgery robot and control method | |
| CN110934628A (en) | CT puncture needle navigation device | |
| CN114515195A (en) | Lung puncture surgical robot | |
| CN103860194A (en) | B-ultrasonic locating mechanism for in vitro shock wave treatment device | |
| CN203016989U (en) | B-ultrasonic wave locating mechanism for extracorporeal shock wave treatment equipment | |
| CN111012454B (en) | Three-dimensional space puncture guiding instrument and guiding method thereof | |
| CN211534708U (en) | Three-dimensional space puncture guide instrument | |
| CN210228917U (en) | Marking pen for medical treatment | |
| CN216603018U (en) | PICC catheter puncture locater | |
| CN203354647U (en) | Multifunction auxiliary needle-inserting device | |
| CN201295263Y (en) | Positioning device and stone crusher with the positioning device | |
| CN206201779U (en) | A kind of multi-functional ruler-compasses | |
| CN214083639U (en) | High statistics specialty graphics primitive of accurate stability | |
| CN221786548U (en) | Positioning device for interventional puncture | |
| CN221496067U (en) | Omnibearing signal detection mechanism of traditional Chinese medicine acupuncture robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130605 |