CN209107408U - Breast automatic scanning device - Google Patents
Breast automatic scanning device Download PDFInfo
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- CN209107408U CN209107408U CN201820986602.2U CN201820986602U CN209107408U CN 209107408 U CN209107408 U CN 209107408U CN 201820986602 U CN201820986602 U CN 201820986602U CN 209107408 U CN209107408 U CN 209107408U
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Abstract
The utility model discloses a kind of breast automatic scanning device, which includes control module and executing agency；Executing agency includes substrate, the circular scanning component being disposed on the substrate and the scanning mechanical arm connecting with circular scanning component, and the free end for scanning mechanical arm is provided with the clamping jaw that can clamp breast detecting head；Control module is electrically connected with circular scanning component and scanning mechanical arm respectively, for controlling annular scan components and scanning manipulator motion, to adjust the scanning posture and scanning path of detecting head.The utility model includes substrate, circular scanning component, executing agency and the control module for scanning mechanical arm and clamping jaw by setting, solves the problems, such as that the consistency of scanning input movement when artificial detection in the prior art is poor and is unfavorable for accurate scanning diagnosis.
Description
Technical field
The utility model relates to field of medical device, and in particular to a kind of breast automatic scanning device.
Background technique
Mammary gland disease is a kind of common gynecological disease, seriously threatens the health even life of whole world women.With
The development of science and technology, the diagnostic techniques and treatment method of mammary gland disease are all enhanced.Relatively conventional mainly has
The inspection of molybdenum target grenz ray, Ultrasonography, Infrared light scan, CT examination etc..
Important Image Examination one of of the ultrasonic examination as diagnosis of breast diseases, can identify tumour in breast and
The lesions such as hyperplasia.In the prior art, ultrasound detection is generally scanned detection to breast by medical staff's hand-held ultrasound detecting head,
But because the consistency of scanning input movement is poor when artificial detection, scanning angle and stress between ultrasonic probe and breast
Variation supersonic sounding easy to increase error, be unfavorable for accurate scanning diagnosis.
Utility model content
The main purpose of the utility model is that propose a kind of breast automatic scanning device, it is artificial in the prior art to solve
The consistency that scanning input acts when detection is poor, and the variation of scanning angle and stress between ultrasonic probe and breast is easy
The error for increasing supersonic sounding is unfavorable for accurate scanning diagnosis.
In order to solve the above technical problems, the utility model proposes a kind of breast automatic scanning device, the breast automatic scanning
Device includes control module and executing agency；The executing agency includes substrate, the circular scanning group of setting on the substrate
Part and the scanning mechanical arm connecting with the circular scanning component, the free end of the scanning mechanical arm, which is provided with, can clamp cream
The clamping jaw of room detecting head；The control module is electrically connected with the circular scanning component and scanning mechanical arm respectively, for controlling
The circular scanning component and scanning manipulator motion, to adjust the scanning posture and scanning path of the detecting head.
Preferably, the scanning mechanical arm includes: the first steering engine, is connect with the circular scanning component, and the first steering engine
Shaft it is vertical with the rotation center of the circular scanning component；Second steering engine is connect with the shaft of first steering engine；Third
Steering engine is connect with the shaft of second steering engine, and the clamping jaw is connect with the shaft of the third steering engine；First steering engine,
The shaft of second steering engine and third steering engine is arranged in parallel.
Preferably, the scanning mechanical arm includes: the 4th steering engine, is connect with the circular scanning component, the 4th rudder
The shaft of machine is vertical with the rotation center of circular scanning component；First translational drive mechanism, including turn with the 4th steering engine
First fixing piece of axis connection and can the relatively described first fixing piece translational motion the first sliding part, first sliding part
Direction of translatory motion is vertical with the shaft of the 4th steering engine；5th steering engine is connect with first sliding part, the 5th rudder
The shaft of machine and the shaft of the 4th steering engine are arranged in parallel, and the clamping jaw is connect with the shaft of the 5th steering engine.
Preferably, the scanning mechanical arm further includes the second translational drive mechanism；Second translational drive mechanism includes
Be arranged on first sliding part can the relatively described first sliding part translation the second sliding part, and the sliding of the second sliding part
Direction is vertical with the glide direction of the first sliding part；5th steering engine is arranged on second sliding part.
Preferably, the scanning mechanical arm includes third translational drive mechanism, 4th translational drive mechanism and the 6th steering engine；
The third translational drive mechanism include the third fixing piece being connect with the circular scanning component and can the relatively described third it is solid
Determine the third sliding part of part translational motion；The 4th translational drive mechanism includes setting can be opposite on the third sliding part
The glide direction and third of 4th sliding part of the third sliding part translational motion, the 4th sliding part and third sliding part are slided
The glide direction of part and third fixing piece is intersected；6th steering engine is arranged on the 4th sliding part, the 6th steering engine
Glide direction of the central rotating shaft respectively with the 4th sliding part and third sliding part be vertically arranged, the clamping jaw is arranged in institute
On the central rotating shaft for stating the 6th steering engine.
Preferably, the executing agency is arranged in a upper and lower opening and the shell of perforation, the substrate and shell it is interior
Wall connection, the upper opening of the shell are additionally provided with upper cover.
Preferably, the breast automatic scanning device further includes the image-forming module for obtaining breast three-dimensional data, the imaging
Module includes the image processing unit that the camera of case inside wall is arranged in and connect with the camera, the control mould
Block is also used to adjust the scanning posture and scanning path of the detecting head according to the three-dimensional data.
Preferably, the breast automatic scanning device further includes two executing agencies arranged side by side and adjusts two execution machines
The spacing regulator of structure spacing；The spacing regulator includes first straight line movement mechanism disposed in parallel and second straight line
Movement mechanism, the first straight line movement mechanism are connect with the substrate of a wherein executing agency, the second straight line movement mechanism
It is connect with the substrate of wherein another executing agency.
Preferably, the first straight line movement mechanism includes left-handed screw rod and left-handed nut pair, the second straight line movement
Mechanism includes dextrorotation screw rod and right-handed nut's pair, and the left-handed screw rod is coaxially connected with dextrorotation screw rod；The left-handed nut pair and
The wherein substrate connection in an executing agency, right-handed nut's pair connect with the substrate of another executing agency, and described the
One straight-line motion mechanism and second straight line movement mechanism further include the stepping electricity of the driving left-handed screw rod and the rotation of dextrorotation screw rod
Machine, the spacing regulator further include connecting two substrates and the straight line shifting parallel with the left-handed screw rod and dextrorotation screw rod
Dynamic pair.
Preferably, the breast automatic scanning device further includes being arranged on the clamping jaw, for detecting the detecting head
The sensor of contact pressure between breast, what the control module was also used to be got according to the three-dimensional data and sensor
Pressure adjusts the scanning posture and scanning path of the detecting head.
The utility model includes substrate, circular scanning component, the executing agency for scanning mechanical arm and clamping jaw by setting, then
Annular scan components are controlled by control module and scanning mechanical arm is automatically performed scanning campaign, make this breast automatic scanning device
Scanning motion have preferable consistency to obtain standardized scan data, when solving artificial detection in the prior art
The consistency of scanning input movement is poor, and the variation of scanning angle and stress between ultrasonic probe and breast is easy to increase super
The error of acoustic detection head is unfavorable for the problem of accurate scanning diagnoses.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one embodiment of the utility model breast automatic scanning device；
Fig. 2 is the structural schematic diagram of another embodiment of the utility model breast automatic scanning device；
Fig. 3 is the structural schematic diagram that mechanical arm is scanned in one embodiment of the utility model breast automatic scanning device；
Fig. 4 is the structural schematic diagram that mechanical arm is scanned in another embodiment of the utility model breast automatic scanning device；
Fig. 5 is the structural schematic diagram in the another embodiment of the utility model breast automatic scanning device；
Fig. 6 is the structural schematic diagram of the utility model breast automatic scanning device another embodiment.
Specific embodiment
The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, it is intended to for explaining the utility model, and should not be understood as to the utility model
Limitation, based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
Every other embodiment obtained, fall within the protection scope of the utility model.
The utility model proposes a kind of breast automatic scanning devices, and referring to Fig.1, which includes control
Module (not shown go out) and executing agency 1, executing agency 1 include substrate 100, circular scanning component on the substrate 100 are arranged
200 and the scanning mechanical arm 300 that is connect with circular scanning component 200, the free end of scanning mechanical arm 300 be provided with and can press from both sides
Hold the clamping jaw 301 of breast detecting head；Control module is electrically connected with circular scanning component 200 and scanning mechanical arm 300 respectively, is used for
It controls annular scan components 200 and scanning mechanical arm 300 moves, to adjust the scanning posture and scanning path of detecting head.
In one preferred embodiment of the utility model, substrate 100 is horizontally disposed, for supporting annular scan components 200 and sweeping
Retouch mechanical arm 300.Circular scanning component 200 is for driving scanning mechanical arm 300 to carry out circular scanning motion, circular scanning component
200 include motor, and the shaft of the motor is arranged straight down, and is connect with scanning mechanical arm 300.
Scanning mechanical arm 300 is multivariant manipulator, and the clamping jaw of scanning 300 end of mechanical arm is arranged in detecting head
On 301, which is used for stationary detector heads, to pass through the driving of circular scanning component 200 scanning mechanical arm 300 and detection
Head completes the automatically scanning to breast.
Control module can be computerized equipment, be electrically connected respectively with circular scanning component 200 and scanning mechanical arm 300
It connects to control its motion profile, for example, operator can or fitting human body close by control module control scanning mechanical arm 300
Breast, and control the scanning that annular scan components 200 complete breast with scanning 300 associated movement of mechanical arm.
The utility model breast automatic scanning device is in use, patient lies low in the lower section of breast automatic scanning device, control
Molding block control scanning mechanical arm 300 acts, and adjusts detecting head in the compactness of different height and breast, then by circular scanning group
The driving scanning mechanical arm 300 of part 200 drives detecting head to be automatically performed the circular scanning detection to breast, has compared to artificial detection
The consistency of scanning motion is high and scanning angle and the controllable feature of dynamics, assists to obtain standardized scan data
Diagnoses and treatment.
In the utility model embodiment, in addition to completing circular scanning above by motor direct-drive scanning mechanical arm 300
Movement is outer, and circular scanning component 200 can also complete circular scanning movement by other transmission mechanisms.For example, in another preferable reality
It applies in example, referring to Fig. 2, circular scanning component 200 includes the gear drive of setting on the substrate 100, the gear drive machine
Structure includes driving gear and gear ring, and driving gear is connect with the shaft of stepper motor or servo motor, by above-mentioned motor driven tooth
The rotation of circle.The movement for driving scanning mechanical arm to complete circular scanning by gear ring on gear ring is then arranged in scanning mechanical arm.It is worth
It is noted that transmission device herein may also include other kinds of drive such as belt transmission etc..Scanning mechanical arm 300 may be selected
The manipulator of rectangular co-ordinate also may be selected in the manipulator of multi-joint, also may be selected on multi-joint and direct coordinate robots are
The combination of two kinds of manipulators is stated, can accurately be pasted everywhere with ensuring to scan scanned position on the detecting head and breast on mechanical arm 300
It closes.
In another embodiment of the utility model, referring to Fig. 2, scanning mechanical arm 300 includes: the first steering engine 310, with ring
Shape scan components 200 connect, and the shaft of the first steering engine 310 is vertical with the rotation center of circular scanning component 200；Second rudder
Machine 320 is connect with the shaft of the first steering engine 310；Third steering engine 330 is connect with the shaft of the second steering engine 320, clamping jaw 301 and
The shaft of three steering engines 330 connects；The shaft of first steering engine 310, the second steering engine 320 and third steering engine 330 is arranged in parallel.
In the present embodiment, scanning mechanical arm 300 include with the output axis connection of the motor of circular scanning component 200 or
The mounting base 311 being connect with gear ring.The body of first steering engine 310 is arranged in mounting base 311, the shaft of the first steering engine 310 with
First linking arm 312 of H-shaped connects, and the rotation center of the shaft of the first steering engine 310 and scanning 300 scanning path of mechanical arm hangs down
Straight setting.The shaft of second steering engine 320 is connect with the other end of H-shaped linking arm, is provided with second on the body of the second steering engine 320
Linking arm 321.330 shaft of third steering engine is connect with the second linking arm 331, and the body of third steering engine 330 is arranged in clamping jaw 301
On, the detecting head being arranged on clamping jaw 301 can rotate the angle of adjustment test surface and breast with the shaft of third steering engine 330.When
When patient lies low, breast approximation can be regarded as to revolving body, the shaft of the first steering engine 310, the second steering engine 320 and third steering engine 330
Outer contour (bus of revolving body) arranged in parallel and with breast is vertically arranged, and above first to third steering engine 330
It is moved for controlling detecting head along " bus ".It is worth noting that also settable turn between clamping jaw 301 and third steering engine 330
Another steering engine that axis is connect with clamping jaw 301, the shaft of the steering engine and the shaft of third steering engine 330 are vertically arranged, for increasing
The freedom degree for scanning mechanical arm, further ensures that detecting head is precisely bonded with breast.The utility model is by being provided with first
The scanning mechanical arm 300 of steering engine 310, the second steering engine 320 and third steering engine 330 makes scanning mechanical arm 300 that can carry detecting head edge
" bus " movement, while keeping detecting head achievable to the entire scan of breast by the way that circular scanning component 200 is arranged.
In another embodiment of the utility model, referring to Figure 1 and Figure 3, scanning mechanical arm 300 includes: the 4th steering engine 340,
It is connect with circular scanning component 200, the shaft of the 4th steering engine 340 is vertical with the rotation center of circular scanning component 200；First
Translational drive mechanism 370, including the first fixing piece 371 for being connect with the shaft of the 4th steering engine 340 and can opposite first fixing piece
First sliding part 372 of 371 translational motions, the direction of translatory motion of the first sliding part 372 and the shaft of the 4th steering engine 340 are hung down
Directly；5th steering engine 350 is connect with the first sliding part 372, and the shaft of the 5th steering engine 350 is parallel with the shaft of the 4th steering engine 340 to be set
It sets, clamping jaw 301 is connect with the shaft of the 5th steering engine 350.
In the present embodiment, scanning mechanical arm 300 include with the output axis connection of the motor of circular scanning component 200 or
The mounting base 311 being connect with gear ring.The side of mounting base 311 is arranged in the body of 4th steering engine 340 and its shaft is through installation
Seat 311, and be vertically arranged with the rotation center of scanning 300 scanning path of mechanical arm.The setting of first fixing piece, 371 one end is being installed
In seat 311, and it is fixedly connected with the shaft of the 4th steering engine 340.First fixing piece 371 can be in mounting base 311 with the 4th steering engine
340 shaft rotation.Be provided on first fixing piece 371 with the shaft of the 4th steering engine 340 vertically disposed first line style protrusion,
The first line style groove being adapted to the line style protrusion is provided on first sliding part 372 keeps the first sliding part 372 and first fixed
Part 371 is slidably connected, be additionally provided on the first fixing piece 371 with glide direction the first rack gear disposed in parallel, it is sliding first
It is provided with to be provided in the shaft of the first driving motor 373 and the first driving motor 373 on moving part 372 and be engaged with the first rack gear
First driving gear 374.First driving motor 373 can drive the first sliding part 372 to slide on the first fixing piece 371.5th
The body of steering engine 350 is arranged on the first sliding part 372, and conical gear is provided in shaft, and the conical gear and first is slided
The conical gear of output shaft on moving part 372 engages, and output shaft can be driven to rotate, and the output shaft and the first sliding part 372 rotate
Connection, and be arranged in parallel with the shaft of the 4th steering engine 340.Clamping jaw 301 and output shaft rotation connection can be rotated with the output shaft.
The utility model is by being provided with the 4th steering engine 340, the first translational drive mechanism 370 and the 5th steering engine 350
Mechanical arm 300 is scanned, makes scanning mechanical arm 300 that can carry detecting head and is moved along " bus ", while passing through setting circular scanning
Component 200 keeps detecting head achievable to the entire scan of breast.
In another embodiment of the utility model, referring to Fig. 3, scanning mechanical arm 300 further includes the second translational drive mechanism
380；Second translational drive mechanism 380 includes the second sliding part 381 for being arranged on the first sliding part 372, and the second sliding part
381 glide direction is vertical with the glide direction of the first sliding part 372；5th steering engine 350 is arranged on the second sliding part 381.
In the present embodiment, the setting of the second translational drive mechanism 380 the first translational drive mechanism 370 and clamping jaw 301 it
Between.The shaft with the 4th steering engine 340 is additionally provided on the opposite for the one side that first sliding part 372 is connect with the first fixing piece 371
And first vertical the second line style protrusion of line style protrusion, it is provided on the second sliding part 381 and is adapted to the second line style protrusion
The second line style groove, so that the second sliding part 381 is slidably connected with the first sliding part 372.Second translational drive mechanism 380 should
Including the second rack gear being located on the first sliding part 372, the second driving motor 382 being arranged on the second sliding part 381 and
The second gear 383 engaged in the shaft of second driving motor 382 and with the second rack gear is set.Second rack gear and the second line style
Projecting parallel setting, the 5th steering engine 350 are arranged on the second sliding part 381, and the connection type of shaft and collet and upper one is in fact
Apply identical in example, therefore not to repeat here.The utility model further improves scanning by the way that the second translational drive mechanism 380 is arranged
It is even closer that the freedom degree of mechanical arm is bonded the test surface of detecting head with breast, to improve scanning probe precision.
In another embodiment of the utility model, referring to Fig. 4, third translational drive mechanism 391,4th translational drive mechanism
392 and the 6th steering engine 360；Third translational drive mechanism 391 includes the third fixing piece connecting with circular scanning component and can phase
To the third sliding part of third fixing piece translational motion；4th translational drive mechanism 392 includes setting can on third sliding part
4th sliding part of opposite third sliding part translational motion, the glide direction and third of the 4th sliding part and third sliding part are slided
The glide direction of part and third fixing piece is intersected；6th steering engine 360 is arranged on the 4th sliding part, the center of the 6th steering engine 360
Glide direction of the shaft respectively with the 4th sliding part and third sliding part is vertically arranged, and the 6th steering engine 360 is arranged in clamping jaw 301
On central rotating shaft.The 4th steering engine 340 is eliminated in the present embodiment relative to the previous embodiment and other structures are identical.First translation is driven
Motivation structure 370 is identical as 391 structure of third translational drive mechanism, the second translational drive mechanism 380 and 4th translational drive mechanism
392 structures are identical.6th steering engine 360 is identical as 350 structure of the 5th steering engine.Third translational drive mechanism 391, the 4th driven in translation
The first translational drive mechanism in connection type and a upper embodiment between mechanism 392, the 6th steering engine 360 and clamping jaw 301
370, the connection type between the second translational drive mechanism 380, the 5th steering engine 350 and clamping jaw 301 is identical.The present embodiment with it is upper
First is that strength only difference is that, the third fixing piece of third translational drive mechanism is directly swept with annular in the present embodiment
Retouch the connection of component 200.It include in the present embodiment the first translational drive mechanism, the second translational drive mechanism and third by setting
The scanning mechanical arm in joint 330 makes mechanical arm that can carry detecting head and moves along " bus ", while passing through setting circular scanning group
Part 200 keeps detecting head achievable to the entire scan of breast.
In another embodiment of the utility model, referring to Fig.1, the shell of a upper and lower opening and perforation is arranged in executing agency 1
In body 2, substrate 100 is connect with the inner wall of shell 2, and the upper opening of shell is additionally provided with upper cover 3.In the present embodiment, shell 2 is
The rectangular stretching thin-wall part of quadrangle chamfering and it is arranged up and down.The inner wall of substrate 100 and shell 2 is directly connected to or passes through it
He connects connector.The scanning manipulator of 100 lower section of substrate is located in shell 2 and the opaque setting of shell 2.In scanning process
In, shell 2 is located at patient front and covers the breast of patient, and scanning mechanical arm is achievable to shell under the control of control module
Breast inside body 2 carries out automatically scanning.It can be used for supporting fixed execution machine by the way that opaque shell 2 is arranged in the present embodiment
Structure 1, in the top of shell 2, setting upper cover 3, which can facilitate, carries out Inspection and maintenance to executing agency 1.The setting of shell 2 can also increase simultaneously
Add the privacy in present apparatus use process.
In another embodiment of the utility model, referring to Fig.1, substrate 100 is arranged on shell 2, breast automatic scanning dress
Setting further includes the image-forming module for obtaining breast three-dimensional data, and image-forming module includes being arranged in 100 lower surface of substrate and shell 2
The camera of side wall and the image processing unit connecting with camera, control module are also used to be adjusted according to three-dimensional data and detect
The scanning posture and scanning path of head.In the present embodiment, 2 overall structure of shell is square setting, and camera includes that setting exists
100 lower surface of substrate and the first camera being located at right above breast, and the second camera shooting of the adjacent side of shell 2 is set
Head, the first camera are used to obtain the top view of the vertical direction of breast, and second camera is used to obtain the lateral plan of breast,
Image processing unit can preferably carry out the OpenMV machine vision module of edge detection, can according to above-mentioned top view and side view
The 3D model that breast obtains breast in the profile diagram of vertical direction and side is obtained, the above modeling method is common skill
Art means, therefore not to repeat here.Control module uses STM32 processor, is responsible for the processing of data, the generation of control instruction, association
Other modules are adjusted to be operated together, the model STM32F407 series that the present embodiment uses.The utility model passes through setting and control
The image-forming module of module connection obtains the 3D model of breast, makes control module that can send control according to the 3D model cootrol of breast and refers to
The position for being used to adjust between detecting head and breast to scanning mechanical arm 300 is enabled to be bonded the two.
In another embodiment of the utility model, referring to Fig. 5, breast automatic scanning device includes two execution arranged side by side
Mechanism and the spacing regulator 500 for adjusting two executing agency's spacing；Spacing regulator 500 includes disposed in parallel the
One straight-line motion mechanism 510 and second straight line movement mechanism 520, first straight line movement mechanism 510 and a wherein executing agency
Substrate 100 connects, and second straight line movement mechanism 520 is connect with the substrate 100 of wherein another executing agency.In the present embodiment,
Breast automatic scanning device includes two executing agencies 1 arranged side by side, and spacing regulator 500 includes that setting is swept automatically in breast
It looks on the shell of device and first straight line movement mechanism 510 disposed in parallel and second straight line movement mechanism 520, first straight line is transported
Motivation structure 510 and the preferred Lead screw transmission structure of second straight line movement mechanism 520.First straight line movement mechanism 510 is set including level
It sets and the lead screw and guide rod that are parallel to each other and the driving motor of driving lead screw rotation.The both ends of lead screw and guide rod and shell 2
Inner wall connects, and the guide sleeve on transmission nut and guide rod on lead screw is connect with the substrate 100 of an executing agency therein.Second
Straight-line motion mechanism 520 is identical as the structure of first straight line transmission mechanism, leading on the transmission nut and guide rod on lead screw
Set is connect with the substrate 100 of an executing agency therein.Thus control module can control the rotation of driving motor to control respectively
Relative position between executing agency, the spacing of Shi Liang executing agency are adapted to the spacing of breast.
It is worth noting that, also laser range finder straight down can be arranged in the lower section of substrate 100, base is driven in lead screw
When plate 100 moves, laser range finder can obtain the altitude information of each point on breast cross section according to the motion track of lead screw, thus
Exterior contour (bus) data of the cross section of breast are obtained, so that the posture that control module adjusts scanning mechanical arm 300 makes to visit
It can be bonded completely between gauge head and breast.
In another embodiment of the utility model, referring to Fig. 6, first straight line movement mechanism 510 includes left-handed 511 He of screw rod
Left-handed nut pair 512, second straight line movement mechanism 520 include dextrorotation screw rod 521 and right-handed nut's pair 522, left-handed 511 He of screw rod
Dextrorotation screw rod 521 is coaxially connected；Substrate 100 in left-handed nut pair 512 and wherein one executing agency connects, right-handed nut's pair
522 connect with the substrate 100 of another executing agency, and first straight line movement mechanism 510 and second straight line movement mechanism 520 also wrap
The stepper motor for driving left-handed screw rod 511 and dextrorotation screw rod 521 to rotate is included, spacing regulator 500 further includes connection two substrates
100 and the linear movement pair parallel with left-handed screw rod 511 and dextrorotation screw rod 521.In the present embodiment, first straight line movement mechanism
510 include left-handed screw rod 511 and left-handed nut pair 512, and second straight line movement mechanism 520 includes dextrorotation screw rod and right-handed nut
Left-handed screw rod and dextrorotation screw rod can be carried out coaxially connected substrate in left-handed nut pair and wherein an executing agency by pair 522
100 connections, right-handed nut's pair 522 are connect with the substrate 100 of another executing agency, and the utility model is coaxially connected by being arranged
Left-handed lead screw and dextrorotation lead screw, and driving motor is made to drive left-handed screw rod 511 and preferred screw rod forward or reverse, make left-handed nut
And two executing agencies of right-handed nut's drive thereon are respectively completed between moving toward one another or adjusting backwards to movement two executing agencies
Away from.
In another embodiment of the utility model, breast automatic scanning device include further include be arranged on clamping jaw 301,
For detecting the sensor of contact pressure between detecting head and breast.In the present embodiment, clamping jaw 301 and third joint 330 it
Between be additionally provided with sliding pair, detecting head can slide on sliding pair with head, in the one end of sliding pair far from detecting head test surface
It is additionally provided with pressure sensor.When detecting head and after breast contact, detecting head sliding works as pressure until its rear end is contacted with pressure sensor
After sensor detects pressure change, then show that detecting head is bonded completely with breast, scanning mechanical arm 300 is located at best appearance
State.Thus the pressure changing information of pressure sensor can be used as the feedback information of control module.Furthermore it can also visited in the present embodiment
Range sensor or infrared sensor are set on gauge head, to detect the location information of test surface and breast, due to structure it is simple this
The specific setting structure of range sensor or infrared sensor on detecting head is not explained in place.
Therefore above part for being only the utility model or preferred embodiment, either text or attached drawing cannot all limit
The range of the utility model protection processed is illustrated under all designs with one entirety of the utility model using the utility model
Equivalent structure transformation made by book and accompanying drawing content, or directly/be used in other related technical areas indirectly and be included in this
In the range of utility model protection.
Claims (10)
1. a kind of breast automatic scanning device, which is characterized in that including control module and executing agency；
The executing agency include substrate, setting circular scanning component on the substrate and with the circular scanning component
The free end of the scanning mechanical arm of connection, the scanning mechanical arm is provided with the clamping jaw that can clamp breast detecting head；
The control module is electrically connected with the circular scanning component and scanning mechanical arm respectively, for controlling the circular scanning
Component and scanning manipulator motion, to adjust the scanning posture and scanning path of the detecting head.
2. breast automatic scanning device as described in claim 1, which is characterized in that the scanning mechanical arm includes:
First steering engine is connect with the circular scanning component, and the rotation of the shaft of the first steering engine and the circular scanning component
Center is vertical；
Second steering engine is connect with the shaft of first steering engine；
Third steering engine is connect with the shaft of second steering engine, and the clamping jaw is connect with the shaft of the third steering engine；
The shaft of first steering engine, the second steering engine and third steering engine is arranged in parallel.
3. breast automatic scanning device as described in claim 1, which is characterized in that the scanning mechanical arm includes:
4th steering engine is connect with the circular scanning component, in the shaft of the 4th steering engine and the rotation of circular scanning component
The heart is vertical；
First translational drive mechanism, including the first fixing piece for being connect with the shaft of the 4th steering engine and can relatively described first
The shaft of first sliding part of fixing piece translational motion, the direction of translatory motion of first sliding part and the 4th steering engine is hung down
Directly；
5th steering engine is connect with first sliding part, and the shaft of the 5th steering engine and the shaft of the 4th steering engine are arranged in parallel,
The clamping jaw is connect with the shaft of the 5th steering engine.
4. breast automatic scanning device as claimed in claim 3, which is characterized in that the scanning mechanical arm further includes second flat
Move driving mechanism；
Second translational drive mechanism include be arranged on first sliding part can relatively described first sliding part translate
Second sliding part, and the glide direction of the second sliding part is vertical with the glide direction of the first sliding part；The 5th steering engine setting
On second sliding part.
5. breast automatic scanning device as described in claim 1, which is characterized in that the scanning mechanical arm includes third translation
Driving mechanism, 4th translational drive mechanism and the 6th steering engine；
The third translational drive mechanism includes the third fixing piece connecting with the circular scanning component and can relatively described
The third sliding part of three fixing piece translational motions；
The 4th translational drive mechanism includes that setting can the relatively described third sliding part translation fortune on the third sliding part
The glide direction of the 4th dynamic sliding part, the 4th sliding part and third sliding part and the sliding of third sliding part and third fixing piece
Direction intersects；
6th steering engine is arranged on the 4th sliding part, and the central rotating shaft of the 6th steering engine is sliding with the described 4th respectively
The glide direction of moving part and third sliding part is vertically arranged, and the clamping jaw is arranged on the central rotating shaft of the 6th steering engine.
6. breast automatic scanning device as described in claim 1, which is characterized in that executing agency's setting is opened about one
In mouth and the shell of perforation, the inner wall of the substrate and shell is connected, and the upper opening of the shell is additionally provided with upper cover.
7. breast automatic scanning device as claimed in claim 6, which is characterized in that the breast automatic scanning device further includes
Obtain breast three-dimensional data image-forming module, the image-forming module include be arranged in case inside wall camera and with it is described
The image processing unit of camera connection, the control module are also used to adjust sweeping for the detecting head according to the three-dimensional data
Look into posture and scanning path.
8. the breast automatic scanning device as described in any one of claims 1 to 7, which is characterized in that be arranged side by side including two
Executing agency and adjust two executing agency's spacing spacing regulator；The spacing regulator includes disposed in parallel
First straight line movement mechanism and second straight line movement mechanism, the substrate of the first straight line movement mechanism and a wherein executing agency
Connection, the second straight line movement mechanism are connect with the substrate of wherein another executing agency.
9. breast automatic scanning device as claimed in claim 8, which is characterized in that the first straight line movement mechanism includes a left side
It revolves screw rod and left-handed nut pair, the second straight line movement mechanism includes dextrorotation screw rod and right-handed nut's pair, the left-handed screw rod
Coaxially it is connected with dextrorotation screw rod；The left-handed nut pair is connected with the substrate in wherein one executing agency, the dextrorotation spiral shell
Female pair is connect with the substrate of another executing agency, and the first straight line movement mechanism and second straight line movement mechanism further include driving
The left-handed screw rod and dextrorotation screw rod rotation stepper motor, the spacing regulator further include connection two substrates and with
The left-handed screw rod linear movement pair parallel with dextrorotation screw rod.
10. breast automatic scanning device as claimed in claim 9, which is characterized in that further include being arranged on the clamping jaw, using
In the sensor for detecting contact pressure between the detecting head and breast, the control module is also used to be obtained according to the sensor
The pressure got adjusts the scanning posture and scanning path of the detecting head.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111493934A (en) * | 2020-04-24 | 2020-08-07 | 上海市第十人民医院 | Mammary gland supersound full scan mechanism and full scanning device |
| WO2021078066A1 (en) * | 2019-10-22 | 2021-04-29 | 深圳瀚维智能医疗科技有限公司 | Breast ultrasound screening method, apparatus and system |
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2018
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021078066A1 (en) * | 2019-10-22 | 2021-04-29 | 深圳瀚维智能医疗科技有限公司 | Breast ultrasound screening method, apparatus and system |
| CN111493934A (en) * | 2020-04-24 | 2020-08-07 | 上海市第十人民医院 | Mammary gland supersound full scan mechanism and full scanning device |
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