CN213430219U

CN213430219U - Passive flexible mechanism for rapidly connecting multiple ultrasonic probes

Info

Publication number: CN213430219U
Application number: CN202021779565.1U
Authority: CN
Inventors: 李淼; 雷自伟; 邓智峰; 邓旭畑; 肖晓晖
Original assignee: SUZHOU Institute OF WUHAN UNIVERSITY
Current assignee: SUZHOU Institute OF WUHAN UNIVERSITY
Priority date: 2020-08-24
Filing date: 2020-08-24
Publication date: 2021-06-15
Anticipated expiration: 2030-08-24

Abstract

The utility model discloses a passive flexible mechanism for rapidly connecting a plurality of ultrasonic probes, which comprises a mounting seat, an ultrasonic probe rapid assembly and disassembly mechanism and three groups of flexible branched chains connecting the mounting seat and the ultrasonic probe rapid assembly and disassembly mechanism, wherein the mounting seat comprises a fixed platform and a downward extending cylinder; the ultrasonic probe quick assembly and disassembly mechanism comprises a top connecting plate, a side connecting column and a bottom clamping seat from top to bottom in sequence, wherein the top connecting plate is used for being connected with three groups of flexible branched chains, the bottom clamping seat is a U-shaped seat, paired clamping plates are arranged on two limbs of the U-shaped seat, the clamping plates are installed on one limb of one corresponding side of the U-shaped seat through a transverse sliding pair, and the two clamping plates are relatively far away from or close to each other through a clamping device to quickly clamp or replace the ultrasonic probe. The utility model discloses can conveniently, change ultrasonic probe of different shapes and size fast. During the process that the ultrasonic probe contacts the skin of a human body and scans, flexible movement along the axial direction and the radial direction of the ultrasonic probe can be realized.

Description

Passive flexible mechanism for rapidly connecting multiple ultrasonic probes

Technical Field

The utility model belongs to the field of medical robot, a B ultrasonic testing auxiliary assembly is related to, concretely relates to a passive form flexible mechanism for connecing multiple ultrasonic probe fast.

Background

In the field of B-ultrasonic detection, the B-ultrasonic detection capability of a hospital cannot meet the detection requirement of patients due to the factors of shortage of the number of detection doctors, large detection workload, high occupational morbidity and the like. The ultrasonic robot is adopted to assist doctors to complete a large amount of repetitive work, and the work efficiency of the doctors can be greatly improved. In order to obtain clear ultrasonic images and ensure the safety of detection, the contact force of the ultrasonic probe clamped by the robot and the skin of the human body must be controlled within a certain range. Many research and development mechanisms try to adopt a sensor and a control algorithm to realize control over contact force, although the requirements can be met, the problem of shaking often occurs in the detection process, the detection process cannot be well adapted to the change of a skin curved surface, and potential failure factors of an electronic system are also great potential safety hazards. Therefore, a passive flexible mechanism is added at the tail end of the mechanical arm, and the passive flexible mechanism is an effective way for solving the problem of unstable contact and improving the safety. The existing flexible mechanism is made of rubber metal laminated rod materials mostly, so that the processing difficulty is high, the rubber layer is easy to tear and damage, and the flexibility is low; a small part of the mechanism adopts a spring type structure, so that the whole occupied space is large, the stability is low, and the springs used by the part of the mechanism need to bear stress in all directions, so that destructive influence is easily generated on the mechanism, and the safety is low. And most of flexible mechanisms are connected with the ultrasonic probe in a simple enveloping or clamping manner, so that the ultrasonic probe is inconvenient to replace, and most of connection modes do not support the replacement of various probe shapes.

SUMMERY OF THE UTILITY MODEL

To the not enough of existing research, the utility model aims to provide a but connect multiple ultrasonic probe's passive form flexible mechanism to solve current flexible mechanism and account for the space big, the ultrasonic probe changes complicated problem.

In order to achieve the above object, the utility model adopts the following technical scheme:

a passive flexible mechanism for rapidly connecting multiple ultrasonic probes is characterized in that: the ultrasonic probe quick mounting and dismounting mechanism is used for clamping the ultrasonic probe, and the three groups of flexible chains are uniformly distributed around the mounting seat;

the ultrasonic probe quick assembly and disassembly mechanism comprises a top connecting plate, a side connecting column and a bottom clamping seat from top to bottom in sequence, wherein the top connecting plate is used for being connected with three groups of flexible branched chains, the bottom clamping seat is a U-shaped seat, paired clamping plates are arranged on two limbs of the U-shaped seat, the clamping plates are installed on one limb of one corresponding side of the U-shaped seat through a transverse sliding pair, and the two clamping plates are relatively far away from or close to each other through a clamping device to quickly clamp or replace the ultrasonic probe.

Furthermore, clamping device includes screw rod, handle and locates the screw on two limbs of U type seat, the screw rod passes through screw-thread fit and installs in the screw hole, and the screw rod medial extremity links to each other with the clamp plate through revolute pair, and the other end is fixed with the handle and links to each other, twists the screw rod through the handle and makes the clamp plate along the direction round trip movement of sliding pair.

Further, the clamping plate is an inwards concave arc-shaped plate, and a silica gel layer for improving clamping stability is coated on the clamping plate.

Further, the mount pad includes fixed platform and the cylinder that stretches down of locating fixed platform bottom center department, flexible branch chain includes leaf spring, connecting rod, spherical pair, T-shaped slider and traveller, and two travelers are fixed in the fixed platform bottom, the T-shaped slider is installed on two travelers through sliding fit, leaf spring one end is fixed on stretching the cylinder down, and the other end links to each other with the T-shaped slider through horizontal vice sliding, the connecting rod top links to each other with the protruding articulated in T-shaped slider middle part, and the lower extreme links to each other through spherical pair with the top connecting plate of the mechanism is installed and removed fast to the probe.

Furthermore, a through hole matched with the sliding column is formed in the T-shaped sliding block, and a copper sleeve used for reducing friction force is arranged between the through hole and the sliding column.

Furthermore, the transverse sliding pair is an end cover with a square hole and arranged at the top of the T-shaped sliding block, and a bearing used for reducing the friction force between the bearing and the plate spring is arranged in the square hole of the end cover with the square hole.

The utility model has the advantages that:

1. the form of the plate spring is adopted, the occupied space is small, the structure is more compact, less destructive influence is generated, the clamped ultrasonic probe has one degree of freedom of movement and two degrees of freedom of rotation, and the flexible requirement required by B ultrasonic detection can be met.

2. The axial displacement and the angular deflection of the tail end are converted into the vertical movement of the T-shaped sliding block along the sliding column, and the middle rod piece still adopts the rigid connecting rod, so the whole movement is more stable.

3. This device screw rod and bottom grip slipper pass through lead screw thread fit, utilize the auto-lock nature of screw thread and the silica gel layer on clamping plate surface to guarantee that the centre gripping is stable, and the handle is easily operated by the doctor, and whole mechanism can realize that ultrasonic probe is convenient, change fast.

4. The processing and manufacturing mode is simple, and the expandability is high.

5. The utility model discloses ultrasonic probe installs and removes mechanism fast has guaranteed can quick replacement ultrasonic probe to can be used for not unidimensional and model probe, improved the commonality greatly.

In a word, the utility model provides a can connect multiple ultrasonic probe's passive form flexible mechanism can realize along ultrasonic probe axial and radial flexible motion at the in-process of ultrasonic probe contact human skin and scanning to adapt to the curved surface shape of human skin.

Drawings

Fig. 1 is a schematic view of the overall mechanism of the passive flexible mechanism according to the present invention;

fig. 2 is a schematic diagram of a mounting seat and a flexible branched chain in the passive flexible mechanism according to the present invention;

fig. 3 is a schematic view of the ultrasonic probe quick assembly and disassembly mechanism of the present invention.

Fig. 4 is a schematic view of the use state of the passive flexible mechanism according to the present invention.

Fig. 5 is a schematic structural view of the clamping device of the present invention.

The ultrasonic probe mounting and dismounting device comprises a mounting seat 1, a fixed platform 11, a downward extending cylinder 12, a flexible branched chain 2, a plate spring 21, a square hole end cover 22, a sliding column 23, a bearing 24, a T-shaped sliding block 25, a connecting rod 26, a rotating shaft 27, a spherical hinge 28, a spherical hinge connecting piece 29, an ultrasonic probe quick mounting and dismounting mechanism 3, a side connecting column 31, a clamping plate 32, a handle 33, a bottom clamping seat 34, a top connecting plate 35, a screw rod 36 and an ultrasonic probe 4.

Detailed Description

In order to make the technical problem and the technical solution to be solved by the present invention clearer, the following description is made in conjunction with the accompanying drawings and embodiments, and is directed to the flexible mechanism applied to the ultrasonic robot and capable of connecting various ultrasonic probes, which is provided by the present invention and explained in detail, but not limited to the present invention.

Referring to fig. 1 and 4 together, a passive flexible mechanism for connecting multiple ultrasound probes in an ultrasound robot according to the present invention will now be described. Passive form flexible mechanism installs and removes mechanism 30 and three group's flexible chains that link to each other with both fast including mount pad 1, ultrasonic probe, mount pad 1 is used for installing at ultrasonic robot's arm end, ultrasonic probe installs and removes mechanism 30 fast and is used for centre gripping ultrasonic probe 4, three group's flexible chain equipartitions are around mount pad 1.

Further, please refer to fig. 2, the mounting base 1 includes a fixed platform 11 and a downward extending cylinder 12, the downward extending cylinder 12 is fixed at the center of the bottom of the fixed platform 11, the fixed platform 11 is installed at the end of the mechanical arm through a flange, the flexible branched chain 2 includes a plate spring 21, a connecting rod 26, a spherical pair, a sliding column 23 and a t-shaped slider 25, the two sliding columns 23 are fixed around the bottom of the fixed platform 11, and two shoulders of the t-shaped slider 25 are respectively provided with a through hole in sliding fit with the sliding column 23, so that the t-shaped slider 25 can avoid autorotation when sliding on the sliding column 23. The connecting rod 26 is a Y-shaped connecting rod, and two limbs at the top of the Y-shaped connecting rod are arranged on a bulge in the middle of the lower end of the T-shaped sliding block 25 through a rotating shaft 27. The lower end of the Y-shaped link is mounted on a ball joint connection 29 by means of a ball joint 28, the ball joint connection 29 being fixed on a top connection plate 35.

If the direction of the central axis of the fixed platform 11 is taken as the Z axis, the mechanism has the freedom of rotation around the X axis and the Y axis and the freedom of translation along the Z axis, and all the movements and rotations are damped by the leaf springs 21. For example, when the ultrasonic probe 4 contacts with a human body to cause the moving platform to deflect rightwards, the T-shaped slide block 25 at the rightmost side moves upwards, the T-shaped slide blocks 25 in the other two groups of flexible branched chains 2 move downwards, and the three groups of T-shaped slide blocks 25 jointly draw the deflection of the moving platform. And because each group of T-shaped sliding blocks 25 are connected with the plate spring 21, the T-shaped sliding blocks 25 can automatically reset after the movement is finished due to the elasticity of each plate spring 21, and the flexible effect is further achieved.

Further, referring to fig. 2, the concrete structure of the sliding pair is as follows: the square hole end cover 22 is provided with a square hole matched with the plate spring 21, and a bearing 24 used for reducing the friction force between the square hole end cover 22 and the plate spring 21 is arranged in the square hole. In this way, the damping effect on the mobile platform during movement can be seen as the elasticity from the leaf spring 21, which can reduce the influence of uncertainty due to friction.

Further, please refer to fig. 3, the ultrasonic probe quick assembly and disassembly mechanism 30 sequentially includes a top connecting plate 35, a side connecting column 31 and a bottom clamping seat 34 from top to bottom, the top connecting plate 35 is used for connecting with three groups of flexible branched chains 2, the bottom clamping seat 34 is a U-shaped seat, two limbs of the U-shaped seat are provided with paired clamping plates 32, the clamping plates 32 are installed on one limb on one corresponding side of the U-shaped seat through a transverse sliding pair, and the two clamping plates 32 are driven to be relatively far away from or close together through a clamping device to quickly clamp or replace the ultrasonic probe 4.

Further, please refer to fig. 3 and 5, the clamping device includes a screw 36, a handle 33 and screw holes disposed on two limbs of the U-shaped seat, the screw 36 is installed in the screw hole through screw thread fit, an inner side end of the screw 36 is connected to the clamping plate 32 through a revolute pair, and the other end is fixedly connected to the handle 33, specifically, as shown in fig. 5, in this embodiment, a transverse sliding slot is disposed on one limb of the bottom clamping seat 34, a protruding portion installed in the sliding slot is disposed on a back surface of the clamping plate 32, the protruding portion has a same cross-sectional shape as the sliding slot, so that the protruding portion can freely slide in the sliding slot to form a sliding pair, the screw hole is disposed at a bottom of the sliding slot in the bottom clamping seat 34, and the screw 36 is installed on the protruding portion of the clamping plate 32 through a bearing after passing. The screw 36 is screwed by the handle 33 so that the projection moves back and forth in the slide groove, so that the clamping plate 32 moves back and forth in the direction of the sliding pair. Therefore, the ultrasonic probe 4 can be clamped and loosened quickly in the using process.

Further, referring to fig. 3, the clamping plate 32 is an inward concave arc-shaped plate, a silica gel layer for increasing clamping stability is coated on the clamping plate 32, the thickness of the silica gel layer is about 3mm, and when the ultrasonic probe 4 is clamped, the silica gel is extruded and deformed to better fit the surface shape of the ultrasonic probe 4, so that the clamping stability is increased.

The above embodiments are merely illustrative, and not restrictive, of the present invention. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that various combinations, modifications or equivalent substitutions may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention, and all of the technical solutions should be covered by the scope of the claims of the present invention.

Claims

1. A passive flexible mechanism for rapidly connecting multiple ultrasonic probes is characterized in that: the ultrasonic probe quick mounting and dismounting mechanism is used for clamping the ultrasonic probe, and the three groups of flexible branched chains are uniformly distributed around the mounting seat;

2. A passive compliance mechanism for use in rapidly connecting multiple ultrasound probes, according to claim 1, wherein: the clamping device comprises a screw rod, a handle and screw holes formed in two limbs of the U-shaped seat, the screw rod is installed in the screw holes in a threaded fit mode, the inner side end of the screw rod is connected with the clamping plate through a revolute pair, the other end of the screw rod is fixedly connected with the handle, and the screw rod is screwed through the handle to enable the clamping plate to move back and forth along the direction of the sliding pair.

3. The passive compliance mechanism for use in rapidly connecting multiple ultrasound probes according to claim 2, wherein: the clamping plate is an inwards concave arc-shaped plate, and a silica gel layer for improving clamping stability is coated on the clamping plate.

4. The passive compliance mechanism for use in rapidly connecting multiple ultrasound probes according to claim 2, wherein: the mount pad includes fixed platform and the cylinder that stretches down of locating fixed platform bottom center department, flexible branch chain includes leaf spring, connecting rod, spherical pair, T-shaped slider and traveller, and two travelers are fixed in the fixed platform bottom, the T-shaped slider passes through sliding fit and installs on two travelers, leaf spring one end is fixed on the cylinder of stretching down, and the other end links to each other with the T-shaped slider through horizontal pair of sliding, the connecting rod top links to each other with the protruding articulated in T-shaped slider middle part, and the lower extreme links to each other through spherical pair with the top connecting plate of probe quick assembly disassembly mechanism.

5. The passive compliance mechanism for use in rapidly connecting multiple ultrasound probes according to claim 4, wherein: the T-shaped sliding block is provided with a through hole matched with the sliding column, and a copper sleeve used for reducing friction force is arranged between the through hole and the sliding column.

6. The passive compliance mechanism for use in rapidly connecting multiple ultrasound probes according to claim 4, wherein: the transverse sliding pair is an end cover with a square hole and arranged at the top of the T-shaped sliding block, and a bearing used for reducing friction force between the bearing and the plate spring is arranged in the square hole of the end cover with the square hole.