CN217143913U - Master-slave position precision testing device for teleoperation ultrasonic scanning robot - Google Patents
Master-slave position precision testing device for teleoperation ultrasonic scanning robot Download PDFInfo
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- CN217143913U CN217143913U CN202220472345.7U CN202220472345U CN217143913U CN 217143913 U CN217143913 U CN 217143913U CN 202220472345 U CN202220472345 U CN 202220472345U CN 217143913 U CN217143913 U CN 217143913U
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Abstract
The application relates to a master-slave position precision testing device of a teleoperation ultrasonic scanning robot, comprising: the medical end testing assembly comprises a first base, a first slide rail, a supporting frame, a probe clamp, a testing pen, a first slide block, a supporting block and a first laser range finder, wherein the first slide rail is connected with the first base, the first slide block is connected with the first slide rail in a sliding manner, the testing pen is fixed at the bottom of the supporting block, and the supporting frame is connected with the first slide block and the supporting block; the support frame is connected with the probe clamp, and the first laser range finder is fixed on the support frame; patient end test assembly, including second base, second slide rail, second slider and second laser range finder, the second base rotates with the second slide rail through first revolving stage to be connected, second slider and second slide rail sliding connection, and second laser range finder is fixed in the second slide rail. According to the device, the sliding distance of the test pen is obtained by pushing the probe clamp; the direction of the second laser range finder is consistent with that of the quick-change device by rotating the first rotary table, and the position testing precision is guaranteed.
Description
Technical Field
The utility model relates to an ultrasonic scanning technical field especially relates to a teleoperation ultrasonic scanning robot principal and subordinate position accuracy testing arrangement.
Background
At present, the ultrasonic scanning robot adopts a separated design, namely, a doctor end and a patient end adopt a wireless communication mode, and when a doctor moves on the supporting plate through the operating handle, the ultrasonic probe of the patient end adjusts the detection position according to the position information of the operating handle and completes the detection effect.
The ultrasonic scanning robot comprises a positioning mechanism for preliminarily positioning the part to be detected of the patient. However, the ultrasonic scanning robot lacks a precision calibration process, and the detection precision of the ultrasonic scanning robot cannot be ensured only by the positioning mechanism.
SUMMERY OF THE UTILITY MODEL
The utility model provides a teleoperation supersound scanning robot principal and subordinate position accuracy testing arrangement, the purpose lies in to carry out the position detection respectively with patient's end to teleoperation supersound scanning robot doctor end to teleoperation supersound scanning robot's detection precision has been ensured.
The embodiment of the utility model provides a master-slave position precision testing arrangement of teleoperation ultrasonic scanning robot, include:
the doctor end testing assembly comprises a first base, a first slide rail, a supporting frame, a probe clamp, a testing pen, a first slide block, a supporting block and a first laser range finder, wherein the first slide rail is movably connected with the top of the first base, the first slide block is slidably connected with the first slide rail, the testing pen is fixed at the bottom of the supporting block, and the supporting frame is fixedly connected with the first slide block and the supporting block; the top of the support frame is fixedly connected with the probe clamp, and the first laser range finder is fixed on the side of the support frame;
patient end test assembly, patient end test assembly include second base, second slide rail, first revolving stage, second slider and second laser range finder, and wherein the second base rotates with the second slide rail through first revolving stage to be connected, and second slider and second slide rail sliding connection, second laser range finder are fixed in second slide rail top.
Optionally, the first base further comprises a flatness adjustment pin;
the first base is fixed on the frame of the touch pad, and the parallelism between the first base and the touch pad is adjusted through the flatness adjusting pin.
Optionally, the support frame comprises an L-shaped support plate and a fixing plate;
the horizontal edge of the L-shaped supporting plate is fixedly connected with the top of the supporting block, the vertical edge of the L-shaped supporting plate and the top of one side of the fixed plate are respectively fixedly connected with the probe clamp, and the top of the other side of the fixed plate is fixedly connected with the first laser range finder;
one side of the bottom of the fixed plate is fixedly connected with the supporting block.
Optionally, the fixing plate is provided with a laser target ball positioning hole below the first laser range finder.
Optionally, at least one side of the first slide rail is provided with a scale.
Optionally, the lens to which the first laser range finder belongs points to the touch pad.
Optionally, the first slide rail is fixed at the top of the slide rail fixing frame, and the slide rail fixing frame is detachably connected with the first base.
Optionally, a second turntable is fixed to the top of the first base, and the top of the second turntable is fixedly connected to the first slide rail.
Optionally, the top of the second base is fixedly connected to one side of the first turntable, and the other side of the first turntable is fixedly connected to the second slide rail.
Optionally, the lens of the second laser range finder points to the quick-change device of the patient end.
The embodiment of the utility model provides a master-slave position precision testing device of a teleoperation ultrasonic scanning robot, which utilizes a test component at the doctor end to respectively obtain the sliding distances of a test pen in the X direction and the Y direction by pushing a probe clamp; meanwhile, the patient end testing assembly is utilized to ensure that the second laser range finder and the quick-change device are in an effective distance, and the first rotary table is rotated to enable the second laser range finder and the quick-change device to keep consistent directions, so that the moving direction of the ultrasonic probe can be determined, and the detection precision of the teleoperation ultrasonic scanning robot is ensured.
Drawings
Fig. 1 is a schematic structural diagram of a medical end testing component in a master-slave position precision testing device of a teleoperation ultrasonic scanning robot provided in an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a patient end testing assembly in a master-slave position precision testing apparatus for a teleoperated ultrasonic scanning robot according to an embodiment of the present invention;
fig. 3 is a schematic position diagram of a second laser distance meter and a quick-change device in a master-slave position precision testing device of a teleoperation ultrasonic scanning robot provided by an embodiment of the present invention.
In the figure: 1. a physician-side testing assembly; 2. a first base; 3. a first slide rail; 4. a support frame; 5. a probe clamp; 6. a test pen; 7. a first laser range finder; 8. a first slider; 9. a support block; 10. a second base; 11. a second slide rail; 12. a second slider; 13. a second laser rangefinder; 14. a first turntable; 15. a touch pad; 16. a flatness adjustment pin; 17. an L-shaped support plate; 18. a fixing plate; 19. laser target ball positioning holes; 20. a patient end test assembly; 21. a slide rail fixing frame.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The existing ultrasonic scanning robot can adopt a separated design, namely, a doctor end and a patient end adopt a wireless communication mode, and when a doctor moves on a supporting plate through an operating handle, an ultrasonic probe of the patient end adjusts a detection position according to position information of the operating handle and completes detection. However, the doctor end cannot ensure the moving accuracy of the ultrasonic probe in the process of moving the operating handle, and further the detection accuracy of the ultrasonic scanning robot is influenced.
Example one
The utility model discloses to above not enough, provide a teleoperation ultrasonic scanning robot principal and subordinate position accuracy testing arrangement, as shown in fig. 1 and fig. 2, include:
the device comprises a doctor end testing component 1, wherein the doctor end testing component 1 comprises a first base 2, a first slide rail 3, a supporting frame 4, a probe clamp 5, a testing pen 6, a first slide block 8, a supporting block 9 and a first laser range finder 7, wherein the first slide rail 3 is movably connected with the top of the first base 2, the first slide block 8 is slidably connected with the first slide rail 3, the testing pen 6 is fixed at the bottom of the supporting block 9, and the supporting frame 4 is fixedly connected with the first slide block 8 and the supporting block 9; the top of the support frame 4 is fixedly connected with the probe clamp 5, and the first laser range finder 7 is fixed on the side of the support frame 4;
in the using process, the probe clamp 5 is used for holding a copying probe used by a doctor, and when the doctor pushes the copying probe to move, the test pen 6 is in contact with the touch pad 15 and records a motion track. The lens to which the first laser range finder 7 belongs is directed to the touch pad 15. The first laser range finder 7 emits a light beam to measure a distance by like the touch pad 15, thereby determining the parallelism of the first base 2 and the touch pad 15. The supporting frame 4 is fixedly connected with the first sliding block 8 and the supporting block 9 to realize synchronous sliding.
The first base further comprises a flatness adjustment pin 16; the first base 2 is fixed on the frame of the touch pad 15, and the parallelism between the first base 2 and the touch pad 15 is adjusted by the flatness adjusting pin 16. In a preferred embodiment, the first base 2 is preferably a quadrilateral, and the flatness adjustment pins 16 are disposed at the corners of the quadrilateral.
The procedure of the doctor-side test assembly 1 is thus as follows: firstly, testing the flatness of the first base 2 and the touch pad 15, and enabling the first laser range finder 7 to measure the distance from the first base to the touch pad 15 through the sliding support frame 4 in the sliding process. It should be added that there is a distance threshold between the first laser range finder 7 and the touch pad 15, and when the distance measured by the first laser range finder 7 to reach the touch pad 15 is greater than the distance threshold, the parallelism between the first base 2 and the touch pad 15 needs to be adjusted by the flatness adjusting pin 16. And secondly, placing the profiling probe on a probe clamp 5, and recording the moving track of the x-axis direction on a touch pad 15 by a test pen 6 while moving the profiling probe along the x-axis direction to which the first slide rail 3 belongs by a doctor, and measuring the length of the moving track of the x-axis direction. In an alternative embodiment, at least one side of the first slide rail 3 is provided with a scale, so that the length of the moving track can be measured. And finally, adjusting the angle between the first slide rail 3 and the first base 2, such as 90 degrees, so that the second slide rail 11 is arranged along the y-axis direction, and repeating the first step and the second step to realize the measurement of the length of the movement track in the y-axis direction.
Patient end test assembly 20, patient end test assembly 20 includes second base 10, second slide rail 11, first revolving stage 14, second slider 12 and second laser range finder 13, and wherein second base 10 rotates with second slide rail 11 through first revolving stage 14 and is connected, second slider 12 and second slide rail 11 sliding connection, and second laser range finder 13 is fixed in second slide rail 11 top.
It should be noted here that the second slide rail 11 is kept in the same direction as the quick-change device in use, because the end of the quick-change device holds the ultrasonic probe, and the moving direction of the ultrasonic probe is parallel to the y-axis of the coordinate system of the quick-change device; the moving direction of the ultrasonic probe can be determined by the position of the quick-change device. The operation of the patient-end test assembly 20 is specifically as follows: in a first step, the patient-end test assembly 20 is moved so that the distance between the second laser rangefinder 13 and the quick-change device is within an effective measurement range, typically 0.16m to 0.44 m. And secondly, measuring the distance between the second laser range finder 13 and the quick-change device at different positions by sliding the second sliding block 12. The number of times of measurement is not less than two, at least two distance values are obtained according to the measurement, and whether the measurement direction of the second laser range finder 13 is consistent with the moving direction of the quick-change device by rotating the first rotary table 14 is judged according to the difference between the distance values.
In a preferred embodiment, the first laser distance meter 7 and the second laser distance meter 13 are each provided with a communication module for communicating with an external industrial personal computer to record the moving distance.
The embodiment of the utility model provides a master-slave position precision testing device of a teleoperation ultrasonic scanning robot, which utilizes a test component at the doctor end to respectively obtain the sliding distances of a test pen in the X direction and the Y direction by pushing a probe clamp; meanwhile, the patient end testing assembly is utilized to ensure that the second laser range finder and the quick-change device are in an effective distance, the first rotary table is rotated, so that the second laser range finder and the quick-change device keep consistent in direction, the moving direction of the ultrasonic probe can be determined, and the detection precision of the teleoperation ultrasonic scanning robot is ensured through the matching use of the second laser range finder and the quick-change device.
Example two
As further shown in fig. 1, the present embodiment is further detailed based on the above technical solution, and the supporting frame 4 may include an L-shaped supporting plate 17 and a fixing plate 18;
the horizontal edge of the L-shaped supporting plate 17 is fixedly connected with the top of the supporting block 9, the vertical edge of the L-shaped supporting plate 17 and the top of one side of the fixing plate 18 are respectively fixedly connected with the probe clamp 5, and the top of the other side of the fixing plate 18 is fixedly connected with the first laser range finder 7;
one side of the bottom of the fixing plate 18 is fixedly connected with the supporting block 9.
In an alternative embodiment, the supporting block 9 is in an L-shaped structure, and one side of the supporting block 9 is provided with a through hole. Threaded holes are formed in the horizontal edge of the L-shaped supporting plate 17 and the top of the first sliding block 8, and the L-shaped supporting plate 17, the supporting block 9 and the first sliding block 8 are fixedly connected through bolts penetrating through the through holes.
In addition, the fixing plate 18 is provided with a laser target ball positioning hole 19 below the first laser range finder 7. The laser target ball positioning hole 19 functions to fix the target ball to the laser target ball positioning hole 19. Meanwhile, a laser tracker is arranged on a workbench of the doctor end testing assembly 1, and the length of the movement track of the testing pen 6 on the x axis and/or the y axis is measured by using the laser tracker and a target ball.
According to the technical scheme, the movement track of the test pen is measured by the laser tracker and the target ball, and the detection precision of the doctor end test assembly can be further improved by comparing the scale measurement with that of the first sliding rail.
EXAMPLE III
As further shown in fig. 1, the embodiment is further detailed on the basis of the first embodiment, wherein the first slide rail 3 is fixed on the top of the slide rail fixing frame 21, and the slide rail fixing frame 21 is detachably connected to the first base 2. The first base 2 is provided with a positioning hole, and when the angle between the first slide rail 3 and the first base 2 needs to be adjusted, for example, 90 degrees, the slide rail fixing frame 21 and the first base 2 are disassembled, the angle is adjusted, and the corresponding positioning hole is selected for fixing.
In another alternative embodiment, a second turntable is fixed on the top of the first base 2, and the top of the second turntable is fixedly connected with the first slide rail 3. When the angle between the first slide rail 3 and the first base 2 needs to be adjusted, the length of the moving track in the x-axis direction and the length of the moving track in the y-axis direction are measured by rotating the second turntable and adjusting the angle to a proper angle, such as 90 degrees.
According to the technical scheme, the sliding rail fixing frame is detachably connected with the first base and/or the second rotary table, the length of the moving track of the test pen in the x-axis direction and the y-axis direction is measured by the scales arranged on the first sliding rail, and the detection precision of the doctor end test assembly is further improved.
Example four
As further shown in fig. 2, on the basis of the first embodiment, the top of the second base 10 is fixedly connected to one side of the first rotary table 14, and the other side of the first rotary table 14 is fixedly connected to the second slide rail 11. The second base 10 is fixed to the bracket.
The lens that the second laser range finder 13 belongs to points to the quick-change device that the patient end belongs to. It should be noted here that the second laser distance meter 13 slides along the second slide rail 11 during use, so as to measure the distance between the second laser distance meter 13 and the quick-change device at least twice, and determine whether the measuring direction of the second laser distance meter 13 is consistent with the moving direction of the quick-change device according to the difference between the distance values.
In an alternative embodiment, shown in fig. 3, where the number of measurements is two and the distances are measured as d1 and d2, respectively, by comparing d1 with d2, the following may occur:
case 1: d1 ═ d2 or | d1-d2| < epsilon, then it is determined that the moving direction of the second laser range finder 13 and the quick-change device is consistent, wherein epsilon represents a distance error value;
case 2: if d1> d2 or d1< d2, then it is necessary to rotate the first turntable 14 until case 1 is satisfied.
The embodiment of the utility model provides an on the basis of embodiment one, further pointed out the second laser range finder through selecting two position measurement and the quick change device between the distance to judge the difference of twice distance and then rotatory first revolving stage until parallel with the quick change device, thereby realize effectively judging ultrasonic probe's moving direction, guarantee teleoperation ultrasonic scanning robot's detection precision.
From the above description of the embodiments, it is obvious for a person skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solution of the present invention essentially or the portions contributing to the prior art may be embodied in the form of a software product, and the computer software product may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes a plurality of instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
It should be noted that, in the embodiment of the accident data analysis apparatus, the included units and modules are only divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for the convenience of distinguishing from each other, and are not used to limit the protection scope of the present invention.
Although the invention has been described in detail in the foregoing by way of general description, specific embodiments and experiments, it will be apparent to those skilled in the art that certain modifications and improvements may be made thereto based on the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. A master-slave position precision testing device for a teleoperation ultrasonic scanning robot is characterized by comprising:
the doctor end testing assembly comprises a first base, a first slide rail, a supporting frame, a probe clamp, a testing pen, a first slide block, a supporting block and a first laser range finder, wherein the first slide rail is movably connected with the top of the first base, the first slide block is connected with the first slide rail in a sliding mode, the testing pen is fixed at the bottom of the supporting block, and the supporting frame is fixedly connected with the first slide block and the supporting block; the top of the support frame is fixedly connected with the probe clamp, and the first laser range finder is fixed on the side of the support frame;
the patient end testing assembly comprises a second base, a second sliding rail, a first rotary table, a second sliding block and a second laser range finder, wherein the second base is rotatably connected with the second sliding rail through the first rotary table, the second sliding block is slidably connected with the second sliding rail, and the second laser range finder is fixed at the top of the second sliding rail.
2. The teleoperated ultrasonic scanning robot master-slave position accuracy testing device of claim 1, characterized in that: the first base further comprises a flatness adjusting pin;
the first base is fixed on a frame of the touch pad, and the parallelism of the first base and the touch pad is adjusted through the flatness adjusting pin.
3. The teleoperated ultrasonic scanning robot master-slave position accuracy testing device of claim 1, characterized in that: the support frame comprises an L-shaped support plate and a fixing plate;
the horizontal edge of the L-shaped supporting plate is fixedly connected with the top of the supporting block, the vertical edge of the L-shaped supporting plate and the top of one side of the fixed plate are respectively fixedly connected with the probe clamp, and the top of the other side of the fixed plate is fixedly connected with the first laser range finder;
one side of the bottom of the fixing plate is fixedly connected with the supporting block.
4. The teleoperated ultrasonic scanning robot master-slave position accuracy testing device of claim 3, characterized in that: and the fixing plate is provided with a laser target ball positioning hole below the first laser range finder.
5. The teleoperated ultrasonic scanning robot master-slave position accuracy testing device of claim 1, characterized in that: at least one side of the first slide rail is provided with scales.
6. The teleoperated ultrasonic scanning robot master-slave position accuracy testing device of claim 2, characterized in that: the lens to which the first laser range finder belongs points to the touch pad.
7. The teleoperated ultrasonic scanning robot master-slave position accuracy testing device of claim 1, characterized in that: the first sliding rail is fixed at the top of the sliding rail fixing frame, and the sliding rail fixing frame is detachably connected with the first base.
8. The teleoperated ultrasonic scanning robot master-slave position accuracy testing device of claim 1, characterized in that: and a second rotary table is fixed at the top of the first base, and the top of the second rotary table is fixedly connected with the first sliding rail.
9. The teleoperated ultrasonic scanning robot master-slave position accuracy testing device of claim 1, characterized in that: the top of the second base is fixedly connected with one side of the first rotary table, and the other side of the first rotary table is fixedly connected with the second sliding rail.
10. The teleoperated ultrasonic scanning robot master-slave position accuracy testing device of claim 1 or 9, characterized in that: the lens of the second laser range finder points to the quick-change device of the patient end.
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| CN202220472345.7U CN217143913U (en) | 2022-03-03 | 2022-03-03 | Master-slave position precision testing device for teleoperation ultrasonic scanning robot |
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| CN202220472345.7U CN217143913U (en) | 2022-03-03 | 2022-03-03 | Master-slave position precision testing device for teleoperation ultrasonic scanning robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115355794A (en) * | 2022-10-20 | 2022-11-18 | 合肥合滨智能机器人有限公司 | Master position testing method and master-slave distance accuracy and repeatability testing system |
| CN115351819A (en) * | 2022-10-20 | 2022-11-18 | 合肥合滨智能机器人有限公司 | Master-slave operation time delay test system and method for remote ultrasonic robot |
| CN116147503A (en) * | 2023-04-18 | 2023-05-23 | 合肥合滨智能机器人有限公司 | Method and system for testing accuracy of master-slave distance of robot by laser displacement sensor |
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2022
- 2022-03-03 CN CN202220472345.7U patent/CN217143913U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115355794A (en) * | 2022-10-20 | 2022-11-18 | 合肥合滨智能机器人有限公司 | Master position testing method and master-slave distance accuracy and repeatability testing system |
| CN115351819A (en) * | 2022-10-20 | 2022-11-18 | 合肥合滨智能机器人有限公司 | Master-slave operation time delay test system and method for remote ultrasonic robot |
| CN115355794B (en) * | 2022-10-20 | 2023-01-20 | 合肥合滨智能机器人有限公司 | Master position testing method and master-slave distance accuracy and repeatability testing system |
| CN116147503A (en) * | 2023-04-18 | 2023-05-23 | 合肥合滨智能机器人有限公司 | Method and system for testing accuracy of master-slave distance of robot by laser displacement sensor |
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