CN219962908U

CN219962908U - Miniaturized ultrasonic diagnosis and treatment robot and ultrasonic diagnosis and treatment system

Info

Publication number: CN219962908U
Application number: CN202320469786.6U
Authority: CN
Inventors: 张鹏程; 邓兆锟; 侯西龙; 王双翌
Original assignee: Artificial Intelligence And Robotics Innovation Center Hong Kong Institute Of Innovation Chinese Academy Of Sciences Ltd; Institute of Automation of Chinese Academy of Science
Current assignee: Artificial Intelligence And Robotics Innovation Center Hong Kong Institute Of Innovation Chinese Academy Of Sciences Ltd; Institute of Automation of Chinese Academy of Science
Priority date: 2023-03-13
Filing date: 2023-03-13
Publication date: 2023-11-07
Anticipated expiration: 2033-03-13

Abstract

The utility model provides a miniaturized ultrasonic diagnosis and treatment robot and an ultrasonic diagnosis and treatment system, which belong to the technical field of ultrasonic equipment, wherein the miniaturized ultrasonic diagnosis and treatment robot comprises: the first platform, the second platform and the connecting driving unit; the first platform is connected with the second platform through a connecting driving unit, the first platform comprises a first connecting part used for being connected with the positioning arm, the second platform comprises a probe clamping unit used for being connected with the ultrasonic probe, and the connecting driving unit comprises a plurality of driving rod assemblies; the driving rod assembly comprises a motor and a connecting rod assembly, a plurality of motors connected with the driving unit are gathered towards the center of the first platform, two ends of the connecting rod assembly are respectively connected with the motor and the second platform, and the connecting rod assembly is driven by the motor to rotate around an output shaft of the motor and drive the second platform to do corresponding movement. The technical scheme further compresses the configuration size of the existing parallel ultrasonic robot, and better meets the clinical requirements of miniaturized ultrasonic diagnosis and treatment.

Description

Miniaturized ultrasonic diagnosis and treatment robot and ultrasonic diagnosis and treatment system

Technical Field

The utility model relates to the technical field of ultrasonic equipment, in particular to a miniaturized ultrasonic diagnosis and treatment robot and an ultrasonic diagnosis and treatment system.

Background

The ultrasonic auxiliary robot is used for carrying out ultrasonic detection on a human body in vitro by clamping an ultrasonic probe through a teleoperation or automatic scanning mode.

In the prior art, an ultrasonic diagnosis and treatment scheme is mainly completed by clamping an ultrasonic probe by a joint serial robot, and an industrial-level 6-axis robot is generally used as the positioning and control of the probe, so that the movement capability is rich, and the robot occupies a huge space and is not beneficial to the development of clinical operation in a man-machine cooperation environment. In recent years, part of technical schemes apply parallel robot configurations to the field of ultrasonic diagnosis and treatment, and have good configuration advantages of high precision, compact structure and the like, but the configuration volume of the parallel robot is still to be further optimized, and the clinical requirements of miniaturized ultrasonic diagnosis and treatment cannot be better met.

Disclosure of Invention

Aiming at the problems existing in the prior art, the utility model provides a miniaturized ultrasonic diagnosis and treatment robot and an ultrasonic diagnosis and treatment system.

In a first aspect, the present utility model provides a miniaturized ultrasound diagnostic robot comprising:

the first platform, the second platform and the connecting driving unit;

the first platform is connected with the second platform through the connection driving unit, the first platform comprises a first connecting part used for being connected with the positioning arm, the second platform comprises a probe clamping unit used for being connected with the ultrasonic probe, and the connection driving unit comprises a plurality of driving rod assemblies;

the driving rod assembly comprises a motor and a connecting rod assembly, the plurality of motors arranged in the connecting driving unit are gathered together towards the center of the first platform, two ends of the connecting rod assembly are respectively connected with the motor and the second platform, and the connecting rod assembly rotates around a motor output shaft and drives the second platform to do corresponding movement under the driving of the motor.

Optionally, the connection driving unit comprises three groups of subunits, each group of subunits comprises two driving rod assemblies, and each driving rod assembly comprises a motor and a connecting rod assembly;

the six motors included in the connection driving unit are arranged in two layers along the central axis direction of the first platform, and three motors belonging to three groups of subunits are located on the same layer.

Optionally, the six motors included in the connection driving unit are distributed in a spatially staggered manner.

Alternatively, the output shafts of the two motors belonging to the same group of said subunits are parallel.

Optionally, the driving rod assembly further comprises a transmission gear assembly and a swing arm, the transmission gear assembly is connected with the motor, the swing arm is arranged on the transmission gear assembly, the swing arm follows the transmission gear assembly to rotate, and the connecting rod assembly is respectively connected with the swing arm and the second platform.

Optionally, the transmission gear assembly includes a primary input gear, a primary output gear, a secondary input gear, and a secondary output gear;

the primary input gear is fixedly connected with an output shaft of the motor, the primary input gear is meshed with the primary output gear, the primary output gear is coaxially and fixedly connected with the secondary input gear, the secondary input gear is meshed with the secondary output gear, and the secondary output gear is fixedly connected with the swing arm.

Optionally, the second platform further comprises a force sensor, a probe fixing plate and a force sensor connecting piece, wherein the first surface of the force sensor is connected with the probe clamping unit, and the force sensor connecting piece is connected with the second surface of the force sensor and the probe fixing plate;

the first surface of the force sensor is an induction surface of the force sensor, and the second surface of the force sensor is another surface of the force sensor opposite to the induction surface.

Optionally, the probe clamping unit includes a first clamping member and a second clamping member, and the first clamping member and the second clamping member are used for clamping the ultrasonic probe from two sides.

Optionally, a handheld unit is disposed on the first platform.

In a second aspect, the present utility model also provides an ultrasound diagnosis and treatment system, including: the trolley is arranged on one side of the operating table, a positioning arm is arranged on the trolley, the miniaturized ultrasonic diagnosis and treatment robot is arranged on the positioning arm through the first connecting part, and the ultrasonic probe is arranged on the miniaturized ultrasonic diagnosis and treatment robot through the probe clamping unit.

The miniaturized ultrasonic diagnosis and treatment robot and the ultrasonic diagnosis and treatment system provided by the utility model are connected with the second platform through the first platform through the connection driving unit, the first platform comprises a first connecting part used for being connected with the positioning arm, and the second platform comprises a probe clamping unit used for being connected with the ultrasonic probe, so that the probe is clamped, and the positioning and the control of the probe are realized. The connection driving unit comprises a plurality of driving rod assemblies; the driving rod assembly comprises a motor and a connecting rod assembly, and the plurality of motors arranged in the connecting driving unit are gathered together towards the center of the first platform, so that the configuration size of the traditional parallel ultrasonic robot is further compressed, and the miniaturized ultrasonic diagnosis and treatment clinical requirements are better met. The two ends of the connecting rod assembly are respectively connected with the motor and the second platform, and the connecting rod assembly is driven by the motor to rotate around the motor output shaft and drive the second platform to do corresponding movement, so that calculation errors of a series configuration are reduced, and more accurate control movement is realized.

Drawings

In order to more clearly illustrate the utility model or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a miniaturized ultrasound diagnostic robot according to the present utility model;

FIG. 2 is a second schematic view of a miniaturized ultrasound diagnostic robot according to the present utility model;

FIG. 3 is a schematic structural view of a second platform according to the present utility model;

FIG. 4 is a schematic view of a first platform and a part of a connection driving unit according to the present utility model;

FIG. 5 is a schematic diagram of a driving assembly according to the present utility model;

FIG. 6 is a second schematic diagram of a driving assembly according to the present utility model;

FIG. 7 is a schematic illustration of one of the configurations of the transmission gear assembly provided by the present utility model;

FIG. 8 is a second schematic diagram of a transmission gear assembly according to the present utility model;

FIG. 9 is a schematic view of the drive rod assembly of the present utility model;

FIG. 10 is a schematic illustration of one of the overall drive combination configurations provided by the present utility model;

FIG. 11 is a second schematic view of the overall driving assembly configuration provided by the present utility model;

fig. 12 is a schematic structural diagram of an ultrasound diagnosis and treatment system according to an embodiment of the present utility model;

reference numerals:

1: a trolley and a positioning arm; 2: a miniaturized ultrasonic diagnosis and treatment robot; 3: an ultrasonic probe; 4: a patient; 5: an operating bed; 201: a first platform; 202: connecting a driving unit; 203: a second platform; 204: a hand-held unit; 205: a first connection portion; 206: a connecting rod assembly; 2011: a probe clamping unit; 2012: a probe fixing plate; 2013: a force sensor connection; 2014: a force sensor; 2031: a first platform fixing plate; 2032: a drive gear assembly; 2033: a drive assembly; 20321: a primary input gear; 20322: a primary output gear; 20323: a secondary input gear; 20324: a second stage output gear; 20325: swing arms; 20331: a motor; 20332: and a motor fixing piece.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, the technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Interventional procedures under ultrasound guidance often require high precision, large transmission, miniaturized design requirements for robotic systems, where the configured volume of the robot is a key indicator. In the prior art, an ultrasonic diagnosis and treatment scheme is mainly completed by clamping an ultrasonic probe by a joint serial robot, and an industrial-level 6-axis robot is generally used as the positioning and control of the probe, so that the movement capability is rich, and the robot occupies a huge space and is not beneficial to the development of clinical operation in a man-machine cooperation environment. In recent years, part of technical schemes apply parallel robot configurations to the field of ultrasonic diagnosis and treatment, and have good configuration advantages of high precision, compact structure and the like, but the configuration volume of the parallel robot is still to be further optimized, and the clinical requirements of miniaturized ultrasonic diagnosis and treatment cannot be better met.

Under such a technical background, an embodiment of the present utility model proposes a miniaturized ultrasound diagnosis and treatment robot, and the miniaturized ultrasound diagnosis and treatment robot of the present utility model is described below with reference to fig. 1 to 12, as shown in fig. 1, and the embodiment of the present utility model provides a miniaturized ultrasound diagnosis and treatment robot, including:

a first platform 203, a second platform 201, and a connection driving unit 202;

the first platform 203 is connected with the second platform 201 through the connection driving unit 202, the first platform 203 comprises a first connecting part 205 for connecting with a positioning arm, the second platform 201 comprises a probe clamping unit 2011 for connecting with the ultrasonic probe 3, and the connection driving unit 202 comprises a plurality of driving rod assemblies;

the driving rod assembly includes a motor 20331 and a link assembly 206, the plurality of motors 20331 connected with the driving unit 202 are gathered towards the center of the first platform 203, two ends of the link assembly 206 are respectively connected with the motor 20331 and the second platform 201, and the link assembly 206 rotates around an output shaft of the motor 20331 and drives the second platform 201 to move correspondingly under the driving of the motor 20331.

Specifically, the first platform 203 in the embodiment of the present utility model includes a first connection portion 205 for connecting with a positioning arm of an ultrasonic diagnosis and treatment system, so that the miniaturized ultrasonic diagnosis and treatment robot can be fixed on the positioning arm; the second stage 201 includes a probe holding unit 2011 for connecting with the ultrasonic probe 3, and the probe holding unit 2011 is for holding the ultrasonic probe 3.

The connection drive unit 202 includes a plurality of drive rod assemblies, each including a motor 20331 and a linkage assembly 206.

Wherein, the plurality of motors 20331 included in the connection driving unit 202 are all gathered towards the center of the first platform 203 without occupying the peripheral position of the first platform 203, thereby reducing the volume of the whole miniaturized ultrasonic diagnosis and treatment robot.

The linkage assembly 206 may be any rod-shaped assembly, either a single linkage plus a knuckle bearing or a multi-knuckle rod-shaped assembly, it being understood that the linkage assembly 206 may have multiple degrees of freedom. Both ends of the link assembly 206 may be connected to the motor 20331 and the second platform 201, respectively. When the motor 20331 works, the connecting rod assembly 206 can be excited by the motor 20331 to rotate freely relative to the first platform 203, and when a doctor performs remote ultrasonic diagnosis and treatment on a patient, the doctor can give an instruction to remotely control the connection driving unit 202, so that the second platform 201 moves or rotates relative to the first platform 203, and the position and the posture of the ultrasonic probe 3 are controlled, so that the robot-assisted ultrasonic diagnosis and treatment work is completed.

According to the miniaturized ultrasonic robot provided by the embodiment of the utility model, the first platform is used as the fixed platform, the second platform is used as the movable platform, the motor works after a control instruction is issued, and the connecting rod assembly is driven to move so that the second platform moves relative to the first platform. And because the first platform and the second platform are fixedly connected by a plurality of driving rod assemblies, the miniaturized ultrasonic robot can realize the translation of the second platform relative to the first platform in a plurality of directions and the posture adjustment movement of the second platform in a plurality of directions, so that a multi-degree-of-freedom parallel robot configuration is formed. The working mode of the connecting rod assembly enables the robot to have a flexible working range relative to the axial direction of the first platform, so that the miniaturized ultrasonic robot provided by the embodiment of the utility model can adapt to more patients with different sizes in a detection task.

Alternatively, the connection drive unit 202 includes three sets of subunits, each set of subunits containing two drive rod assemblies, each drive rod assembly including one motor 20331 and one linkage assembly 206;

wherein, six motors 20331 included in the connection driving unit 202 are arranged in two layers along the central axis direction of the first platform 203, and three motors 20331 belonging to three groups of subunits are located in the same layer.

Specifically, the connection drive unit 202 may comprise three sets of sub-units, each set comprising two drive rod assemblies, each drive rod assembly comprising one motor 20331 and one link assembly 206, i.e. the connection drive unit 202 comprises six motors 20331, each set comprising one drive assembly 2033, one drive assembly 2033 comprising two motors 20331.

The six motors 20331 may be arranged in two layers along the central axis direction of the first platform 203, and the three motors 20331 belonging to the three groups of subunits are located on the same layer, that is, two motors 20331 included in each group of subunits, a first motor is located on the first layer and is fixedly connected with the first platform 203, a second motor is located on the second layer, and the first motor and the second motor may be connected through a fixing member or any other connection manner.

According to the miniaturized ultrasonic robot provided by the embodiment of the utility model, six motors which are connected with the driving unit are arranged in two layers along the central axis direction of the first platform, and three motors which are divided into three groups of subunits are positioned on the same layer.

Alternatively, the six motors 20331 included in the connection drive unit 202 are in a spatially staggered distribution.

Specifically, in the case where six motors 20331 included in the connection driving unit 202 are arranged in two layers along the central axis direction of the first platform 203, and three motors 20331 belonging to three groups of subunits are located on the same layer, the six motors 20331 may be in a spatially staggered distribution.

As shown in fig. 4, 5 and 6, the first platform may further include a first platform fixing plate 2031, and two motors 20331 of any group may include a first motor and a second motor, where the first motor is fixed on the first platform fixing plate 2031, the second motor is located on the second layer, and the first motor and the second motor are fixedly connected through a motor fixing member 20332, and the two motors 20331 of each group of subunits and the two motors 20331 of other subunits are in a spatially staggered distribution form.

In the embodiment of the utility model, the six motors included in the connection driving unit are arranged in a space staggered distribution mode, so that the configuration volume of the miniaturized ultrasonic diagnosis and treatment robot can be fully compressed, and the structure of the connection driving unit is compact to the greatest extent.

Alternatively, the output shafts of the two motors 20331 belonging to the same group of subunits are parallel.

In particular, in the case where six motors 20331 are in a spatially staggered distribution, the output shafts of two motors 20331 belonging to the same group of subunits may be parallel.

In one embodiment, the output shafts of the two motors 20331 belonging to the same subunit are parallel, and the two link assemblies 206 belonging to the same subunit are connected to the two motors 20331 at one end and may be connected to the second platform 201 at a nearby location or at the same location at the other end. As shown in fig. 2, 10 and 11, the second stage 201 may include a probe fixing plate 2012, the probe fixing plate 2012 being an approximately triangular fixing plate, and two link assemblies 206 belonging to the same subunit being connected to one corner of the probe fixing plate 2012 of the second stage 201, the volume of the second stage 201 may be compressed compared to being uniformly distributed around the periphery of the probe fixing plate 2012 of the second stage 201.

In one embodiment, the output shafts of the two motors 20331 of each set of subunits are perpendicular to the edge of the first platform fixing plate 2031. As shown in fig. 5 and 6, the output shafts of the two motors 20331 of each group of subunits are parallel and perpendicular to the edge of the first platform fixing plate 2031.

In the embodiment of the utility model, the output shafts of the two motors belonging to the same subunit are arranged in parallel, so that the motors can conveniently drive the connecting rod assembly to rotate to realize the adjustment of the position and the posture of the second platform, and the structural stability of the miniaturized ultrasonic diagnosis and treatment robot is ensured.

Optionally, the driving rod assembly further includes a transmission gear assembly 2032 and a swing arm 20325, the transmission gear assembly 2032 is connected to the motor 20331, the swing arm 20325 is disposed on the transmission gear assembly 2032, and the swing arm 20325 rotates along with the transmission gear assembly 2032, and the link assembly 206 is connected to the swing arm 20325 and the second platform 201, respectively.

Specifically, the driving lever assembly may be a transmission assembly composed of a motor 20331, a transmission gear assembly 2032, a swing arm 20325 and a link assembly 206, wherein the motor 20331 is operated to rotate the transmission gear assembly 2032, and then the rotation of the transmission gear assembly 2032 rotates the swing arm 20325 mounted thereon. After the swing arm 20325 rotates along with the transmission gear assembly 2032, the link assembly 206 is respectively connected with the swing arm 20325 and the second platform 201, so as to drive the second platform 201 to adjust the position and the posture relative to the first platform 203.

As shown in fig. 9, one end of the link assembly 206 is fixed to the swing arm 20325, and as shown in fig. 10 and 11, the other end of the link assembly 206 is fixedly connected to the second platform 201. When the motor 20331 rotates, the swing arm 20325 is driven to rotate together, and the second platform 201 is driven to move together under the action of the connecting rod assembly 206, so that the position and posture of the second platform 201 are adjusted, and the scanning action of the ultrasonic probe 3 on the body surface of the patient 4 is completed.

According to the miniaturized ultrasonic diagnosis and treatment robot provided by the embodiment of the utility model, the transmission gear assembly and the swing arm arranged on the transmission gear assembly are arranged, so that the structure of the first platform is compact to the greatest extent, and the weight of the first platform is reduced. And because the transmission gear has large transmission ratio and small power loss, the device can adapt to various complicated remote control instructions.

Alternatively, the transfer gear assembly 2032 includes a primary input gear 20321, a primary output gear 20322, a secondary input gear 20323, and a secondary output gear 20324;

wherein, the primary input gear 20321 is fixedly connected with the output shaft of the motor 20331, the primary input gear 20321 is meshed with the primary output gear 20322, the primary output gear 20322 is coaxially and fixedly connected with the secondary input gear 20323, the secondary input gear 20323 is meshed with the secondary output gear 20324, and the secondary output gear 20323 is fixedly connected with the swing arm 20325.

In particular, as shown in fig. 7 and 8, the transfer gear assembly 2032 may include a primary input gear 20321, a primary output gear 20322, a secondary input gear 20323, and a secondary output gear 20324. The fixed end of the primary input gear 20321 is fixedly connected with the output shaft of the motor 20331, and the gear end of the primary input gear 20321 is meshed with the gear end of the primary output gear 20322. The primary output gear 20322 is fixedly connected coaxially with the secondary input gear 20323, and thus can rotate in synchronization. The secondary input gear 20323 meshes with the secondary output gear 20324. The swing arm 20325 is fixedly connected with the secondary output gear 20324.

When the primary input gear 20321 rotates synchronously with the output shaft of the motor 20331, the gears of each stage will mesh together, eventually driving the swing arm 20325 to rotate together around the central axis of the secondary output gear 20324. By adopting the transmission gear structure, the transmission precision is higher, and a larger transmission ratio is provided.

Optionally, the second platform 201 further includes a force sensor 2014, a probe fixing plate 2012, and a force sensor connecting piece 2013, wherein a first surface of the force sensor 2014 is connected to the probe clamping unit 2011, and the force sensor connecting piece 2013 connects a second surface of the force sensor 2014 and the probe fixing plate 2012;

wherein the first surface of the force sensor 2014 is a sensing surface of the force sensor 2014, and the second surface of the force sensor 2014 is another surface of the force sensor 2014 opposite to the sensing surface.

Specifically, as shown in fig. 3, the second platform 201 includes: a probe clamping unit 2011, a probe fixing plate 2012, a force sensor connecting piece 2013 and a force sensor 2014. The probe holding units 2011 are fixed on both sides of the ultrasonic probe 3 and hold and fix the ultrasonic probe. Three force sensors 2014 are distributed between the probe clamp 2011 and the force sensor connection 2013. The probe clamp 2011 is fixedly coupled to a first surface (i.e., sensing surface) of the force sensor 2014. A second surface (i.e., a non-sensing surface) of the force sensor 2014 is fixedly coupled to the force sensor coupling 2013. The lower platform assembly 201 mainly has the functions of clamping and fixing the ultrasonic probe 3 and measuring the contact force between the ultrasonic probe 3 and the body surface of the patient 4 by arranging the force sensor 2014, so that an ultrasonic scanning image can be better presented.

The miniaturized ultrasonic diagnosis and treatment robot provided by the embodiment of the utility model provides a scheme for correlating the contact force between the tail end of the measuring probe and the body surface of a patient, so that the technical scheme can better present ultrasonic images. The remote doctor controls the robot through teleoperation and the contact force between the probe and the body surface of the patient so as to realize the small-range scanning diagnosis and treatment task of the end probe.

Alternatively, the probe holding unit 2011 includes a first holding member and a second holding member for holding the ultrasonic probe from both sides.

Specifically, the two clamping pieces, the first clamping piece and the second clamping piece are respectively located at two sides of the ultrasonic probe 3 and are matched with the surface of the ultrasonic probe 3. The first clamping member and the second clamping member may be screwed by screws or other detachable connection means, thereby fixing the ultrasonic probe 3.

The probe clamping unit of the miniaturized ultrasonic diagnosis and treatment robot clamps the probe from two sides through the first clamping piece and the second clamping piece, can adapt to different probe sizes, has certain universality on probe specifications, is simple to install and is convenient to detach.

Optionally, a handheld unit 204 is provided on the first platform 203.

Specifically, the existing scheme robot joints all adopt active joints, and the motion control of the robot is controlled by the operation of a remote doctor. Meanwhile, the control mode of the active joint can lead to the fact that unexpected events can not be handled in time in the diagnosis and treatment process, the possibility of accidentally injuring a patient exists, and the safety is low. Therefore, in the embodiment of the present utility model, the handheld unit 204 is disposed on the first platform 203, so that a nurse on site can participate in the work of assisting a remote doctor, and the disposition of the handheld unit 204 is not limited, and the handheld unit 204 can be disposed on any position on the first platform 203 that does not interfere with the movement of the connection driving unit 202.

Specifically, in the present embodiment, the hand-held unit 204 is a handle. As shown in fig. 2, the handles and the first connecting portion 205 are disposed on the surface of the first platform 203, and the number of the handles may be three, and the handles are disposed on three sides of the first platform 203 respectively.

When the ultrasonic diagnosis and treatment is required to be provided for the patient, medical staff can drag the miniaturized ultrasonic diagnosis and treatment robot to a proper position through the handheld unit 204 by using the embodiment of the utility model, and a doctor can control the movement of the miniaturized ultrasonic diagnosis and treatment robot through remote operation so as to complete the scanning task of the target position. In the case that the miniaturized ultrasonic diagnosis and treatment robot fails, the medical staff can also remove the miniaturized ultrasonic diagnosis and treatment robot from the patient through the handheld unit 204, so that unnecessary injury to the patient caused by the miniaturized ultrasonic diagnosis and treatment robot is avoided. Therefore, the technical scheme also has good safety.

The remote ultrasonic robot provided by the embodiment of the utility model adopts a passive handheld auxiliary mode to fix the ultrasonic probe, and has higher safety compared with other active technical schemes.

In at least one embodiment of the present utility model, a miniaturized ultrasound diagnostic robot is shown in fig. 2, and mainly comprises the following components: a second platform 201, a linkage assembly 206, a first platform 203, a handheld unit 204, and a first connection 205. The ultrasonic probe 3 is fixed with the lower stage assembly 201, the second stage 201 is connected with the first stage 203 through the link assembly 206, and the hand-held unit 204 is fixed with the first connection part 205. The first connecting portion 205 is fixed to the end of the carriage and the positioning arm 1. The hand-held unit 204 is used for an operator to drag the miniaturized ultrasound diagnostic robot 2 to move the ultrasound probe 3 to an appropriate scanning site of the patient 4.

Aiming at the problem of the configuration volume redundancy of the parallel ultrasonic robot, the embodiments of the utility model provide a miniaturized parallel robot configuration design scheme by combining a mechanical design principle. The scheme adopts the space staggered driver layout, adds a corresponding transmission structure, fully compresses the configuration volume of the parallel ultrasonic robot, improves the loading capacity of the robot, and has good clinical application value. In addition, the scheme adopts a mode of passive large-range positioning and handheld auxiliary small-range positioning, and can meet the clinical routine scanning task by controlling the movement of the robot and the contact force between the ultrasonic probe and the body surface of the patient through teleoperation or automatic scanning. The technology has the advantages of small volume, large transmission ratio, compact structure, portability, high safety and objective economic cost.

The embodiment of the utility model also discloses an ultrasonic diagnosis and treatment system, which comprises: the trolley is arranged on one side of the operating table, a positioning arm is arranged on the trolley, the miniaturized ultrasonic diagnosis and treatment robot is arranged on the positioning arm through the first connecting part, and the ultrasonic probe is arranged on the miniaturized ultrasonic diagnosis and treatment robot through the probe clamping unit.

Specifically, as shown in fig. 12, the ultrasound diagnosis and treatment system mainly comprises the following components: the trolley and positioning arm 1, the miniaturized ultrasonic diagnosis and treatment robot 2, the ultrasonic probe 3 and the operating table 5 can be used for carrying out initial three-dimensional positioning on the whole robot system and facilitating placement and arrangement of the robot in an operating room. The miniaturized ultrasonic diagnosis and treatment robot 2 is fixed at the tail end of the trolley and the positioning arm 1, so that the initial fixation of the tail end ultrasonic probe 3 on the body surface of a patient is finished by means of the trolley and the positioning arm 1. The ultrasonic probe 3 is fixed at the tail end of the miniaturized ultrasonic diagnosis and treatment robot 2, and the ultrasonic probe 3 is inspected and scanned on the body surface of the patient 4 by means of the miniaturized ultrasonic diagnosis and treatment robot 2. The ultrasonic probe 3, the miniaturized ultrasonic robot 2, the trolley, the positioning arm 1 and the miniaturized ultrasonic robot 2 can be quickly assembled and disassembled.

The ultrasonic diagnosis and treatment system in the embodiment of the utility model has the following working processes: firstly, a nurse confirms the scope of ultrasonic diagnosis and treatment, moves the trolley and the positioning arm 1 to a proper position, then a doctor obtains the detection condition of a patient in real time through remote image feedback, remotely operates the miniaturized ultrasonic diagnosis and treatment robot 2 to detect, and the nurse can assist in moving the miniaturized ultrasonic diagnosis and treatment robot 2 at any time according to doctor instructions and site conditions until the detection is finished.

The ultrasonic diagnosis and treatment system provided by the embodiment of the utility model realizes the modes of passive large-range positioning and active auxiliary small-range control of the probe, and a remote doctor controls the miniaturized ultrasonic diagnosis and treatment robot through teleoperation and the probe is contacted with the body surface of a patient to realize the small-range scanning diagnosis and treatment task of the terminal probe. The ultrasonic scanning device has the advantages of being small in ultrasonic scanning area, large in influence of body surface contact force on scanning results and the like, and meanwhile, the problems of safety in the diagnosis and treatment process, physical fatigue workload of medical staff and the like are considered.

The miniaturized ultrasonic diagnosis and treatment robot provided in the ultrasonic diagnosis and treatment system of the embodiment of the utility model at least comprises:

a first platform 203, a second platform 201, and a connection driving unit 202;

Optionally, a handheld unit 204 is provided on the first platform 203.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present utility model.

Claims

1. A miniaturized ultrasound diagnostic robot, comprising:

the first platform, the second platform and the connecting driving unit;

2. The miniaturized ultrasound diagnostic robot of claim 1, wherein the connection drive unit comprises three sets of subunits, each set of subunits comprising two drive rod assemblies, each drive rod assembly comprising a motor and a linkage assembly;

3. The miniaturized ultrasound diagnostic robot of claim 2, wherein the six motors included in the connection driving unit are in a spatially staggered distribution.

4. A miniaturized ultrasound diagnostic robot according to claim 3, wherein the output shafts of the two motors belonging to the same group of said subunits are parallel.

5. The miniaturized ultrasound diagnostic robot of any of claims 1 to 4, wherein the drive rod assembly further comprises a drive gear assembly and a swing arm, the drive gear assembly is connected with the motor, the swing arm is disposed on the drive gear assembly, and the swing arm follows the drive gear assembly to rotate, and the link assembly connects the swing arm and the second platform, respectively.

6. The miniaturized ultrasound diagnostic robot of claim 5, wherein the transmission gear assembly comprises a primary input gear, a primary output gear, a secondary input gear, and a secondary output gear;

7. The miniaturized ultrasound diagnostic robot of any of claims 1 to 4, wherein the second platform further comprises a force sensor, a probe securing plate, and a force sensor connector, the force sensor having a first surface that interfaces with the probe gripping unit, the force sensor connector connecting a second surface of the force sensor and the probe securing plate;

8. The miniaturized ultrasound diagnostic robot of any one of claims 1 to 4, wherein the probe clamping unit includes a first clamping member and a second clamping member for clamping the ultrasound probe from both sides.

9. A miniaturized ultrasound diagnostic robot according to any of claims 1 to 4, wherein a hand-held unit is provided on the first platform.

10. An ultrasound diagnostic system, comprising: trolley, ultrasonic probe, operating table and according to miniaturized ultrasonic diagnosis and treat robot of any one of claims 1 to 9, the trolley sets up one side of operating table, be provided with the locating arm on the trolley, miniaturized ultrasonic diagnosis and treat robot passes through first connecting portion sets up on the locating arm, ultrasonic probe passes through probe clamping unit sets up on the miniaturized ultrasonic diagnosis and treat robot.