CN220256988U - Mechanical arm - Google Patents

Abstract

The utility model relates to an MRgHIFU system, in particular to a manipulator, which comprises a manipulator bracket, a moving device, a rotating device and a swinging device, wherein the rotating device is arranged on the manipulator bracket; the moving device is arranged on the manipulator bracket, and the moving device, the rotating device and the swinging device are sequentially connected; the moving device is used for controlling the ultrasonic probe to move along the Z-axis direction of the manipulator support; the rotating device is used for controlling the ultrasonic probe to axially rotate along the X axis of the manipulator support; the swinging device is used for controlling the ultrasonic probe to axially rotate along the Y shaft of the manipulator support. Compared with the prior art, the utility model solves the problem that the MRgHIFU technology in the prior art cannot obtain large-distance displacement in the treatment of the breast fibroadenoma, so that the treatment range is limited, realizes accurate and stable large-range movement in a small space, and expands the application range of the MRgHIFU technology in the treatment of the breast fibroadenoma.

Description

Mechanical arm

Technical Field

The utility model relates to an MRgHIFU system, in particular to a manipulator.

Background

In the field of modern medicine, magnetic resonance guided High-intensity focused ultrasound (Magnetic Resonance-guided High-Intensity Focused Ultrasound, MRgHIFU) technology is increasingly gaining attention. The technology combines the advantages of magnetic resonance imaging (Magnetic Resonance Imaging, MRI) and High-intensity focused ultrasound (High-Intensity Focused Ultrasound, HIFU), and provides a non-invasive, environment-friendly and repeatable innovative means for treating various diseases. Numerous clinicians have recognized the significant potential that mrgfu technology exhibits during treatment. Especially in the field of treatment of mammary gland fibroadenoma, the MRgHIFU technology has wide application prospect.

However, the treatment range of the probe itself generating ultrasound in the prior art is limited, and for this reason, it is highly desirable to design and develop a magnetic resonance compatible manipulator to mount the ultrasound probe and realize a large distance displacement, thereby expanding the treatable range. However, designing a magnetic resonance compatible robotic arm for application of mrgfius technology in the treatment of breast fibroadenoma faces a number of technical difficulties. First, regarding magnetic resonance compatibility of the mechanical arm, it is necessary to ensure that the materials, structures and movement patterns of the mechanical arm are not disturbed by magnetic fields, so as to meet the requirements of normal operation in a magnetic resonance environment. Secondly, the mechanical arm is prevented from being interfered by magnetic resonance so as to ensure the stability and the accuracy of the mechanical arm, and the mechanical arm is particularly critical in magnetic resonance equipment. Furthermore, in view of the small magnetic resonance space, achieving a sufficiently large displacement of the robotic arm within a limited space is a challenging task requiring precise control of the motion of the robotic arm to achieve the desired therapeutic effect. Finally, how to connect the mechanical arm with the probe and the coil to ensure efficient cooperation between the mechanical arm and the ultrasonic equipment is also a problem to be solved with emphasis.

Disclosure of Invention

The utility model aims to solve at least one of the problems and provide a manipulator to solve the problem that the MRgHIFU technology in the prior art cannot obtain large-distance displacement in the treatment of mammary gland fibroadenoma so as to limit the treatment range, realize accurate and stable large-range movement in a small space, and expand the application range of the MRgHIFU technology in the treatment of mammary gland fibroadenoma.

The aim of the utility model is achieved by the following technical scheme:

a manipulator comprises a manipulator bracket, a moving device, a rotating device and a swinging device;

the moving device is arranged on the manipulator bracket, and the moving device, the rotating device and the swinging device are sequentially connected;

the moving device is used for controlling the external ultrasonic probe to move along the Z-axis direction of the manipulator support;

the rotating device is used for controlling the external ultrasonic probe to axially rotate along the X axis of the manipulator support;

the swinging device is used for controlling the external ultrasonic probe to axially rotate along the Y shaft of the manipulator support.

Preferably, the moving device comprises a first driving mechanism, a transmission assembly and a moving mechanism; the first driving mechanism is connected with the moving mechanism through a transmission assembly, and the moving mechanism is connected with the rotating device;

the first driving mechanism is used for providing power;

the transmission assembly is used for moving and transmitting power under the drive of the first driving mechanism;

the moving mechanism is used for moving along the Z-axis direction of the manipulator support under the drive of the transmission assembly;

the rotating device moves along with the moving mechanism.

Through the setting of drive assembly, can commutate the power of first actuating mechanism output, avoid a plurality of parts to arrange in proper order and form rectangular form the column structure, improve mobile device's integrated level.

Preferably, the mobile device further comprises: the guide mechanism is arranged on the manipulator bracket; the moving mechanism moves along the guiding mechanism.

Preferably, the guide mechanism is parallel to the Z axis of the manipulator support; the moving mechanism is sleeved on the guide mechanism.

The guide mechanism is directly arranged on the manipulator bracket, so that the accuracy of the direction of the guide mechanism after assembly can be ensured; the motion direction is guided by the guide mechanism, so that the problems of steering, deviation, autorotation and the like of the moving mechanism in the moving process are avoided, and the support function of the moving mechanism is also realized.

Preferably, the transmission assembly comprises a gear set and a transmission mechanism;

an output shaft of the first driving mechanism is connected with an input gear in the transmission assembly; the output gear in the transmission assembly is directly or indirectly meshed with the input gear; the transmission mechanism is driven by the output gear and transmits power;

the moving mechanism is in threaded connection with the transmission mechanism;

the output shaft of the first driving mechanism rotates, and the transmission mechanism rotates through the transmission of the gear set to drive the moving mechanism to move.

The transmission mechanism converts the rotary motion of the first driving mechanism into linear motion of the moving mechanism, so that the motion of the manipulator in the Z-axis direction is met; the gear set is adopted for transmission, and the mechanical arm has the advantages of accurate transmission ratio, high efficiency, compact structure, long service life and the like, so that the mechanical arm is more accurate to adjust, the requirement of fine adjustment can be met, the adjustment is more flexible, and the applicability is wide.

Preferably, the first driving mechanism is connected to the manipulator support through a connecting mechanism; and/or

The mobile mechanism is connected with a first limit switch, a first trigger is arranged on a moving path of the mobile mechanism, and the first limit switch is triggered after touching the first trigger.

When the first trigger touches the first limit switch, the first limit switch sends out a signal and records the position (touch position) at the moment as a moving starting point.

Preferably, the rotating means comprises a first gearbox module and a clamping mechanism; the first gearbox module is connected with the moving device, and the clamping mechanism is connected with the swinging device;

the output shaft of the first gearbox module is connected with the clamping mechanism, and the first gearbox module drives the clamping mechanism to rotate;

and/or

The swinging device comprises a second gearbox module and a supporting mechanism, wherein the second gearbox module is connected with the rotating device, and the supporting mechanism is used for connecting an ultrasonic probe;

the output shaft of second gearbox module is connected with supporting mechanism, second gearbox module drives supporting mechanism and rotates.

The rotating device and the swinging device can adopt a gearbox module to carry out acceleration/deceleration transmission, and the reduction ratio is adjusted according to the required precision requirement, so that the manipulator can also meet the requirement of fine adjustment in rotation and swinging.

Preferably, a second limit switch is arranged on the outer side wall of the first gearbox module, a second trigger is arranged on the rotating path of the first gearbox module, and the second limit switch is triggered after touching the second trigger; and/or

The second gearbox module is characterized in that a third limit switch is arranged on the outer side wall of the second gearbox module, a third trigger is arranged on the rotating path of the second gearbox module, and the third limit switch is triggered after touching the third trigger.

When the second trigger touches the second limit switch, the second limit switch sends out a signal and records the position (touch position) at the moment as a starting point of rotation.

When the third trigger touches the third limit switch, the third limit switch sends out a signal and records the position (touch position) at the moment as a starting point of swing.

Preferably, the first gearbox module comprises a second driving mechanism and a multi-stage speed reduction transmission mechanism, and an output shaft of the second driving mechanism is connected with the multi-stage speed reduction transmission mechanism; and/or

The second gearbox module comprises a second driving mechanism and a multi-stage speed reduction transmission mechanism, and an output shaft of the second driving mechanism is connected with the multi-stage speed reduction transmission mechanism.

The mechanical arm can be adjusted to a proper reduction ratio according to the required precision requirement through the arrangement of the multistage reduction transmission mechanism, so that the requirement of fine adjustment is met; the power source of the gearbox module is independently arranged and is not influenced by the first driving mechanism and other components, and the power source can be controlled independently.

Preferably, the reduction ratio of each stage in the multistage reduction transmission mechanism is 1-3; and/or

The multi-stage speed reduction transmission mechanism is a gear transmission structure with at least three stages; and/or

The first-stage gear and the intermediate-stage gear of the multi-stage reduction transmission mechanism adopt duplex gears; and/or

The first gearbox module further comprises an encoder coaxially connected with a final mechanism in the multi-stage reduction transmission mechanism; and/or

The second gearbox module further comprises an encoder coaxially connected with a final mechanism in the multi-stage reduction transmission mechanism; and/or

The manipulator is made of nonmagnetic materials.

The mechanical arm is made of nonmagnetic materials, the motor is a nonmagnetic motor, the mechanical arm can be perfectly compatible with magnetic resonance, and the mechanical arm can work in a strong magnetic field without being influenced by the magnetic resonance in the working process.

The application of the duplex gear can generate the effects of coaxial different speeds; in the same gearbox module, multi-shaft linkage is designed, the rotary motion of the motor is continuously coupled and decelerated, so that the moment is continuously increased, and finally, multistage deceleration can be realized in a narrow space.

Under the conventional condition, the external ultrasonic probe rotates in the axial direction of the X axis of the manipulator support and in the axial direction of the Y axis of the manipulator support, and the diameter in the corresponding direction can be taken as a rotation center shaft, so that the correspondence of the rotation process is ensured; in some special environments, the ultrasonic probe can also be arranged in an eccentric shaft mode, so that the ultrasonic probe has a wider range of action.

The working principle of the utility model is as follows:

the manipulator controls the movement of the manipulator along the Z-axis direction of the manipulator support through the action moving device, controls the movement of the manipulator around the X-axis of the manipulator support through the action rotating device, and controls the movement of the manipulator around the Y-axis of the manipulator support through the action swinging device.

Compared with the prior art, the utility model has the following beneficial effects:

the manipulator has high space utilization rate, can provide a sufficient moving range for the ultrasonic probe through the combined movement of each action unit in a small space, can realize 360-degree omnibearing movement, can realize accurate displacement under a large distance, can expand the scannable range of the ultrasonic probe, can further expand the treatment range, and the moving device, the rotating device, the swinging device and the imaging range are not in the same working area, thereby reducing the interference of electric signals generated in the movement process on magnetic resonance, ensuring safer and more reliable working process, avoiding the interference of the manipulator by the magnetic resonance, and improving the stability and the accuracy of the action of the manipulator.

Drawings

FIG. 1 is a schematic view of a manipulator from one perspective;

FIG. 2 is a schematic view of a manipulator from another perspective;

FIG. 3 is a schematic diagram of a mobile device;

FIG. 4 is a schematic structural view of a rotary device;

FIG. 5 is a schematic diagram of a swing apparatus;

FIG. 6 is a schematic structural view of a transmission module from one perspective;

FIG. 7 is a schematic structural view of another perspective of the transmission module;

FIG. 8 is a schematic view of a manipulator assembled to a breast coil at one view;

FIG. 9 is a schematic view of the manipulator assembled to the breast coil at another view angle;

in the figure: 1000-a manipulator; 2000-breast coil; 3000-set screw; 4000-tightening screws; 100-a mobile device; 200-rotating means; 300-swinging device; 1001-a manipulator support; 1002-a connection mechanism; 1003-fixing mechanism; 1004-a first drive mechanism; 1005-input gear; 1006-output gear; 1007-a drive mechanism; 1008-a guide mechanism; 1009—a movement mechanism; 1010-a transmission module; 10101-a first gearbox module; 10102-a second gearbox module; 1011—a clamping mechanism; 1012-gearbox support; 1013 a supporting mechanism; 1014-an ultrasound probe; 1015-a first limit switch; 1016-first flip-flop; 1017-a second limit switch; 1018-a second trigger; 1019-a third limit switch; 1020-a third flip-flop; 001-a second drive mechanism; 002-primary drive gear; 003-first-stage transmission duplex gear; 004-two-stage transmission duplex gear; 005-three-stage transmission duplex gear; 006-four stage drive gear; 007-a two-stage drive shaft; 008-three-stage transmission shaft; 009-primary drive shaft; 010-four-stage transmission shaft; 011-an encoder; 012-gearbox end cap; 013-gearbox base; 014—first bearing; 015-a second bearing; 016—a third bearing; 017-fourth bearing.

Detailed Description

The utility model will now be described in detail with reference to the drawings and specific examples.

Example 1

A manipulator 1000, as shown in fig. 1 to 9, for controlling the posture of an ultrasonic probe 1014, includes a manipulator support 1001, a moving device 100, a rotating device 200, and a swinging device 300;

the moving device 100 is arranged on a manipulator bracket 1001, and the moving device 100, the rotating device 200 and the swinging device 300 are sequentially connected;

the moving device 100 is used for controlling the external ultrasonic probe 1014 to move along the Z-axis direction of the manipulator support 1001;

the rotating device 200 is used for controlling the external ultrasonic probe 1014 to axially rotate along the X axis of the manipulator support 1001;

the swinging device 300 is used for controlling the external ultrasonic probe 1014 to axially rotate along the Y axis of the manipulator support 1001.

Wherein,

fig. 1 and 2 show the overall structure of the manipulator 1000, specifically: the moving device 100 is mounted on the robot holder 1001, the rotating device 200 is mounted on the moving device 100, the swinging device 300 is mounted on the rotating device 200, and the ultrasonic probe 1014 is mounted on the swinging device 300. The ultrasonic probe 1014 is controlled to move along the Z axis of the robot holder 1001, to rotate about the X axis of the robot holder 1001, and to rotate about the Y axis of the robot holder 1001 by the moving device 100, the rotating device 200, and the swinging device 300, respectively.

As shown in fig. 3, the mobile device 100 main body includes a first driving mechanism 1004, a transmission assembly, a moving mechanism 1009, and a guide mechanism 1008. The first driving mechanism 1004 is a driving motor, and is connected to the manipulator support 1001 through a connection mechanism 1002 (a connection plate or a connection bracket may be used). The transmission assembly further comprises a gear set and a transmission 1007: the gear set is composed of a plurality of gears which are sequentially meshed and connected, an input gear 1005 is directly connected to an output shaft of the first driving mechanism 1004 and rotates along with the output shaft, an output gear 1006 is connected with a transmission mechanism 1007, and the transmission mechanism 1007 is driven to rotate along with the output gear 1006. In this embodiment, only a pair of gears, that is, an input gear 1005 and an output gear 1006 are provided, and in other embodiments, a transmission structure may be formed by matching multiple gears, so as to increase or decrease the output torque of the first driving mechanism 1004. The transmission mechanism 1007 is a screw rod with threads on the outer surface, the transmission mechanism 1007 is arranged parallel to the Z axis of the manipulator support 1001, one end of the transmission mechanism 1007 is connected and matched with the center of the output gear 1006, the other end of the transmission mechanism 1007 is inserted into a pre-opened slot hole on the manipulator support 1001, and the transmission mechanism 1007 can freely rotate. The moving mechanism 1009 is a block with a threaded hole in the center, and the rotating device 200 is connected to the moving mechanism 1009; the moving mechanism 1009 is in threaded engagement with the external thread on the transmission mechanism 1007 through a threaded hole, and can convert the transmitted rotational motion into planar movement along the direction of the screw. The guiding mechanism 1008 adopts a pair of guiding columns, is parallel to the transmission mechanism 1007 and is respectively arranged above and below the transmission mechanism 1007, and the guiding mechanism 1008 is connected to the manipulator bracket 1001; the moving mechanism 1009 is provided with a pair of through holes corresponding to the guiding mechanism 1008, when the manipulator 1000 is assembled, the threaded hole in the center of the moving mechanism 1009 is in threaded fit with the transmission mechanism 1007 (screw rod), and meanwhile, the upper through hole and the lower through hole are also in fit with the guiding mechanism 1008 (guiding column), so that the phenomena of rotation, deviation, autorotation and the like of the moving mechanism 1009 are prevented from influencing the use of the manipulator 1000. In order to further provide stable assembly, a fixing mechanism 1003 (mounted by a nonmagnetic screw) is fixed on the outer side of the first driving mechanism 1004 through a connecting mechanism 1002 and the first driving mechanism 1004, the fixing mechanism 1003 is a fixing plate, and an output shaft of the first driving mechanism 1004 passes through a through hole formed in the fixing plate, so that the gear set is exposed to the outside, and the observation, adjustment and replacement are convenient; the fixing mechanism 1003 also has a certain limiting function on the transmission mechanism 1007, and the end of the guiding mechanism 1008 opposite to the end of the manipulator support 1001 can be assembled on the fixing mechanism 1003 to form a limit.

The rotating device 200 is connected to the side of the moving mechanism 1009, and moves along with the moving mechanism 1009 as shown in fig. 4. The rotary device 200 is formed by a first gearbox module 10101 together with a clamping mechanism 1011, wherein the first gearbox module 10101 is directly connected to the side of the displacement mechanism 1009. The first gearbox module 10101 is provided with a second driving mechanism 001 and adopts a multi-stage reduction transmission mechanism to carry out reduction transmission, and an output shaft of the first gearbox module 10101 is parallel to the X axis of the manipulator support 1001, so that the motion output by the output shaft is rotation around the X axis of the manipulator support 1001. The clamping mechanism 1011 is a rotating shaft clamping mechanism 1011 and is used for clamping the output shaft of the first gearbox module 10101, so that the clamping mechanism 1011 synchronously rotates along with the output shaft; the other side of the clamping mechanism 1011 is connected to the swing apparatus 300 through a transmission mount 1012.

The swing device 300 is coupled to a clamping mechanism 1011 through a transmission mount 1012, which, as shown in FIG. 5, rotates with the output shaft of the first transmission module 10101. The pendulum device 300 is composed of a second gearbox module 10102 together with a support mechanism 1013, wherein the second gearbox module 10102 is connected to a clamping mechanism 1011 via a gearbox support 1012. The second gearbox module 10102 is provided with a second driving mechanism 001 and adopts a multi-stage reduction transmission mechanism to carry out reduction transmission, and an output shaft of the second gearbox module 10102 is parallel to the Y axis of the manipulator support 1001, so that the motion output by the output shaft is rotation around the Y axis of the manipulator support 1001. The supporting mechanism 1013 is connected to the output shaft of the second gearbox module 10102 and moves along with the movement of the output shaft; the supporting mechanism 1013 is a probe connecting bracket, and an ultrasonic probe 1014 is mounted at the end thereof.

The first gearbox module 10101 of the rotary device 200 is structurally and functionally identical to the second gearbox module 10102 of the swing device 300, the main difference being that the directions are different such that the directions of the output shafts are different. The transmission module 1010 (including the first transmission module 10101 and the second transmission module 10102) is shown in fig. 6 and 7, and a multistage reduction gear mechanism is arranged in the box body, and a second driving mechanism 001 and an encoder 011 are arranged outside the box body. The case is formed by coupling (fixed by nonmagnetic screws) a transmission base 013 and a transmission cover 012, and a second driving mechanism 001 and an encoder 011 are mounted on the transmission base 013 side. The second driving mechanism 001 is a driving motor, and an output shaft of the second driving mechanism penetrates into the box body and is connected with the multi-stage reduction transmission mechanism so as to provide power. The multistage reduction transmission mechanism is formed by sequentially meshing gears of at least three stages, in this embodiment, four-stage transmission is easy to achieve for a four-stage structure, and specifically comprises a one-stage transmission gear 002, a one-stage transmission duplex gear 003, a two-stage transmission duplex gear 004, a three-stage transmission duplex gear 005 and a four-stage transmission gear 006, wherein the one-stage transmission gear 002 is directly connected to an output shaft of the second driving mechanism 001 and rotates along with the output shaft, the one-stage transmission duplex gear 003 is meshed with the one-stage transmission gear 002 to achieve one-stage transmission, the two-stage transmission is achieved through the mutual meshing between the one-stage transmission duplex gear 003 and the two-stage transmission duplex gear 004, the three-stage transmission duplex gear 005 and the four-stage transmission gear 006 are meshed with each other to achieve three-stage transmission. The reduction ratios of the first-stage transmission, the second-stage transmission, the third-stage transmission and the fourth-stage transmission can be respectively adjusted between 1 and 3 according to the needs, and the two gears are unconstrained; the combination of the 3 duplex gears has different popular effects, and by combining 3-axis linkage, the rotary motion provided by the second driving mechanism 001 can be continuously coupled and decelerated in a small space, 4-stage deceleration is realized, the gearbox module 1010 can have a maximum reduction ratio of 81, and the torque can be increased by 81 times. The secondary drive double gear 004 is coupled to the gearbox end cap 012 through the secondary drive shaft 007, the primary drive double gear 003 is coupled to the gearbox base 013 through the primary drive shaft 009 and the fourth bearing 017, the tertiary drive double gear 005 is coupled to the gearbox end cap 012 through the tertiary drive shaft 008 and the third bearing 016, and the quaternary drive gear 006 is coupled to the gearbox base 013 and the gearbox end cap 012 through the quaternary drive shaft 010 (i.e., output shaft) and the first bearing 014 and the second bearing 015. The encoder 011 is coaxially disposed with the four-stage transmission gear 006.

In order to make the movement travel and position of each device clearer, a corresponding trigger and limit switch are arranged in each device. In the mobile device 100: as shown in fig. 4, the first limit switch 1015 is connected to the top of the moving mechanism 1009, and the first trigger 1016 corresponding to the first limit switch 1015 is fixed on the fixing mechanism 1003 and located on the moving path of the first limit switch 1015, where the first limit switch 1015 is in a concave shape, and the first trigger 1016 has a protruding trigger section and is matched with the concave in the first limit switch 1015. The moving mechanism 1009 moves, the first limit switch 1015 moves synchronously, and when the first trigger 1016 touches the first limit switch 1015, the first limit switch 1015 sends a corresponding signal to the operating system of the manipulator 1000, and records the position at this time as the starting point of the moving device 100. In the rotating device 200: as shown in fig. 5, the second limit switch 1017 is connected to the outer surface of the first gearbox module 10101, and the second trigger 1018 corresponding to the second limit switch 1017 is fixed on the gearbox support 1012, the second limit switch 1017 is located on the rotation path of the second trigger 1018, the second limit switch 1017 is in a shape of a 'concave', and the second trigger 1018 has a protruding trigger section and is matched with the concave in the second limit switch 1017. The gearbox support 1012 rotates, the second trigger 1018 moves synchronously, and when the second trigger 1018 touches the second limit switch 1017, the second limit switch 1017 sends a corresponding signal to the operating system of the manipulator 1000, and the position at this time is recorded as the starting point of the rotating device 200. In the swing device 300: as shown in fig. 5, the third limit switch 1019 is connected to the outer surface of the second gearbox module 10102, the corresponding third trigger 1020 is fixed on the supporting mechanism 1013, the third limit switch 1019 is located on the rotating path of the third trigger 1020, the third limit switch 1019 is concave, and the third trigger 1020 has a protruding trigger section and is matched with the concave of the third limit switch 1019. The supporting mechanism 1013 rotates, the third trigger 1020 moves synchronously, and when the third trigger 1020 touches the third limit switch 1019, the third limit switch 1019 sends a corresponding signal to the operating system of the manipulator 1000, and the position at this time is recorded as the starting point of the swinging device 300.

All components of the manipulator 1000 are made of non-magnetic materials or if magnetic materials to reduce or avoid magnetic field interference with operation.

When the first driving mechanism 1004 is started, the output shaft rotates to drive the input gear 1005 and the output gear 1006 to rotate, thereby driving the transmission mechanism 1007 to rotate. When the transmission mechanism 1007 is rotated clockwise or counterclockwise (controlled by the first driving mechanism 1004), the moving mechanism 1009 performs a back-and-forth telescopic movement in the direction of the transmission mechanism 1007 (the Z-axis direction of the robot arm holder 1001). Since the ultrasonic probe 1014 is connected to the second transmission module 10102, and the second transmission module 10102 is connected to the first transmission module 10101, and the first transmission module 10101 is connected to the moving mechanism 1009, the back-and-forth telescopic movement of the ultrasonic probe 1014 can be realized.

When the first gearbox module 10101 is started, the output shaft rotates around the X axis of the manipulator support 1001 to drive the clamping mechanism 1011 and the gearbox support 1012 to rotate. Because the ultrasonic probe 1014 is coupled to the second gearbox module 10102, and the second gearbox module 10102 is mounted to the gearbox housing, rotational movement of the ultrasonic probe 1014 about the X-axis of the robotic arm 1001 is achieved.

When the second gearbox module 10102 is started, the output shaft rotates around the Y axis of the manipulator support 1001 to drive the supporting mechanism 1013 to rotate. Since the ultrasonic probe 1014 is mounted on the supporting mechanism 1013, a swinging motion of the ultrasonic probe 1014 about the Y axis of the manipulator support 1001 can be achieved.

The manipulator 1000 can be assembled with the breast coil 2000 to realize MRgHIFU detection and treatment of breast, as shown in fig. 8 and 9, a plurality of positioning holes and threaded holes are reserved on the manipulator support 1001, and after the manipulator support 1001 is initially positioned on the breast coil 2000 through the positioning screw 3000, the non-magnetic fastening screw 4000 is used to complete locking and fixing.

In summary, the manipulator 1000 can realize a large distance displacement to expand the application of the magnetic resonance guided HIFU technique in the aspect of mammary gland, in particular in the treatment of mammary gland fibroadenoma. By effectively solving the magnetic resonance compatibility, anti-interference capability, spatial displacement capability and connection problems with the ultrasound probe 1014 and the magnetic resonance coil of the manipulator 1000, a safer, more efficient and reliable treatment scheme is expected to be brought to the vast patient. The manipulator 1000 is fabricated from a non-magnetic or weakly magnetic material to reduce interference during magnetic resonance imaging and may operate in a strong magnetic field. Meanwhile, the design of the manipulator 1000 fully considers the space utilization rate, has higher integration level, and ensures that the manipulator can have enough moving range in magnetic resonance equipment (such as the breast coil 2000). The manipulator 1000 structure can improve the precision and stability of the manipulator 1000 by avoiding the magnetic resonance influence, reliable mechanical transmission, multistage reduction mechanism and other arrangement of various structures, and ensure that enough operation space can still be provided in a narrow space to realize effective treatment. With the help of gear transmission and screw transmission, the limited space of the breast coil 2000 is skillfully utilized, the driving motor is hidden outside the imaging range, so that the interference of an electric signal generated by the driving motor in the operation process on magnetic resonance is reduced, 1 movement and 2 rotations are utilized, and the movement range of the probe is expanded to the greatest extent.

The previous description of the embodiments is provided to facilitate a person of ordinary skill in the art in order to make and use the present utility model. It will be apparent to those skilled in the art that various modifications can be readily made to these embodiments and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present utility model is not limited to the above-described embodiments, and those skilled in the art, based on the present disclosure, should make improvements and modifications without departing from the scope of the present utility model.

Claims (10)

1. A manipulator, characterized by comprising a manipulator bracket (1001), a moving device (100), a rotating device (200) and a swinging device (300);

the moving device (100) is arranged on the manipulator bracket (1001), and the moving device (100), the rotating device (200) and the swinging device (300) are sequentially connected;

the moving device (100) is used for controlling an external ultrasonic probe (1014) to move along the Z-axis direction of the manipulator support (1001);

the rotating device (200) is used for controlling an external ultrasonic probe (1014) to axially rotate along the X axis of the manipulator support (1001);

the swinging device (300) is used for controlling the external ultrasonic probe (1014) to axially rotate along the Y axis of the manipulator support (1001).

2. A manipulator according to claim 1, wherein the movement means (100) comprise a first drive mechanism (1004), a transmission assembly, a movement mechanism (1009); the first driving mechanism (1004) is connected with the moving mechanism (1009) through a transmission assembly, and the moving mechanism (1009) is connected with the rotating device (200);

-said first drive mechanism (1004) for providing power;

the transmission assembly is used for moving and transmitting power under the drive of the first driving mechanism (1004);

the moving mechanism (1009) is used for moving along the Z-axis direction of the manipulator support (1001) under the drive of the transmission component;

the rotating device (200) moves along with the moving mechanism (1009).

3. The manipulator according to claim 2, wherein the mobile device (100) further comprises: a guide mechanism (1008), wherein the guide mechanism (1008) is arranged on the manipulator bracket (1001); the moving mechanism (1009) moves along the guiding mechanism (1008).

4. A manipulator according to claim 3, wherein the guiding mechanism (1008) is parallel to the Z-axis of the manipulator support (1001); the moving mechanism (1009) is sleeved on the guiding mechanism (1008).

5. The manipulator according to claim 2, wherein the transmission assembly comprises a gear set and a transmission mechanism (1007);

an output shaft of the first driving mechanism (1004) is connected with an input gear (1005) in a transmission assembly; an output gear (1006) in the transmission assembly is directly or indirectly meshed with an input gear (1005); the transmission mechanism (1007) is driven by the output gear (1006) and transmits power;

the moving mechanism (1009) is in threaded connection with the transmission mechanism (1007);

the output shaft of the first driving mechanism (1004) rotates, and the transmission mechanism (1007) rotates through the transmission of the gear set to drive the moving mechanism (1009) to move.

6. A manipulator according to claim 2, wherein the first drive mechanism (1004) is connected to the manipulator support (1001) via a connection mechanism (1002); and/or

The moving mechanism (1009) is connected with a first limit switch (1015), a first trigger (1016) is arranged on the moving path of the moving mechanism (1009), and the first limit switch (1015) is triggered after touching the first trigger (1016).

7. A manipulator according to claim 1, wherein the rotation device (200) comprises a first gearbox module (10101) and a clamping mechanism (1011); the first gearbox module (10101) is connected with a moving device (100), and the clamping mechanism (1011) is connected with a swinging device (300);

an output shaft of the first gearbox module (10101) is connected with the clamping mechanism (1011), and the first gearbox module (10101) drives the clamping mechanism (1011) to rotate;

and/or

The swinging device (300) comprises a second gearbox module (10102) and a supporting mechanism (1013), wherein the second gearbox module (10102) is connected with the rotating device (200), and the supporting mechanism (1013) is used for connecting an ultrasonic probe (1014);

the output shaft of the second gearbox module (10102) is connected with the supporting mechanism (1013), and the second gearbox module (10102) drives the supporting mechanism (1013) to rotate.

8. The manipulator according to claim 7, wherein a second limit switch (1017) is provided on an outer side wall of the first gearbox module (10101), a second trigger (1018) is provided on a rotation path of the first gearbox module (10101), and the second limit switch (1017) is triggered after touching the second trigger (1018); and/or

The outer side wall of the second gearbox module (10102) is provided with a third limit switch (1019), the rotating path of the second gearbox module (10102) is provided with a third trigger (1020), and the third limit switch (1019) is triggered after touching the third trigger (1020).

9. A manipulator according to claim 7 or 8, wherein the first gearbox module (10101) comprises a second drive mechanism (001) and a multi-stage reduction gear, the output shaft of the second drive mechanism (001) being connected to the multi-stage reduction gear; and/or

The second gearbox module (10102) comprises a second driving mechanism (001) and a multi-stage speed reduction transmission mechanism, and an output shaft of the second driving mechanism (001) is connected with the multi-stage speed reduction transmission mechanism.

10. The manipulator of claim 9, wherein the reduction ratio of each stage in the multi-stage reduction transmission is 1-3; and/or

The multi-stage speed reduction transmission mechanism is a gear transmission structure with at least three stages; and/or

The first-stage gear and the intermediate-stage gear of the multi-stage reduction transmission mechanism adopt duplex gears; and/or

The first gearbox module (10101) further comprises an encoder (011) coaxially coupled to a final mechanism in the multi-stage reduction gear train; and/or

The second gearbox module (10102) further comprises an encoder (011) coaxially coupled to the final mechanism in the multi-stage reduction gear train; and/or

The manipulator (1000) is made of nonmagnetic materials.