WO2021208384A1

WO2021208384A1 - Automatic mammary gland scanning apparatus

Info

Publication number: WO2021208384A1
Application number: PCT/CN2020/121230
Authority: WO
Inventors: 谈继勇; 李彬; 李冬玲; 武小斐; 庄鹏飞; 谭明晓; 税国强; 陈春雨; 李元伟; 陈尚均; 杨光泉
Original assignee: 深圳瀚维智能医疗科技有限公司
Priority date: 2020-04-16
Filing date: 2020-10-15
Publication date: 2021-10-21
Also published as: CN111528902A

Abstract

An automatic mammary gland scanning apparatus, comprising a scanning machine (100) and a scanning bed (200). The scanning machine (100) comprises a first base (110), a portal frame (120), mechanical arms (130), and ultrasonic probes (140); the portal frame (120) is provided on the first base (110); the mechanical arms (130) are provided on the portal frame (120) in a hoisting state; each ultrasonic probe (140) is located on the free end of each mechanical arm (130); and the scanning bed (200) is movably provided on the first base (110) and located below the mechanical arms (130). The automatic mammary gland scanning apparatus is beneficial for improving the accuracy of an obtained ultrasonic scanning result.

Description

Automatic breast scanning equipment

Technical field

This application relates to the technical field of medical devices, and in particular to an automatic breast scanning device.

Background technique

Breast disease is a common gynecological disease, which seriously threatens the health and even lives of women all over the world. With the development of science and technology, the diagnosis technology and treatment methods of breast diseases have been greatly improved. The more common ones are mainly molybdenum target soft X-ray inspection, ultrasound imaging inspection, near-infrared scanning inspection, CT inspection and so on.

Ultrasound examination is one of the important imaging examination methods for the diagnosis of breast diseases. It can identify cysts and hyperplasias in the breast. The existing automatic breast scanning equipment generally includes a separate scanning machine and a scanning table. It is necessary to manually move the scanning machine to the vicinity of the scanning table or move the scanning table to the vicinity of the scanning machine, and then manually scan the human breasts by hand-held ultrasound probes. However, because of the uncertainty of the user's scanning action during manual scanning, the changes in the scanning angle and force between the ultrasound probe and the breast can easily increase the error of ultrasound detection, which is not conducive to accurate scanning and diagnosis. This manual scanning method .

technical problem

In the existing breast ultrasound scans, manual operations lead to technical problems with large data errors.

Technical solutions

In order to solve the above technical problems, this application proposes an automatic breast scanning device. The automatic breast scanning device includes a scanning machine and a scanning bed. The scanning machine includes a first base, a gantry, a mechanical arm, and an ultrasound probe. The gantry is arranged on the first base, the mechanical arm is arranged on the gantry in a hoisted state, and the ultrasonic probe is located on the free end of the mechanical arm; the scanning bed is movably arranged On the first base and located below the robotic arm.

Preferably, the scanning machine further includes three structured light components respectively arranged on the top and two sides of the inner wall of the gantry and used to obtain three-dimensional images.

Preferably, the scanning bed includes a second base, rollers, and a folding bed body, a plurality of the rollers are located at the bottom of the second base, and one end of the folding bed body is rotatably connected to the second base and can be Rotating in a horizontal direction, the other end of the folding bed body is detachably arranged on the first base.

Preferably, the folding bed body includes a first bed body and a second bed body, one end of the first bed body is hinged with one end of the second bed body, and the first bed body and the The second base rotates and connects.

Preferably, the second base includes a bottom plate and two mounting plates arranged opposite to each other on the bottom plate, the first bed body is located between the two mounting plates, and the sides of the first bed body are respectively passed through a rotating shaft. It is rotatably connected with the two mounting plates, and the roller is located at the bottom of the bottom plate.

Preferably, the scanning bed further includes a positioning pin movably arranged on the mounting plate, a positioning hole adapted to the positioning pin is provided on the first bed body, and the first bed body is In the horizontal state, the positioning pin can be inserted into the positioning hole along the axial direction of the rotating shaft.

Preferably, the folding bed body is connected to the first base through a sliding assembly, and the sliding assembly includes a sliding block arranged on the first bed/second bed body and the first base And a sliding rail slidably connected with the sliding block.

Preferably, the scanning bed further includes a brake device arranged on the folding bed body, and the brake device includes a handle hinged to the first bed body, a fixed rack arranged on the slide rail, A movable tooth block slidably arranged on the slider and capable of being engaged with the fixed rack, a return spring respectively connecting the slider and the movable tooth block, and a brake wire respectively connecting the handle and the movable tooth block .

Preferably, the scanning bed is fixed on the first base through a connecting structure, and the connecting knot includes a first connecting seat arranged on the folding bed body, which is arranged on the first base and can be connected to the first base. The second connecting seat butted with the first connecting seat and a fixing member for fixing the first connecting seat and the second connecting seat.

Preferably, the two connecting structures are arranged opposite or opposite to each other, a bayonet is provided on the second connecting seat, and the fixing member includes a rotating rod rotatably arranged on the first connecting seat and a rotating rod located on the first connecting seat. The locking block on the rod, the rotating rod is provided with a threaded section, the locking block includes a moving part that is threadedly matched with the threaded section and a clamping part that can be engaged with the bayonet, the first Limiting parts on the connecting seat which are respectively arranged in close contact with the two opposite sides of the clamping block.

Beneficial effect

The automatic breast scanning equipment provided by the embodiments of the present application has an ultrasonic probe set on the robotic arm, and the scanning machine and the scanning table are integrated, so that the patient can use the robotic arm to drive the ultrasound probe after lying on the scanning table. Automatic scanning of human breasts is helpful to improve the accuracy of obtaining ultrasound scanning results. At the same time, the use of automated scanning methods is also conducive to the realization of the automation and standardization of ultrasonic scanning, and greatly improves the efficiency of ultrasonic scanning.

Description of the drawings

FIG. 1 is a schematic structural diagram of an embodiment of an automatic breast scanning device in this application;

Fig. 2 is a schematic diagram of the structure of the scanning machine shown in Fig. 1;

Fig. 3 is a schematic diagram of a part of the structure of the scanner shown in Fig. 2;

Fig. 4 is a schematic structural diagram of the scanning bed shown in Fig. 1 in an expanded state;

Fig. 5 is a schematic structural diagram of the scanning bed shown in Fig. 1 in a folded state;

Fig. 6 is a schematic diagram of a part of the structure of the scanning bed shown in Fig. 1;

FIG. 7 is a schematic structural diagram of the sliding assembly and the connecting structure shown in FIG. 6;

FIG. 8 is a schematic diagram of the structure of the sliding assembly and part of the brake device shown in FIG. 7;

FIG. 9 is a schematic structural diagram of the connection structure shown in FIG. 4;

FIG. 10 is a schematic structural diagram of the first connecting seat shown in FIG. 9;

Fig. 11 is a schematic structural diagram of the fixing member shown in Fig. 9;

Fig. 12 is a schematic structural diagram of the second connecting seat shown in Fig. 9.

Implementation of this application

The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions. The following embodiments described with reference to the accompanying drawings are exemplary, and are intended to explain the application, but should not be understood as a limitation to the application. Based on the embodiments in the application, those of ordinary skill in the art have not made creative efforts. All other embodiments obtained under the premise belong to the protection scope of this application.

This application proposes an automatic breast scanning device. As shown in FIG. 1, the automatic breast scanning device includes a scanning machine 100, a scanning bed 200, and a connecting structure 300. The scanning machine 100 includes a first base 110 and a gantry. 120. The mechanical arm 130 and the ultrasonic probe 140, the gantry 120 is set on the first base 110, the mechanical arm 130 is set on the gantry 120 in a hoisted state, and the ultrasonic probe 140 is located on the free end of the mechanical arm 130; the scanning bed 200 It is movably arranged on the first base 110 and located under the mechanical arm 130.

In this embodiment, as shown in FIG. 2, the first base 110 and the gantry 120 are enclosed in a round shape. On the one hand, the first base 110 and the gantry 120 are firmly supported. The 200 provides support, which makes the design of the scanning bed 200 simple, so that it is detachable and easy to transport. At the same time, in order to facilitate the movement of the scanner 100, a plurality of universal wheels and corresponding foot cups may also be provided at the bottom of the first base 110. The number of manipulator 130 is preferably two, of course, it can be one. Both of the two manipulator arms 130 are installed on the gantry 120 in a hoisted state, and the manipulator 130 is preferably a multi-axis type to facilitate changing different scanning angles. . Of course, referring to FIG. 3, in order to facilitate the movement of the two robotic arms 130, a horizontal drive mechanism 160 that drives the two robotic arms 130 to move in the horizontal direction can also be provided, so that the robotic arms 130 can move longitudinally and laterally in the horizontal direction, respectively. The form of the horizontal drive mechanism 160 can be the existing horizontal guide rail + motor screw assembly form. Of course, a vertical movement mechanism 170 for driving the mechanical arm 130 to move in the vertical direction can also be provided. At this time, it is preferable that the vertical drive mechanism 170 is connected to the output end of the horizontal drive mechanism 160, and the mechanical arm 130 is connected to the vertical drive mechanism 170. The output terminal is connected. At the same time, the free ends of the two mechanical arms 130 are each provided with an ultrasonic probe 140, and in order to facilitate the installation of the ultrasonic probe 140 on the mechanical arm 130, it is preferable that the free end of the mechanical arm 130 is also provided with a fixing clamp, and the ultrasonic probe The 140 can be installed on the fixed fixture. Among them, preferably, the fixing fixture includes a connecting plate connected to the free end of the mechanical arm 130 and two splints arranged oppositely on the connecting plate, and the two splints and the connecting plate enclose a clamping space for installing the ultrasonic probe 140. The scanning bed 200 can be movably arranged on the first base 110 in a manner that the scanning bed 200 is slidably arranged on the first base 110, and can be moved in a horizontal direction automatically or manually. The automatic movement method can be referred to The CT machine is sufficient. Of course, the scanning bed 200 and the first base 110 may be detachably connected. At the same time, a display screen 150 can also be provided on the scanner 100, such as on the gantry 120. Preferably, the display screen 150 is a touch screen, so that the display screen 150 can be used to display ultrasound images in real time, and can also obtain real-time ultrasound scans and images. In the relative position, the breast to be scanned is selected through the display screen 150 to determine the corresponding information of the two-dimensional ultrasound image and the three-dimensional scan. In this embodiment, the ultrasonic probe 140 is arranged on the robotic arm 130, and the scanning machine 100 and the scanning table 200 are integrated, so that the patient can use the robotic arm 130 to drive the ultrasonic probe after lying on the scanning table 200. 140 automatically scans human breasts, which helps to improve the accuracy of obtaining ultrasound scan results. At the same time, the use of automated scanning methods is also conducive to the realization of the automation and standardization of ultrasonic scanning, and greatly improves the efficiency of ultrasonic scanning.

In a preferred embodiment, as shown in FIG. 3, in order to facilitate the control of the robotic arm 130 to drive the ultrasonic probe 140 for precise movement, it further includes three structured light components 180, preferably one of the structured light components 180 (not shown in the figure) ) Is located at the center of the top of the inner wall of the gantry 120, and the other two structured light components 180 are respectively located at the upper ends of the two side walls of the inner wall of the gantry 120, so as to facilitate the use of the three structured light components 180 to construct a 3D image of the patient's breasts. At this time, it is preferable that the structured light components 180 on both sides are arranged at an inclined 45-degree angle toward the scanning bed 200, that is, the light emitted by the structured light component 180 is at a 45-degree angle with the horizontal plane, and two are arranged on the side of the gantry 120 The structured light components 180 are arranged in a symmetrical state, which is beneficial to greatly improve the accuracy of obtaining breast surface information, and avoid the clear and blurred side images of the breast, which will cause inaccurate path planning during scanning. The ultrasound probe 140 is connected to the human skin surface. Poor fit, poor ultrasound image, and even scan failure. Wherein, the form of the structured light assembly 180 can be arranged according to the existing form, for example, the structured light assembly 180 includes a camera and a transmitter. In this embodiment, the camera may include an infrared light camera and a visible light camera, and the transmitter may be an infrared light transmitter. When performing image acquisition, use a visible light camera to take 2D pictures to collect the plane axis (ie X, Y axis) information of the breast; use an infrared transmitter to emit specially modulated invisible infrared light to the breast, and then receive the breast through the infrared camera. The infrared light reflected by the breast collects depth axis (ie Z axis) information to determine the depth of field information of the breast to be tested. Of course, at this time, it also includes a processing module (ie, processing chip) electrically connected to the structured light assembly 180 to combine the captured 2D picture with the acquired 3D information to generate a 3D image with spatial information, so that the robotic arm 130 can generate The 3D image drives the ultrasound probe 140 to move according to the corresponding trajectory. When the automatic breast scanning equipment is running, the structured light assembly 180 collects the data of the patient’s double breasts to construct a 3D image of the patient’s double breasts, and then the robotic arm 130 can drive the ultrasound probe 140 according to the 3D image. Scan the calculated trajectory of the image.

In a preferred embodiment, as shown in FIG. 4, the scanning bed 200 includes a second base 210, a roller 220, and a folding bed body 230. The roller 220 is arranged at the bottom of the second base 210, and the roller 220 is preferably a universal wheel. It is easy to move in multiple directions during transportation. One end of the folding bed body 230 is rotatably connected to the second base 210 and can be rotated in a horizontal direction, so that the folding bed body 230 is rotated from a horizontal state to a vertical state after the scanning bed 200 is removed from the scanning machine 100 , To further reduce the space occupied. As for the fixing method of the folding bed body 230 and the first base 110, the end of the folding bed body 230 away from the second base 210 may be detachably connected to the first base 110. The specific detachable connection method may be a screw connection, or It can be connected by a card connection structure. In this embodiment, the folding bed body 230 and the second base 210 are rotatably connected, so that the scanning bed 200 can be folded by rotating the folding bed body 230 and the folding bed body 230 when the scanning bed 200 is transported, thereby reducing the space occupied by the scanning bed 200 . At the same time, the roller 220 is arranged on the second base 210 to facilitate the transportation of the scanning bed 200.

In a preferred embodiment, as shown in FIGS. 4 and 5, in order to facilitate the folding of the folding bed 230, it is preferable that the folding bed 230 includes a first bed 231 and a second bed 232. Among them, the first bed body 231 and the second bed body 232 can adopt the same structure, and at the same time, one end of the first bed body 231 and one end of the second bed body 232 are hinged to facilitate the passage of the first bed body 231 and the second bed body 232. The bed body 232 is folded to reduce the occupied space. At this time, the first bed body 231 and the second bed body 232 may be hingedly connected by two folding profiles 270. Specifically, the same end of the two folding profiles 270 is connected to the first bed body 231, and the other is connected to the first bed body 231. One end is connected with the second bed body 232, and the connection method can be by screws, and preferably the folding profile 270 has a limit part, so as to conveniently prevent the angle between the two sections of the folding profile 270 from rotating from 0° to 180° Do not continue to rotate at the time.

In a preferred embodiment, as shown in FIG. 5, in order to facilitate the storage of the folding bed body 230, it is preferable that the second base 210 includes a bottom plate 211 and two mounting plates 212. Among them, the two mounting plates 212 are arranged oppositely on the circumference of the bottom plate 211 to form a storage space that can accommodate the folding bed body 230, and the roller 220 is located at the bottom of the bottom plate 211. At this time, the opposite sides of the first bed body 231 are respectively rotatably connected with the two mounting plates 212 through a rotating shaft, so that the folding bed body 230 can be rotated around the rotating shaft and stored in the storage space after being in a folded state. In this embodiment, it is preferable that the above-mentioned rotating shaft is constituted by one rotating shaft, that is, the rotating shaft passes through the through hole provided on the first bed body 231 and is connected to the two mounting plates 212 respectively, which is beneficial to increase the bearing performance of rotation.

In a preferred embodiment, as shown in FIGS. 4 and 5, in order to prevent the folding bed body 230 from rotating freely when the scanning table 200 is used, it is preferable that a positioning pin 213 is provided on the mounting plate 212, and a positioning pin 213 is provided on the first bed body 231. A positioning hole corresponding to the positioning pin 213 is provided to facilitate the use of the positioning pin 213 to be inserted into the positioning hole along the axial direction of the rotating shaft when the folding bed body 230 rotates to a horizontal state, so as to prevent the folding bed body 230 from continuing to rotate. At this time, positioning pins 213 may be provided on the two mounting plates 212, and positioning holes are correspondingly provided on the first bed body 231. As for the form of the positioning pins 213, it is preferable to adopt a reset type indexing pin.

Of course, in order to facilitate the stability of the foldable bed body 230 when it is in the unfolded state, it is preferable that the bottom of the first bed body 231 is provided with a fixing pin, and the bottom of the second bed body 232 is provided with a fixing block, and the fixing block is provided with and fixed The pin corresponds to the fixing hole, so that when the folding bed body 230 is in the unfolded state, the fixing pin is inserted into the fixing hole, so as to prevent the hinged joint of the first bed body 231 and the second bed body 232 from rotating. At this time, it is preferable that the fixing pin is located on the end of the first bed body 231 close to the second bed body 232, and the fixing block is located on the end of the second bed body 232 close to the first bed body 231. As for the form of the fixing pin, a reset is preferred. Type indexing pin is sufficient.

In a preferred embodiment, in order to facilitate the control of the folding bed body 230 to be arranged in a horizontal state, it is preferable that a baffle is provided on the mounting plate 212, and an abutment plate is provided on the first bed body 231. When the folding bed body 230 is rotated to a horizontal position In the state, the abutment plate can abut against the baffle, so that the folding bed body 230 stops rotating when it rotates to the horizontal state, so as to facilitate the insertion of the positioning pin 213 in the positioning hole.

In a preferred embodiment, as shown in FIGS. 6 and 7, in order to facilitate the patient to lie flat on the scanning table 200, the folding bed body 230 is connected to the first connecting seat 310 through a sliding assembly 240, wherein the sliding assembly 240 includes The sliding block 241 arranged on the first bed body 231 or the second bed body 232 and the sliding rail 242 arranged on the first base 110 and slidably connected with the sliding block 241, so that the scanning bed 200 can be moved horizontally as a whole. This allows the patient to lie flat on the scanning table 200 when the scanning table 200 is in the first position (that is, most areas of the folding bed body 230 are located outside the scanning machine 100), and then the medical staff pushes the scanning table 200 200 moves to the second position (even if the patient's breasts are within the scanning area of the two ultrasound probes 140) for breast scanning. At this time, the scanning table 200 can be manually pushed to translate, or a driving device, such as a motor rack and pinion mechanism or a motor screw mechanism, can be provided on the scanning table 200, so as to facilitate automatic control of the movement of the scanning table 200. Specifically, For example, the motor is set on the scanning table 200, the lead screw in the lead screw is connected to the output end of the motor, and the nut is connected to the slide rail 242.

In a preferred embodiment, as shown in FIG. 4, FIG. 7 and FIG. 8, in order to prevent the scanning bed 200 from moving after it is located at the preset position, it further includes a brake device 250 provided on the folding bed body 230. The device 250 includes a handle 251, a fixed rack 252, a movable tooth block 253, a return spring, and a brake wire. Among them, the handle 251 is hinged with the first bed body 231, the fixed rack 252 is fixedly arranged on the sliding rail 242 and arranged along the extending direction of the sliding rail 242, and the movable tooth block 253 is slidably disposed on the sliding block 241 and can be connected with the fixed rack 252 For meshing, it is preferable that the movable tooth block 253 is slidably connected to the sliding block 241 through the guide post and can slide in the vertical direction. At this time, the movable tooth block 253 is located directly above the fixed rack 252, and the two ends of the brake wire are respectively connected to the handle 251 and the movable The tooth block 253 is convenient to use the pull handle 251 to drive the movable tooth block 253 upward through the brake wire, so as to release the locking state of the movable tooth block 253 on the sliding assembly 240. The two ends of the return spring are respectively connected to the movable tooth block 253 and the sliding block 241, so that after the handle 251 is released, the movable tooth block 253 is driven to move down by the elastic force of the reset spring and engages with the fixed rack 252, thereby preventing scanning The bed 200 moves. Of course, in order to facilitate the disassembly and assembly of the movable tooth block 253, it is preferable that the sliding block 241 is slidably connected to the movable tooth block 253 through the mounting block, and the mounting block and the sliding block 241 are connected by screws. At this time, the principle of the entire brake device 250 can be referred to the bicycle brake system, and the return spring is preferably sleeved on one end of the brake wire close to the movable tooth block 253. At the same time, in order to facilitate the use of the handle 251, it is preferable that an inverted U-shaped armrest 260 is provided on the side of the first bed body 231, and the handle 251 is located at the bottom of the top edge of the armrest 260. Of course, it is also possible that the roller 220 adopts a universal wheel with a locking function, and the scanning table 200 is prevented from moving by controlling the locking device on the universal wheel.

In a preferred embodiment, as shown in FIGS. 6 and 7, in order to facilitate the sliding of the scanning table 200 on the scanning machine 100, it is preferable that the number of sliding components 240 is two, and the two sliding components 240 are arranged at intervals in the folding The bottom of the bed 230 also includes connecting bars 243 respectively connected to the two sliding rails 242, so as to facilitate the synchronous sliding of the two sliding rails 242. At this time, it is preferable that the first connecting seat 310 is located on the connecting bar 243.

In a preferred embodiment, as shown in Figures 4 and 9, at the same time, in order to facilitate the connection of the folding bed body 230 with the first base 110, the connecting structure 300 includes a first connecting seat 310, a second connecting seat 320, and a fixing member 330. Wherein, the first connecting seat 310 is arranged on the folding bed 230, the second connecting seat 320 is arranged on the first base 110, and the first connecting seat 310 can be docked with the second connecting seat 320, and the fixing member 330 is used for The first connecting seat 310 is fixed on the second connecting seat 320. As for the form of the fixing member 330, it may be a screw, a clamping device, a clamping device or electromagnetic adsorption. At this time, it is preferable that the first connecting seat 310 is located on the sliding rail 242. In this embodiment, the folding bed body 230 is fixed on the first base 110 by using the connecting structure 300, thereby facilitating the quick disassembly and assembly of the scanning bed 200 and the scanning machine 100.

In a preferred embodiment, as shown in FIGS. 7, 9 and 10, in order to facilitate quick disassembly and assembly of the first connecting seat 310 and the second connecting seat 320, the fixing member 330 includes a rotating rod 331 and a blocking block 332. At this time, the first connecting seat 310 is fixed on the slide rail 242, and the second connecting seat 320 is fixed on the first base 110. The first connecting seat 310 and the second connecting seat 320 are both block-shaped structures, which can pass through The screws are fixed on the sliding rail 242 or the second base 210. The second connecting seat 320 is provided with a bayonet 321, and the bayonet 321 is arranged horizontally (that is, arranged along the extension direction of the sliding rail 242), the first connecting seat 310 has a mounting hole 311 which is also arranged horizontally, and the rotating rod 331 is located in the mounting hole 311 and can rotate around its own axis. As shown in Figure 11, the clamping block 332 includes an integrally formed moving part 333 and a clamping part 334, and the overall shape is L-shaped. The bottom is matched with the bayonet 321. Preferably, the holding portion 334 may be wedge-shaped. Further, in order to realize the rotating arrangement of the rotating rod 331 on the first connecting seat 310, a bearing may be provided in the mounting hole 311 to install the rotating rod 331. At this time, it is preferable to arrange two connecting structures 300 spaced apart on the same sliding rail 242, and the two connecting structures 300 are arranged opposite or opposite to each other, so that the card block 332 can be inserted into the bayonet 321 to limit the first connection. The base 310 is moved in the vertical direction on the second connecting base 320, and two blocking blocks 332 arranged opposite or opposite to each other are used to restrict the first connecting base 310 from moving in the horizontal direction on the second connecting base 320, preferably two The two connecting structures 300 are arranged opposite to each other, that is, the two first connecting seats 310 are located between the two second connecting seats 320 after the assembly is completed.

Based on the connecting structure 300 arranged above, when the scanning bed 200 is assembled on the scanning machine 100, after the scanning bed 200 is moved to the preset position, the folding bed body 230 is unfolded and the first connecting seat 310 is connected to the corresponding The second connecting seat 320 is engaged, and then by rotating the rotating rod 331 on the first connecting seat 310, under the condition that the moving part 333 of the clamping block 332 is threadedly engaged with the rotating shaft, the limiting part 312 of the first connecting seat 310 limits the card The rotation of the block 332 causes the moving part 333 to translate along the axial direction of the rotating rod 331, thereby driving the clamping part 334 into the bayonet 321 of the second connecting seat 320 to form a clamping fit with it, thereby realizing the connection and locking of the two assembled objects . The connecting structure 300 is arranged between two assembly objects, which can realize quick disassembly and assembly, and improve assembly convenience and work efficiency.

It should be noted that the forward and reverse rotation of the rotating rod 331 can drive the clamping portion 334 into and out of the bayonet 321 through the moving portion 333 of the clamping block 332. In practical applications, multiple connection structures 300 can be provided and can be provided in a square layout to improve the stability of the connection between the sliding rail 242 and the first base 110. Of course, it is not limited to this arrangement.

In a preferred embodiment, as shown in FIGS. 9 and 11, an elastic member 335 is provided between the blocking block 332 and the first connecting seat 310. The elastic member 335 is arranged along the axial direction of the rotating rod 331, and the elastic member 335 is used to apply elastic force to the clamping block 332 to assist the movement of the clamping block 332 when the rotating rod 331 releases the clamping block 332, so as to improve the action coordination between the structures. stability. Among them, the elastic member 335 can be a spring or an elastic piece.

Further, for ease of installation, the elastic member 335 adopts a spring, and the spring is sleeved on the rotating rod 331, and the two ends of the spring abut against the first connecting seat 310 and the blocking block 332, respectively.

In a preferred embodiment, as shown in FIGS. 9 and 11, a blocking piece 336 is provided on the rotating rod 331, and the blocking piece 336 is located on the side of the blocking block 332 away from the first connecting seat 310. The blocking piece 336 can block the blocking block 332 to prevent the blocking block 332 from being separated from the rotating shaft when the rotating shaft is rotated.

Further, the first connecting seat 310 further includes a blocking portion 313 located on the same side of the blocking block 332 as the blocking piece 336 and used to limit the moving range of the blocking block 332. The blocking portions 313 are two integrally formed with the two limiting portions 312 respectively, and are located on the same side of the blocking block 332 as the blocking piece 336, on the moving path of the blocking block 332, and can limit the distance that the blocking block 332 translates outward. The blocking portion 313 limits the movement range of the block 332, which improves the compactness and integrity of the structure.

In a preferred embodiment, as shown in FIG. 12, the second connecting seat 320 includes a seat body 322 and a seat plate 323. The seat body 322 is provided with grooves communicating on both sides, and the seat plate 323 is arranged on the grooves. To form a bayonet 321. The opposite sides of the groove communicate with each other, the seat plate 323 is arranged on the groove, and both ends of the seat plate 323 are connected and fixed with the second connecting seat 320 by screws, and the structure is simple. It can be seen from FIG. 8 and FIG. 11 that the clamping portion 334 of the block 332 enters the bayonet 321 from one side of the groove.

In a preferred embodiment, as shown in FIGS. 9 to 12, a positioning groove 324 is provided on the second connecting seat 320 (that is, the seat body 322), and the first connecting seat 310 further includes a positioning slot 324 that is inserted and fitted with the positioning groove 324.部314. During assembly, the positioning portion 314 of the first connecting seat 310 is inserted into the positioning groove 324 of the second connecting seat 320. Through the set position slot 324 and the positioning portion 314, it is convenient to quickly locate the connection position and improve the assembly efficiency.

Furthermore, as shown in FIG. 10, the positioning portion 314 is located on one side of the blocking block 332 and has a retreat space 315 for the clamping portion 334 to move. The positioning portion 314 is recessed from bottom to top to form an escape space 315. The retaining portion 334 of the block 332 is located in the escape space 315 and moves in the escape space 315 to enter and exit the bayonet 321, which is closely matched and has a compact structure.

In a preferred embodiment, as shown in FIG. 11, one end of the rotating rod 331 is provided with an operating rod 337 perpendicular to it. The operating rod 337 is located at one end of the rotating rod 331. The rotating rod 331 has a through hole perpendicular to its axial direction. The operating rod 337 penetrates through the through hole, and one end is locked by a screw. Swipe in. By manipulating the operating lever 337 to rotate the rotating lever 331, the operation is convenient and time-saving and labor-saving.

The above are only part of or preferred embodiments of this application. Neither the text nor the drawings can therefore limit the scope of protection of this application. Anything made with the content of the specification and drawings of this application under the overall concept of this application The equivalent structure transformation, or direct/indirect application in other related technical fields are all included in the protection scope of this application.

Claims

An automatic breast scanning equipment, which is characterized by comprising a scanning machine and a scanning bed. The scanning machine includes a first base, a gantry, a mechanical arm and an ultrasonic probe, and the gantry is arranged on the first On the base, the mechanical arm is set on the gantry in a hoisted state, the ultrasonic probe is located on the free end of the mechanical arm; the scanning bed is movably set on the first base and is located on the Below the mechanical arm, the scanning machine also includes a structured light assembly arranged on the gantry and used to obtain a three-dimensional image.
The automatic breast scanning device according to claim 1, wherein the scanning bed comprises a second base, rollers, and a folding bed body, a plurality of the rollers are located at the bottom of the second base, and the folding One end of the bed body is rotatably connected with the second base and can rotate in a horizontal direction, and the other end of the folding bed body is detachably arranged on the first base.
The automatic breast scanning device according to claim 2, wherein the folding bed body comprises a first bed body and a second bed body, and one end of the first bed body is connected to the second bed body. One end is hinged, and the first bed body is rotatably connected with the second base.
The automatic breast scanning device according to claim 3, wherein the second base includes a bottom plate and two mounting plates disposed opposite to each other on the bottom plate, and the first bed body is located between the two mounting plates. In addition, the side surface of the first bed body is rotatably connected with the two mounting plates through a rotating shaft, and the roller is located at the bottom of the bottom plate.
The breast automatic scanning device according to claim 4, wherein the scanning bed further comprises a positioning pin movably arranged on the mounting plate, and the first bed body is provided with a positioning pin which is connected to the positioning pin. With a matching positioning hole, the positioning pin can be inserted into the positioning hole along the axial direction of the rotating shaft when the first bed body is in a horizontal state.
The automatic breast scanning device according to claim 3, wherein the folding bed body is connected to the first base through a sliding assembly, and the sliding assembly includes a bed arranged on the first bed/second bed. A sliding block on the body and a sliding rail arranged on the first base and slidably connected with the sliding block.
The automatic breast scanning device according to claim 6, wherein the scanning bed further comprises a brake device arranged on the folding bed body, and the brake device comprises a brake device hinged to the first bed body. A handle, a fixed rack set on the slide rail, a movable tooth block slidably arranged on the slider and engageable with the fixed rack, resetting of the sliding block and the movable tooth block respectively connected A spring and a brake wire respectively connecting the handle and the movable tooth block.
The automatic breast scanning device according to claim 2, wherein the scanning bed is fixed on the first base through a connecting structure, and the connecting knot includes a first bed arranged on the folding bed body. A connecting seat, a second connecting seat arranged on the first base and capable of being connected to the first connecting seat, and a fixing member for fixing the first connecting seat and the second connecting seat.
The automatic breast scanning device according to claim 8, wherein the two connecting structures are arranged opposite to or opposite to each other, the second connecting seat is provided with a bayonet, and the fixing member includes a rotatably arranged on the second connecting seat. The rotating rod on the first connecting seat and the clamp block on the rotating rod, the rotating rod is provided with a threaded section, and the clamp includes a moving part that is threadedly engaged with the threaded section and can be connected to the threaded section. The bayonet catches the mating clamping parts, and the limit parts on the first connecting seat are respectively arranged in close contact with the two opposite sides of the clamping block.
The automatic breast scanning device according to claim 1, wherein a fixed clamp is provided on the free end of the mechanical arm.
The automatic breast scanning device according to claim 10, wherein the fixing clamp comprises a connecting plate connected with the free end of the mechanical arm and two splints arranged oppositely on the connecting plate.
The breast automatic scanning device according to claim 1, wherein there are three structured light components, one of the three structured light components is located at the center of the top of the inner wall of the gantry, and the three The remaining two of the structured light components are respectively located at the upper end positions of the two side walls of the inner wall of the gantry.