WO2022029998A1

WO2022029998A1 - Probe operation device

Info

Publication number: WO2022029998A1
Application number: PCT/JP2020/030356
Authority: WO
Inventors: 重義稲垣; 直史吉田; 匡隆由村
Original assignee: 株式会社Fuji
Priority date: 2020-08-07
Filing date: 2020-08-07
Publication date: 2022-02-10
Also published as: JPWO2022029998A1; JP7470796B2

Abstract

A probe operation device according to the present invention comprises: a base; a probe drive unit which drives, in at least the vertical direction, a probe that is for inspection or work; and a height adjustment unit which adjusts the height of the probe drive unit relative to the base.

Description

Probe operating device

This specification relates to a probe operating device that operates a probe.

Industrial robots are widely used to promote automation and labor saving of inspections and work. In general, industrial robots are equipped with end effectors that approach objects. As an example of an industrial robot, a medical probe drive device using a probe as an end effector has been put into practical use. Medical probe drives are operated by doctors and clinical laboratory technicians. In addition, the probe inspects the internal condition of the subject and performs therapeutic work. A technical example of this type of probe driving device is disclosed in Patent Document 1.

The ultrasonic scanning system of Patent Document 1 includes an ultrasonic transducer (probe), a support arm connected to the ultrasonic transducer and capable of operating in the vertical direction, and a resistance device that cancels the gravity applied to the support arm. The ultrasonic transducer is pressed against the subject with a small pressure. According to this, the ultrasonic transducer can be easily positioned.

Japanese Unexamined Patent Publication No. 2010-194307

By the way, when using the probe driving device such as Patent Document 1, the height of the bed on which the subject rides is adjusted according to the physique of the operating doctor or the like. In other words, the height of the bed with respect to the probe drive device changes with the change of doctors and the like. For this reason, the elevating stroke length of the probe is not sufficient for the amount of elevating and lowering required for inspection and work, and it is necessary to cope with changes in the height of the bed. Therefore, the height of the probe drive device is increased, and in addition, the components such as the elevating mechanism are increased in size, resulting in an increase in device cost.

The probe is not limited to the medical probe. For example, in a non-destructive inspection device that inspects the internal state of an inspection object using an ultrasonic probe or an X-ray probe, the same problem occurs when the height of the inspection table on which the inspection object is placed is adjusted. Occurs.

Therefore, in the present specification, it is an issue to be solved to provide a probe driving device that realizes a low profile by reducing the elevating stroke length of the probe.

The present specification includes a base, a probe driving unit that drives a probe in charge of inspection or work at least in the vertical direction, and a height adjusting unit that adjusts the height of the probe driving unit with respect to the base. The probe operating device is disclosed.

The probe operating device disclosed in the present specification can realize a low profile of the device.

It is a perspective view of the probe operation apparatus of 1st Embodiment. It is the figure which looked at the probe operation apparatus from the rear. It is a side view of the probe operating device. It is a side view explaining the usage of the probe operation apparatus. It is a side view of the probe operation apparatus of 2nd Embodiment.

1. 1. Configuration of Probe Operating Device 1 of the First Embodiment The configuration of the probe operating device 1 of the first embodiment will be described with reference to FIGS. 1 to 3. As shown by the arrow on the upper right in the figure, the front, back, left, and right of the probe operating device 1 are defined for convenience. The probe operating device 1 operates the probe 68 to perform inspections and operations, and the description thereof will be described below assuming medical use. The main body of the probe operating device 1 is composed of a base 2, a height adjusting mechanism 3, a probe driving unit 4, and a light emission marker 71, and a control unit 8 is attached to the probe operating device 1. The probe drive unit 4 has an elevating drive mechanism 5 and an articulated arm mechanism 6. A probe 68 is provided at the tip of the articulated arm mechanism 6.

As shown in FIG. 1, the base 2 is formed by assembling four square bar members 21 into a rectangular frame shape. The base 2 may be a rectangular plate material. A strip-shaped and robust bottom plate 22 is bridged to the left and right on the front and rear of the bottom surface of the base 2. A total of four moving casters 23 are provided on the left and right sides of the front and rear bottom plates 22. A rectangular and robust support plate 24 is laid on the left and right sides of the upper surface of the base 2. A height adjusting mechanism 3 is provided on the upper surface of the support plate 24.

The height adjusting mechanism 3 is composed of a frame 31, a guide mechanism 33, a trapezoidal thread adjusting portion 34, an adjusting handle 36, a stopper 37, and the like. The frame 31 is fixed to the support plate 24 and extends upward. The frame 31 has a rectangular groove shape in a horizontal cross section and opens rearward. The upper plate 32 is horizontally bridged over the upper part of the frame 31.

As shown in FIGS. 1 and 3, the guide mechanism 33 includes a guide rail 331 and a guide member 332. The guide rails 331 are provided on the rear surfaces on both the left and right sides of the frame 31, and extend in the vertical direction. Two guide members 332 are provided on the left and right sides of the front surface of the substrate 51 (details will be described later) of the probe drive unit 4, vertically. On the left and right sides of the guide mechanism 33, the two upper and lower guide members 332 engage with the guide rail 331 so as to be able to move up and down and cannot be detached. As a result, the guide mechanism 33 guides the entire ascending / descending operation of the probe driving unit 4 with respect to the frame 31.

As shown in FIG. 3, the trapezoidal thread adjustment unit 34 includes a screw shaft 341 and an elevating nut 345. The screw shaft 341 is an internal position of the rectangular groove shape of the frame 31, and is arranged at the center position in the left-right direction. The screw shaft 341 extends in the vertical direction and is rotatably supported. A trapezoidal male screw 342 is engraved on the outer circumference of the screw shaft 341. A driven gear 343 is provided so as to rotate integrally at the upper end of the screw shaft 341 that penetrates the upper plate 32. The elevating nut 345 is provided at the center of the front surface of the substrate 51 of the probe drive unit 4 in the left-right direction. The trapezoidal female screw 346 engraved on the elevating nut 345 is screwed into the trapezoidal male screw 342 of the screw shaft 341.

A crank-shaped handle seat 35 is provided near the front of the upper plate 32 when viewed from the side. The handle seat 35 rotatably supports the rotation center axis of the adjustment handle 36. The adjustment handle 36 extends horizontally from the upper part of the rotation center axis, and when manually operated, it rotates forward and backward. A drive gear 361 is provided at the lower part of the rotation center shaft of the adjustment handle 36 so as to rotate integrally.

The drive gear 361 and the driven gear 343 at the upper end of the screw shaft 341 are rotationally connected by using a chain 362. The drive gear 361, the driven gear 343, and the chain 362 are covered with a protective cover (not shown) to ensure dust resistance and safety. The position of the handle seat 35 may be changed so that the drive gear 361 and the driven gear 343 are directly meshed with each other. Further, an acceleration / deceleration function based on the difference in the number of teeth of the gear, an intermediate gear, or the like may be provided.

When the adjustment handle 36 is manually operated, its forward rotation or reverse rotation is transmitted from the drive gear 361 to the driven gear 343 via the chain 362. Then, the driven gear 343 and the screw shaft 341 rotate integrally, and the screwing position of the elevating nut 345 rises or falls. As a result, the entire probe drive unit 4 moves up and down while being guided by the guide mechanism 33, and its height is adjusted.

The stopper 37 is provided between the adjustment handle 36 and the handle seat 35. When adjusting the height of the probe driving unit 4, the stopper 37 is manually switched to the released state. As a result, the rotational operation of the adjusting handle 36 is allowed. After the height of the probe drive unit 4 is adjusted, the stopper 37 is manually switched to the locked state. As a result, the rotational operation of the adjustment handle 36 is prohibited. After the height of the probe driving unit 4 is fixed in this way, the probe 68 is operated. When the height of the probe driving unit 4 is readjusted, the stopper 37 is switched to the released state again, and the height is released from being fixed.

The trapezoidal thread adjustment unit 34 corresponds to a height adjustment unit that adjusts the height of the probe drive unit 4 with respect to the base 2. The height adjustment range of the probe drive unit 4 with respect to the base 2 is determined by the lengths of the guide rail 331 and the screw shaft 341. Further, the adjustment handle 36 corresponds to a manual operation unit for manually operating the trapezoidal thread adjustment unit 34 (height adjustment unit). The stopper 37 corresponds to a height fixing portion that releasably fixes the height of the probe driving portion 4 adjusted by the trapezoidal thread adjusting portion 34 (height adjusting portion).

A general triangular screw can be used instead of the trapezoidal male screw 342 and the trapezoidal female screw 346. Further, instead of the trapezoidal thread adjusting portion 34, a ball screw feeding mechanism or other adjusting mechanism can be used. In the first embodiment, by adopting the trapezoidal thread adjusting portion 34 including the trapezoidal male screw 342 and the trapezoidal female screw 346, the frictional force of the screw is increased and the play dimension is reduced as compared with the configuration using the triangular screw. To. Therefore, the accuracy of maintaining the height of the probe driving unit 4 is improved. In other words, when the probe drive unit 4 operates, vibration, rattling, and the like are suppressed.

The elevating drive mechanism 5 constituting the probe driving unit 4 vertically elevates and drives the entire articulated arm mechanism 6 together with the probe 68. The elevating drive mechanism 5 includes a substrate 51, an elevating body 53, a guide mechanism 54, and a ball screw feeding mechanism 55. The substrate 51 is arranged behind the height adjusting mechanism 3 described above, and its height is adjusted by the height adjusting mechanism 3.

The substrate 51 extends in the vertical direction, has a rectangular groove shape in a horizontal cross section, and opens rearward. The middle portion of the substrate 51 in the height direction is a widening portion 52 that expands in the left-right direction. The guide member 332 and the elevating nut 345 described above are provided on the front surface of the widening portion 52. The elevating body 53 is a member having a substantially rectangular plate shape, which is lower in height than the base 51, and is arranged on the rear side of the base 51.

As shown in FIGS. 1 and 3, the guide mechanism 54 includes a guide rail 541 and a guide member 542. The guide rails 541 are provided on the rear surfaces on both the left and right sides of the substrate 51, and extend in the vertical direction. Two guide members 542 are provided on the left and right sides of the front surface of the elevating body 53. On each of the left and right sides of the guide mechanism 54, the upper and lower guide members 542 are engaged with the guide rail 541 so as to be able to move up and down and not to be detached. As a result, the guide mechanism 54 guides the elevating operation of the elevating body 53 with respect to the substrate 51. Further, a right guide member 543 is provided as an auxiliary. The right guide member 543 projects forward from the right side surface of the elevating body 53 and slides on the right side surface of the substrate 51.

The ball screw feed mechanism 55 includes a screw shaft 551, a drive motor 552, and an elevating nut 553. The screw shaft 551 is an internal position of the rectangular groove shape of the substrate 51, and is arranged at the center position in the left-right direction. The screw shaft 551 extends in the vertical direction and is rotatably supported. A male screw is engraved on the outer circumference of the screw shaft 551. A drive motor 552 is provided below the screw shaft 551. The drive motor 552 rotates and drives the screw shaft 551 according to a command from the control unit 8. The drive motor 552 is capable of switching between forward rotation and reverse rotation, and correspondingly, the screw shaft 551 rotates forward or reverse.

The elevating nut 553 is provided at the center of the front surface of the elevating body 53 in the left-right direction. The female screw engraved on the elevating nut 553 is screwed into the male screw of the screw shaft 551 via the ball. When the screw shaft 551 rotates forward or reverse by being driven by the drive motor 552, the screwing position of the elevating nut 553 rises or falls. As a result, the elevating body 53 and the articulated arm mechanism 6 as a whole move up and down while being guided by the guide mechanism 54. The elevating stroke length of the elevating body 53 with respect to the substrate 51, in other words, the elevating stroke length of the probe 68 is determined by the lengths of the guide rail 541 and the screw shaft 551. As described above, in the first embodiment, the probe 68 is driven in the vertical direction by using the elevating drive mechanism 5.

The articulated arm mechanism 6 constituting the probe drive unit 4 adjusts the posture and the horizontal position of the probe 68. In the multi-joint arm mechanism 6, the base 61, the first joint shaft 62, the first arm 63, the second joint shaft 64, the second arm 65, the posture holding shaft 66, the rotary triaxial mechanism 67, and the probe 68 are connected in the order described. It is composed of. The base 61 is an upright cylindrical member and is fixed to the rear surface of the elevating body 53.

In order to wire the cable to the base 61, a flexible cable protection unit 69 capable of accommodating a plurality of cables is provided. The flexible cable protection portion 69 passes from the front to the upper left of the substrate 51 and reaches the front surface of the base 61. The flexible cable protection portion 69 flexes freely as the elevating body 53 moves up and down, and prevents the cable from being broken.

The first joint shaft 62 is a cylindrical member thinner than the base 61, and is provided on the upper portion of the base 61 so as to be rotatable. The first arm 63 is a square cylindrical member extending in the horizontal direction, and its base end is fixed to the upper end of the first joint shaft 62. The first joint shaft 62 and the first arm 63 rotate integrally with the base 61 as the center of rotation. The first joint shaft 62 and the first arm 63 are driven by a first motor (not shown) that receives a command from the control unit 8. A second joint shaft 64 is provided on the upper surface of the tip of the first arm 63.

The second joint shaft 64 is an upright cylindrical member, and is supported by the first arm 63 so as to rotate on its axis. The second arm 65 is a member having a cylindrical shape extending in the horizontal direction, and its base end is fixed to the cylindrical surface of the second joint shaft 64. The second joint shaft 64 and the second arm rotate integrally with the tip of the first arm 63 as the center of rotation. The second joint shaft 64 and the second arm are driven by a second motor (not shown) that receives a command from the control unit 8. A posture holding shaft 66 is provided at the tip of the second arm 65. The rotational movement of the first arm 63 and the second arm 65 adjusts the horizontal positions of the posture holding shaft 66 and the probe 68.

The posture holding shaft 66 is an upright cylindrical member, and its cylindrical surface is fixed to the second arm 65. A rotary triaxial mechanism 67 is provided below the posture holding shaft 66. The rotary triaxial mechanism 67 includes three orthogonal axes of rotation and a total of three actuators provided for each axis of rotation. The rotary triaxial mechanism 67 is provided with a replaceable probe 68 at a tip capable of rotating in three directions. When the actuator operates in response to a command from the control unit 8, the posture of the probe 68 is adjusted.

The probe 68 is in charge of a predetermined inspection or work. As the probe 68, an ultrasonic probe used for ultrasonic examination in the medical field can be exemplified, and the probe 68 is not limited thereto. The cable for supplying power to the probe 68 and transmitting the detection signal is wired by utilizing the internal space of the flexible cable protection portion 69 described above and the constituent members of the articulated arm mechanism 6. Further, the cables for supplying power to the first motor, the second motor, and the rotary triaxial mechanism 67 are also wired by utilizing the internal space of the flexible cable protection portion 69 and the constituent members, similarly to the probe 68.

The light emission marker 71 is provided at the upper right end of the substrate 51. The light emission marker 71 emits light in the horizontal direction toward the rear. Laser light can be used as the emitted light, and the light is not limited to this. Since the height of the probe driving unit 4 can be recognized by checking the height of the light, the light emission marker 71 is suitable for adjusting the height. The light emission marker 71 is a form of a height marker indicating the height of the probe driving unit 4.

The control unit 8 is configured separately from the main body of the probe operating device 1 and is connected to the main body using a cable or wireless communication. The control unit 8 is configured by using a computer device, and has an input unit 81 and a display unit 82. The input unit 81 accepts an input operation by a doctor or the like. The display unit 82 plots and displays the detection signal of the probe 68, and displays the current state of the probe operating device 1 detected by the sensor (not shown). The control unit 8 issues commands to the drive motor 552, the first motor, the second motor, the rotary triaxial mechanism 67, and the probe 68 of the probe operating device 1 according to the input operation to the input unit 81, and outputs their operations. Control.

2. 2. How to use the probe operating device 1 Next, how to use the probe operating device 1 will be described with reference to FIG. As shown, the probe operating device 1 is used in combination with the bed 9 which adjusts the height of the mattress 92 by the mattress drive unit 91. The height of the mattress 92 on which the subject (patient) rides is adjusted according to the physique of the doctor or the like performing the examination or medical examination. "Adjusting the height of the bed 9" means adjusting the height of the mattress 92 instead of raising and lowering the entire bed 9. After the height of the bed 9 is adjusted, the height of the probe driving unit 4 of the probe operating device 1 is adjusted.

In this height adjustment, first, the rear part of the probe operating device 1 is arranged so as to face the bed 9. Next, the switch of the light emission marker 71 is turned on. The light emission marker 71 emits light 93 in the horizontal direction toward the bed 9 and projects a bright spot 94 on the surface of the mattress 92. A doctor or the like can determine whether the height of the probe driving unit 4 is good or bad based on the position of the bright spot 94.

If the height of the probe drive unit 4 is inappropriate, the doctor or the like switches the stopper 37 to the released state and operates the adjustment handle 36. At this time, since the operation can be performed while visually recognizing the bright spot 94, the height adjustment operation is easy. When the height of the probe drive unit 4 becomes appropriate, the doctor or the like switches the stopper 37 to the locked state to fix the height of the probe drive unit 4. After that, the doctor or the like operates the probe 68 by inputting to the input unit 81 to perform an inspection or work.

After the inspection or work is completed, the probe operating device 1 may be stored as it is, or may be stored after the probe driving unit 4 is readjusted to the lowest position. In the latter case, the probe operating device 1 is lowered in height.

In the probe operating device 1 of the first embodiment, the elevating stroke length of the probe 68 in the probe driving unit 4 is determined by the elevating drive mechanism 5, and can be set to the minimum elevating amount required for inspection and work. Then, the height adjustment required for dealing with factors other than inspection and work, for example, a change in the height of the bed 9, is performed by the height adjustment mechanism 3. Further, the probe operating device 1 can be stored in a state where the probe driving unit 4 is adjusted low by the height adjusting mechanism 3. Therefore, the elevating stroke length of the probe 68 can be reduced to reduce the height of the probe operating device 1. In addition, since it is not necessary to increase the size of the elevating drive mechanism 5 in order to cope with the change in the height of the bed 9, the increase in the device cost is suppressed.

3. 3. Probe operating device 1A of the second embodiment
Next, the configuration of the probe operating device 1A of the second embodiment will be mainly described as being different from the first embodiment with reference to FIG. The probe operating device 1A does not include a light emission marker 71 as a height marker, but instead includes a scale plate 72 and a height indicating member 73. The configuration of the probe operating device 1A other than the height marker is the same as that of the first embodiment.

As shown in FIG. 5, the scale plate 72 is provided on the right side surface of the frame 31 of the height adjusting mechanism 3. The scale plate 72 extends in the vertical direction and has a plurality of scales indicating the height of the probe drive unit 4. On the other hand, the height indicating member 73 is provided on the right side surface of the substrate 51 of the probe driving unit 4, and moves up and down integrally with the substrate 51. The height indicating member 73 is formed in the shape of a horizontal arrow, and points to the height of the probe drive unit 4 by pointing to the scale of the scale plate 72.

In the second embodiment, the doctor or the like can operate the adjustment handle 36 while visually recognizing the scale plate 72 and the height indicating member 73, and the height adjustment operation is easy. Further, the effect of reducing the elevating stroke length of the probe 68 to realize a low profile of the apparatus is also the same as that of the first embodiment.

4. Applications and Modifications of the Embodiment As the height marker, a configuration different from that of the first and second embodiments, for example, a linear scale sensor can be used. The linear scale sensor is provided on the frame 31 of the height adjusting mechanism 3 to detect the height of the probe driving unit 4, and the detection result is displayed on the display unit 82. Further, the configuration of the probe drive unit 4 is not limited to the combination of the elevating drive mechanism 5 and the articulated arm mechanism 6 described in the first embodiment, and various known mechanisms can be applied. For example, the probe driving unit 4 may drive the probe 68 up and down in an oblique direction. In addition, the first and second embodiments can be applied and modified in various ways.

The probe operating devices (1, 1A) of the first and second embodiments are not limited to medical use, and can be used for non-destructive inspection devices including inspection probes, and the probe 68 can be used as an end effector. It can be used for various industrial robots by replacing it with.

1, 1A: Probe operating device 2: Base 3: Height adjustment mechanism 31: Frame 33: Guide mechanism 34: Trapezoidal thread adjustment part 341: Screw shaft 342: Trapezoidal male screw 345: Lifting nut 346: Trapezoidal female screw 36: Adjustment handle 37: Stopper 4: Probe drive part 5: Elevating drive mechanism 51: Base 53: Elevating body 54: Guide mechanism 55: Ball screw feed mechanism 6: Articulated arm mechanism 68: Probe 71: Optical ejection marker 72: Scale plate 73: Height indicator 8: Control unit 81: Input unit 82: Display unit 9: Bed 92: Mattress 93: Light 94: Bright spot

Claims

Base and
A probe drive unit that drives the probe in charge of inspection or work at least in the vertical direction,
A height adjusting unit that adjusts the height of the probe driving unit with respect to the base,
A probe operating device.
The probe operating device according to claim 1, wherein the probe driving unit has an elevating drive mechanism that elevates and drives the probe in the vertical direction.
The probe operating device according to claim 1 or 2, wherein the probe driving unit has an articulated arm mechanism that adjusts at least one of the posture and the horizontal position of the probe.
The height adjusting section is a trapezoidal thread adjusting section in which trapezoidal threads provided on the base and the probe driving section are screwed together, and the height of the probe driving section is adjusted by changing the screwing position. The probe operating device according to any one of claims 1 to 3.
The probe operating device according to any one of claims 1 to 4, further comprising a height fixing portion for fixing the height of the probe driving portion adjusted by the height adjusting portion so as to be releasable.
The probe operating device according to any one of claims 1 to 5, further comprising a manual operating unit for manually operating the height adjusting unit.
The probe operating device according to any one of claims 1 to 6, further comprising a height marker indicating the height of the probe driving unit.
The probe operating device according to claim 7, wherein the height marker is a light emitting marker provided in the probe driving unit to emit light.
The probe is a medical probe and
The light emission marker emits the light toward the bed on which the subject to be inspected or worked is placed, and projects a bright spot on the bed.
The probe operating device according to claim 8.