Parallel type color ultrasound operation robot end effector

An end effector, robot technology, applied in the medical field, can solve problems such as inconvenience, robot manipulator is too large, patient safety threat, etc.

Pending Publication Date: 2021-07-06
安徽贝科邦生物科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Existing color ultrasound operation robots usually use tandem end effectors, which provide great flexibility through large workspace and high operability, but the use of large robots will bring various disadvantages to clinical integration;
[0003] Ultrasound scanning is divided into different areas according to different parts of the human body, and the robotic system only needs to cover a part of the human body, which for a single procedure, ordinary robotic manipulators would be too lar

Method used

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  • Parallel type color ultrasound operation robot end effector
  • Parallel type color ultrasound operation robot end effector
  • Parallel type color ultrasound operation robot end effector

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0038] According to the indication Figure 1-5 , in the initial state, the fixed platform 1 is connected to the end of the mechanical arm, and the fixed platform 1 and the support plate of the mechanical arm are assembled by bolts. Drive, smaller size, lower cost, easier to control, according to the calculation, this program plans to use RC30P steering gear, each weighing about 60g, the use of steering gear greatly reduces the overall body size and The weight, which reduces the burden on the hardware and control of the steering arm 3) is fixed between the edges of the interlayer of the fixed platform 1. The steering gear is the drive input of the end effector, and the electrical signal sent by the host computer drives the steering gear to output a corresponding rotation. Angle, the output shaft of each steering gear has a steering gear toothed plate, the output end of the steering gear is fixedly installed with the steering gear arm 3 through the steering gear toothed plate, a...

Embodiment 2

[0040] According to the indication Image 6 , the fixed platform 1 is the connector that fixes the entire end effector at the end of the robot arm. The principle of lightweight design is considered as a whole, and this application scenario is light-loaded. Therefore, it is recommended to use aluminum alloy materials. The threaded holes around the fixed platform 1 use To fix the steering gear support plate, the large circular opening in the middle is used to connect the connector at the end of the mechanical arm;

Embodiment 3

[0042] According to the indication Figure 7 , the moving platform 2 is used to connect the color ultrasound probe 7, and is connected with the lower ball joint 6 (straight rod type ball end joint ball joint) at the lower end of the connecting column 4 on the mechanism. Platform 1, but it will also be affected by the dynamic load from color ultrasound probe 7 during diagnosis. According to calculation and analysis, the maximum dynamic load is 8.01N and the lateral force is 4.25N;

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Abstract

The invention relates to a parallel type color ultrasound operation robot end effector which comprises two fixed platforms, a movable platform, a steering engine, a steering engine rotating arm, a connecting column, an upper spherical hinge, a lower spherical hinge and a color ultrasound probe, wherein an interlayer is reserved between the two fixed platforms, the fixed platforms are in a regular triangle shape, kidney-shaped through grooves are symmetrically formed in the three sides of the fixed platforms, a large round through opening is formed in the middle of each fixed platform, the corners of the fixed platforms are cut, and threaded holes are symmetrically formed in the positions, close to the cutting positions, of the fixed platforms; and the movable platform is arranged below the fixed platforms in parallel, the number of the movable platform is one, the movable platform is circular, small circular through holes are symmetrically formed in the movable platform, and a rectangular through hole is obliquely formed in the middle of the movable platform. With adoption of the parallel mechanism, compared with a series mechanism, the space utilization rate is increased, the movement space of the mechanical arm is reduced, and the space requirement for a hospital room is reduced.

Description

technical field [0001] The invention relates to the medical field, in particular to a parallel-connected color ultrasound operation robot end effector. Background technique [0002] Existing color ultrasound operation robots usually use tandem end effectors, which provide great flexibility through large workspace and high operability, but the use of large robots will bring various disadvantages to clinical integration; [0003] Ultrasound scanning is divided into different areas according to different parts of the human body, and the robotic system only needs to cover a part of the human body, which for a single procedure, ordinary robotic manipulators would be too large in this case, posing a threat to the safety of the patient. It is very inconvenient to adjust the control of the large robotic arm for the fine movement that needs to occur when the color ultrasound probe is close to the surface of the human body, as well as the subtle position and posture adjustments; [0...

Claims

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Application Information

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IPC IPC(8): A61B8/00
CPCA61B8/42A61B8/44
Inventor 鲁浩翔沈恪诚闫之贤袁海伦
Owner 安徽贝科邦生物科技有限公司
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