Full-automatic cardiovascular disease examination device

Abstract

The invention discloses a full-automatic cardiovascular disease examination device, relates to the technical field of cardiovascular disease examination equipment, and provides the following scheme that the full-automatic cardiovascular disease examination device comprises a cardiovascular disease examination sickbed, and an AGV traction mechanism is arranged on the surface of the bottom of the cardiovascular disease examination sickbed; a multi-axis mechanical arm mechanism is installed on the left side surface of the cardiovascular disease examination sickbed, and a probe clamping jaw is arranged at the tail end of the multi-axis mechanical arm mechanism. The sickbed mechanism is arranged, the multi-axis mechanical arms are arranged on the two sides of the sickbed mechanism, and an ultrasonic cardiac probe and an electrocardiogram detection probe are sequentially clamped in the mode of the multi-axis mechanical arms and a specific clamping jaw to conduct automatic detection on a patient; a mechanical arm is matched with a high-definition camera to clamp an injector to automatically perform nuclide injection, and is matched with a nuclide developing camera above a sickbed to perform automatic nuclide inspection; an AGV driving chassis and an AGV navigation track are arranged below the sickbed mechanism, a patient is automatically sent into the coronary artery CT machine along a preset line, and automatic coronary artery CT examination is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of cardiovascular disease examination equipment, and in particular to a fully automatic cardiovascular disease examination device. Background Art

[0002] Cardiovascular and cerebrovascular diseases include cardiovascular diseases and cerebrovascular diseases. It is a common disease that seriously threatens human health, and is characterized by high morbidity, high disability rate and high mortality rate. Cardiovascular and cerebrovascular disease examinations generally include: cardiovascular and cerebrovascular angiography, head and neck CT or MRI, cardiac color ultrasound, electrocardiogram, etc. However, the inventors have found that the current ultrasonic cardiography and electrocardiogram detection, as well as the injection of radionuclides for radionuclide examinations require manual operation, and coronary artery CT examinations also require medical staff to guide patients into the coronary artery CT machine; its cardiovascular disease examination items cannot be fully automatic. Therefore, those skilled in the art hereby propose a solution for a fully automatic cardiovascular disease examination device. Summary of the invention

[0003] In view of the difficulty that the current ultrasonic cardiology detection and electrocardiogram detection in the above background technology, as well as the radionuclide injection of radionuclide examination need manual operation, and the coronary artery CT examination also requires medical staff to guide the patient into the coronary artery CT machine; its cardiovascular disease examination items cannot be fully automatic, so a technical solution content of a fully automatic cardiovascular disease examination device is provided.

[0004] It includes a cardiovascular disease examination bed, the bottom surface of which is provided with an AGV traction mechanism, the left surface of which is provided with a multi-axis mechanical arm mechanism, the end of which is provided with a probe clamp; the multi-axis mechanical arm mechanism includes a rotating base, a large arm provided on the rotating output end of the rotating base, and a small arm hinged to the top of the large arm through a joint motor, the end of the small arm is connected with a rotating execution arm, and the lower surface of the end of the rotating execution arm is fixedly connected with a high-definition camera;

[0005] Specifically, when the patient lies supinely on the upper surface of the mattress, the rotating base, upper arm, lower arm and rotating execution arm, with the assistance of visual monitoring by a high-definition camera, sequentially attach the probes of the ultrasonic cardiology detection instrument and the electrocardiogram detection instrument to the patient according to the set procedures. After the ultrasonic cardiology detection and electrocardiogram detection are completed; the multi-axis robotic arm mechanism and the probe clamp are used to clamp the radionuclide syringe to perform radionuclide development detection on the patient.

[0006] During this process, the multi-axis robotic arm mechanism delivers the probe clamp to the position of the radionuclide injector, ultrasound cardiology probe or electrocardiogram test, and uses the output shaft of the servo motor to drive the worm to rotate, so that the worm wheel rotates synchronously through meshing transmission, forcing the clamps to move away from or approach each other, so that the probe or syringe can be held, and then the multi-axis robotic arm mechanism is used to deliver the probe clamp to the patient. During the radionuclide injection process, the servo push rod at the front end of the worm will push the push rod of the syringe and inject the radionuclide developer into the patient's blood vessels.

[0007] The cardiovascular disease examination bed comprises a bed frame, a mattress laid on the upper surface of the bed frame, and four support columns fixed to the four corners of the bottom surface of the bed frame, and the bottom ends of the support columns are fixedly connected to the load-bearing plates;

[0008] The AGV traction mechanism includes a base, two steering wheels arranged on the front side of the bottom surface of the base, and two driving wheels arranged on the rear side of the bottom surface of the base, the top surface of the base is fixedly connected with a load-bearing top shell, and the front end surface of the base is fixedly connected with an AGV electromagnetic navigator; specifically, after the completion of acoustic cardiogram detection, electrocardiogram detection, and radionuclide detection, through the magnetic track between the coronary artery CT machine and the bed frame, the AGV electromagnetic navigator relies on the interaction with the magnetic track, and uses the drive motor to drive the driving wheel to provide a driving force, and the steering wheel to provide a rotational force, so that the AGV traction mechanism can carry the patient on the bed frame into the coronary artery CT machine for detection, and after the detection is completed, the AGV traction mechanism returns along the original route.

[0009] The probe clamp includes a shell, a servo motor fixed to the rear end face of the shell, and 6 support arms fixed to the front end of the shell in a circular array, the support arms are rotatably connected to a total of 3 clamps, the inside of each clamp is fixedly connected to a worm gear, the output shaft of the servo motor passes through the shell and is connected to a worm at a position located at the front end of the shell, the worm and the worm wheel are meshed with each other for transmission, and the front end face of the worm is fixedly connected to a servo push rod.

[0010] In the technical solution of the above-mentioned fully automatic cardiovascular disease examination device, preferably: the front end face and the rear end face of the bed frame are fixedly connected to a baffle by screws, and the bottom surface of the load-bearing plate and the top surface of the load-bearing top shell are fixedly connected by bolts.

[0011] In the technical solution of the above-mentioned fully automatic cardiovascular disease examination device, preferably: an ultrasonic cardiogram detection instrument and an electrocardiogram detection instrument are placed on the side of the bed frame, and a radionuclide development camera is installed on the left surface of the bed frame through a bracket.

[0012] In the technical solution of the above-mentioned fully automatic cardiovascular disease examination device, preferably: the side wall of the rotating base is locked to the left side wall of the bed frame by high-strength bolts, a robot rotating motor is arranged inside the rotating base, and the output shaft of the robot rotating motor is connected to the bottom end of the upper arm through a coupling.

[0013] In the technical solution of the above-mentioned fully automatic cardiovascular disease examination device, preferably: the rear end face of the servo motor is connected to the front output shaft of the high-definition camera, the rear end face of the outer shell is fixedly connected to the front end face of the outer shell of the servo motor, and a circular hole is provided at the internal axial position of the outer shell for the output shaft of the servo motor to pass through and rotate, and a bearing matching the output shaft of the servo motor is installed inside the circular hole.

[0014] In the technical solution of the above-mentioned fully automatic cardiovascular disease examination device, preferably: the support arm and the clamping clamp are arranged in a circular array with the central axis of the outer shell as the reference line, the inner rear end of the clamping clamp is provided with a notch for the worm gear to rotate, and an axle pin is arranged between the clamping clamp and the worm gear.

[0015] In the technical solution of the above-mentioned fully automatic cardiovascular disease examination device, preferably: the inner end surfaces of the clamping forceps that are gathered close to each other are adhered with a layer of silicone sheet by adhesive, and the clamping forceps clamp a radionuclide syringe, an ultrasonic cardiography probe or an electrocardiogram probe.

[0016] In the technical solution of the above-mentioned fully automatic cardiovascular disease examination device, preferably: a battery is installed in the middle area of ​​the top surface of the base, and a control panel is provided in the front area of ​​the top surface of the load-bearing top shell.

[0017] In the technical solution of the above-mentioned fully automatic cardiovascular disease examination device, preferably: the rear side of the bottom surface of the load-bearing top shell is fixedly connected to the top surface of the outer shell of the driving motor through a bracket, and the output shaft of the driving motor is connected to the inner end of the driving wheel through a coupling and a rotating shaft.

[0018] In the technical solution of the above-mentioned fully automatic cardiovascular disease examination device, preferably: the rear side of the bottom surface of the load-bearing top shell is fixedly connected to a suspension by bolts, and the bottom end of the suspension is connected to the outer ring surface of the rotating shaft through a bearing.

[0019] It can be seen from the above technical solution that the present invention provides a fully automatic cardiovascular disease examination device. Compared with the prior art, the present invention has the following beneficial effects:

[0020] A bed mechanism is set up, and multi-axis robotic arms are set up on both sides of the bed mechanism. The multi-axis robotic arms and specific clamps are used to sequentially clamp the ultrasound cardiology probe and the electrocardiogram detection probe to automatically detect the patient; the robotic arms are used with a high-definition camera to clamp the syringe to automatically perform radionuclide injection, and the radionuclide development camera above the bed is used to perform automatic radionuclide inspection;

[0021] An AGV driving chassis and AGV navigation track are set under the bed mechanism to automatically send the patient to the coronary artery CT machine along the preset route to realize automated coronary artery CT examination. This can integrate ultrasound cardiology test items, electrocardiogram test items, radionuclide test items and coronary artery CT examination items, shorten the examination process and time; and the whole process is fully automatic, which can reduce the labor rate and improve the fault tolerance of cardiovascular disease examination. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces and describes the drawings required for use in the embodiments of the present invention or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 is a schematic diagram of a fully automatic cardiovascular disease examination device;

[0024] Figure 2 Schematic diagram of the hospital bed for cardiovascular examination;

[0025] Figure 3 It is a schematic diagram of a multi-axis robotic arm;

[0026] Figure 4 Schematic diagram of the probe gripper;

[0027] Figure 5 Schematic diagram of AGV traction mechanism.

[0028] Attached Figure 1 -Attached Figure 5 The corresponding relationship of the parts is as follows:

[0029] 1. Cardiovascular disease examination bed; 11. Bed frame; 12. Baffle; 13. Mattress; 14. Support column; 15. Load-bearing plate; 2. Multi-axis robotic arm mechanism; 21. Rotating base; 22. Upper arm; 23. Lower arm; 24. Rotating actuator arm; 25. High-definition camera; 3. AGV traction mechanism; 31. Base; 32. Steering wheel; 33. AGV electromagnetic navigator; 34. Battery; 35. Control panel; 36. Load-bearing top shell; 37. Drive motor; 38. Suspension; 39. Drive wheel; 4. Probe clamp; 41. Housing; 42. Support arm; 43. Worm gear; 44. Clamping forceps; 45. Servo push rod; 46. Worm; 47. Servo motor. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In order to explain and illustrate the technical solutions and implementation methods of the present invention more clearly, the following introduces a preferred specific embodiment for implementing the technical solutions of the present invention.

[0031] Embodiment: A preferred technical solution for a fully automatic cardiovascular disease examination device:

[0032] Refer to the instruction manual Figure 1 As shown: it includes a cardiovascular disease examination bed 1, an AGV traction mechanism 3 is arranged on the bottom surface of the cardiovascular disease examination bed 1, a multi-axis mechanical arm mechanism 2 is installed on the left surface of the cardiovascular disease examination bed 1, and a probe clamp 4 is arranged on the end of the multi-axis mechanical arm mechanism 2;

[0033] Refer to the instruction manual Figure 2 As shown: the cardiovascular disease examination bed 1 includes a bed frame 11, a mattress 13 laid on the upper surface of the bed frame 11, and four support columns 14 fixed to the four corners of the bottom surface of the bed frame 11, and the bottom ends of the support columns 14 are fixedly connected to the load-bearing plates 15; the front end face and the rear end face of the bed frame 11 are fixedly connected to a baffle 12 by screws, and the bottom surface of the load-bearing plate 15 and the top surface of the load-bearing top shell 36 are fixedly connected by bolts; an ultrasonic cardiogram detection instrument and an electrocardiogram detection instrument are placed on the side of the bed frame 11, and a radionuclide development camera is installed on the left surface of the bed frame 11 through a bracket, and a coronary artery CT machine is placed on the front side of the bed frame 11, and a magnetic track compatible with the AGV electromagnetic navigator 33 is laid on the ground between the coronary artery CT machine and the bed frame 11.

[0034] Refer to the instruction manual Figure 3As shown: the multi-axis robotic arm mechanism 2 includes a rotating base 21, a large arm 22 arranged on the rotating output end of the rotating base 21, and a small arm 23 hinged to the top of the large arm 22 through a joint motor, the end of the small arm 23 is connected to a rotating execution arm 24, and the lower surface of the end of the rotating execution arm 24 is fixedly connected to a high-definition camera 25; the side wall of the rotating base 21 is locked on the left side wall of the bed frame 11 by high-strength bolts, and a robot rotating motor is arranged inside the rotating base 21, and the output shaft of the robot rotating motor is connected to the bottom end of the large arm 22 through a coupling.

[0035] Refer to the instruction manual Figure 5 As shown: the AGV traction mechanism 3 includes a base 31, two steering wheels 32 arranged on the front side of the bottom surface of the base 31, and two driving wheels 39 arranged on the rear side of the bottom surface of the base 31. The top surface of the base 31 is fixedly connected with a load-bearing top shell 36, and the front end surface of the base 31 is fixedly connected with an AGV electromagnetic navigator 33; a battery 34 is installed in the middle area of ​​the top surface of the base 31, and a control panel 35 is arranged in the front area of ​​the top surface of the load-bearing top shell 36. The rear side of the bottom surface of the load-bearing top shell 36 is fixedly connected to the top surface of the housing of the driving motor 37 through a bracket, and the output shaft of the driving motor 37 is connected to the inner end of the driving wheel 39 through a coupling and a rotating shaft; the rear side of the bottom surface of the load-bearing top shell 36 is fixedly connected with a suspension 38 through bolts, and the bottom end of the suspension 38 is connected to the outer ring surface of the rotating shaft through a bearing.

[0036] Refer to the instruction manual Figure 4 As shown: the probe clamp 4 includes a shell 41, a servo motor 47 fixed to the rear end face of the shell 41, and 6 support arms 42 fixed to the front end of the shell 41 in a circular array, the support arms 42 are rotatably connected to a total of 3 clamping jaws 44, the inside of each clamping jaw 44 is fixedly connected to a worm gear 43, the output shaft of the servo motor 47 passes through the shell 41 and is connected to a worm 46 at a position located at the front end of the shell 41, the worm 46 and the worm gear 43 are meshed with each other for transmission, and the front end face of the worm 46 is fixedly connected to a servo push rod 45.

[0037] Refer to the instruction manual Figure 4As shown: the rear end face of the servo motor 47 is connected to the front output shaft of the high-definition camera 25, the rear end face of the shell 41 is fixedly connected to the front end face of the shell of the servo motor 47, and a circular hole is provided at the internal axis position of the shell 41 for the output shaft of the servo motor 47 to pass through and rotate, and a bearing adapted to the output shaft of the servo motor 47 is installed inside the circular hole; the support arm 42 and the clamping clamp 44 are arranged in a circular array with the central axis of the shell 41 as the reference line, and a notch is provided at the internal rear end of the clamping clamp 44 for the worm gear 43 to rotate, and an axle pin is penetrated between the clamping clamp 44 and the worm gear 43, and a layer of silicone sheet is adhered to the inner end faces of the clamping clamp 44 that are gathered together by an adhesive, and the clamping clamp 44 clamps a radionuclide syringe, an ultrasonic cardiography probe or an electrocardiogram probe.

[0038] According to the above-mentioned preferred technical solution, the workflow of the technical solution is described as follows:

[0039] When the patient lies supinely on the upper surface of the mattress 13, the rotating base 21, the upper arm 22, the lower arm 23 and the rotating execution arm 24, with the assistance of the visual monitoring of the high-definition camera 25, sequentially attach the probes of the ultrasonic cardiogram detection instrument and the electrocardiogram detection instrument to the patient according to the set program. After the ultrasonic cardiogram and electrocardiogram tests are completed; the multi-axis mechanical arm mechanism 2 and the probe clamp 4 are used to clamp the radionuclide syringe to perform radionuclide development detection on the patient.

[0040] In this process, the multi-axis mechanical arm mechanism 2 delivers the probe clamp 4 to the position of the radionuclide injector, ultrasonic cardiography probe or electrocardiogram detection, and uses the output shaft of the servo motor 47 to drive the worm 46 to rotate, so that the worm wheel 43 rotates synchronously through meshing transmission, forcing the clamps 44 to move away from or approach each other, so that the probe or injector can be held, and then the multi-axis mechanical arm mechanism 2 is used to deliver the probe clamp 4 to the patient. During the radionuclide injection process, the servo push rod 45 at the front end of the worm 46 will push the push rod of the injector and inject the radionuclide developer into the patient's blood vessels.

[0041] After the acoustic cardiogram test, electrocardiogram test and radionuclide test are completed, the AGV electromagnetic navigator 33 uses the action between the magnetic tracks between the coronary artery CT machine and the bed frame 11, and uses the drive motor 37 to drive the drive wheel 39 to provide propulsion force, and the steering wheel 32 to provide rotational force, so that the AGV traction mechanism 3 can carry the patient on the bed frame 11 into the coronary artery CT machine for testing. After the test is completed, the AGV traction mechanism 3 returns along the original route.

[0042] The present invention is not limited to the above-mentioned optimal implementation mode. Anyone should be aware that any structural changes made under the inspiration of the present invention, and any technical solutions that are the same or similar to the present invention, fall within the protection scope of the present invention. Finally, it should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the restrictive conditions that can be implemented in this application, so they have no technical substantive significance. Any structural modification, change in proportional relationship or adjustment of size, without affecting the effects that can be produced by this application and the purposes that can be achieved, should still fall within the scope that can be covered by the technical content disclosed in this application.

Claims

1. A fully automatic cardiovascular disease examination device, comprising a cardiovascular disease examination bed (1), characterized in that: The bottom surface of the cardiovascular disease examination bed (1) is provided with an AGV traction mechanism (3), the left side surface of the cardiovascular disease examination bed (1) is installed with a multi-axis mechanical arm mechanism (2), and the end of the multi-axis mechanical arm mechanism (2) is provided with a probe clamp (4); The cardiovascular disease examination bed (1) comprises a bed frame (11), a mattress (13) laid on the upper surface of the bed frame (11), and four support columns (14) fixed to the four corners of the bottom surface of the bed frame (11), wherein the bottom ends of the support columns (14) are fixedly connected to a load-bearing plate (15); The multi-axis mechanical arm mechanism (2) comprises a rotating base (21), a large arm (22) arranged on the rotating output end of the rotating base (21), and a small arm (23) hinged to the top of the large arm (22) through a joint motor, the end of the small arm (23) is connected to a rotating execution arm (24), and the lower surface of the end of the rotating execution arm (24) is fixedly connected to a high-definition camera (25); The AGV traction mechanism (3) comprises a base (31), two steering wheels (32) arranged on the front side of the bottom surface of the base (31), and two driving wheels (39) arranged on the rear side of the bottom surface of the base (31); a load-bearing top shell (36) is fixedly connected to the top surface of the base (31); and an AGV electromagnetic navigator (33) is fixedly connected to the front end surface of the base (31); The probe clamp (4) comprises a housing (41), a servo motor (47) fixed to the rear end face of the housing (41), and six support arms (42) fixed to the front end of the housing (41) in a circular array, wherein the support arms (42) are rotatably connected to three clamping pliers (44) in total, each of the clamping pliers (44) is fixedly connected to a worm gear (43), an output shaft of the servo motor (47) passes through the housing (41) and is connected to a worm (46) at a position located at the front end of the housing (41), the worm (46) and the worm gear (43) are meshed with each other for transmission, and a servo push rod (45) is fixedly connected to the front end face of the worm (46).

2. A fully automatic cardiovascular disease examination device according to claim 1, characterized in that: The front and rear end surfaces of the bed frame (11) are both fixedly connected to a baffle plate (12) by means of screws, and the bottom surface of the load-bearing plate (15) and the top surface of the load-bearing top shell (36) are fixedly connected by means of bolts.

3. The fully automatic cardiovascular disease examination device according to claim 1, characterized in that: An ultrasonic cardiogram detection instrument and an electrocardiogram detection instrument are placed on the side of the bed frame (11), and a radionuclide development camera is installed on the left side surface of the bed frame (11) via a bracket.

4. The fully automatic cardiovascular disease examination device according to claim 1, characterized in that: The side wall of the rotating base (21) is locked on the left side wall of the bed frame (11) by high-strength bolts. A robot rotating motor is arranged inside the rotating base (21). The output shaft of the robot rotating motor is connected to the bottom end of the arm (22) through a coupling.

5. The fully automatic cardiovascular disease examination device according to claim 1, characterized in that: The rear end face of the servo motor (47) is connected to the front output shaft of the high-definition camera (25), and the rear end face of the housing (41) is fixedly connected to the front end face of the housing of the servo motor (47). A circular hole is provided at the internal axis position of the housing (41) for the output shaft of the servo motor (47) to pass through and rotate, and a bearing adapted to the output shaft of the servo motor (47) is installed inside the circular hole.

6. The fully automatic cardiovascular disease examination device according to claim 1, characterized in that: The support arm (42) and the clamping pliers (44) are arranged in a circular array with the central axis of the housing (41) as a reference line. The inner rear end of the clamping pliers (44) is provided with a notch for the worm wheel (43) to rotate. An axle pin is provided between the clamping pliers (44) and the worm wheel (43).

7. The fully automatic cardiovascular disease examination device according to claim 1, characterized in that: A layer of silicone sheet is adhered to the inner end surfaces of the clamping pliers (44) that are gathered together and close to each other through an adhesive, and a radionuclide syringe, an ultrasonic cardiography probe or an electrocardiogram probe is clamped between the clamping pliers (44).

8. The fully automatic cardiovascular disease examination device according to claim 1, characterized in that: A storage battery (34) is installed in the middle area of ​​the top surface of the base (31), and a control panel (35) is arranged in the front area of ​​the top surface of the load-bearing top shell (36).

9. The fully automatic cardiovascular disease examination device according to claim 1, characterized in that: The rear side of the bottom surface of the load-bearing top shell (36) is fixedly connected to the top surface of the outer shell of the driving motor (37) through a bracket, and the output shaft of the driving motor (37) is connected to the inner end of the driving wheel (39) through a coupling and a rotating shaft.

10. The fully automatic cardiovascular disease examination device according to claim 1, characterized in that: The rear side of the bottom surface of the load-bearing top shell (36) is fixedly connected with a suspension (38) by means of bolts, and the bottom end of the suspension (38) is connected to the outer ring surface of the rotating shaft by means of a bearing.

Images