A stepper

Abstract

The present invention discloses a stepper, comprising a guide sleeve rotatably connected to a mechanical arm, a moving part slidably and rotatably connected in the guide sleeve, a mounting part for mounting a probe detachably connected to the front end of the moving part, and a detection element for detecting the rotation and displacement of the moving part is mounted on the guide sleeve. Triangular rotation grooves are arranged on two opposite outer side walls of the guide sleeve, and the mechanical arm is rotatably connected in the rotation grooves. A driving member is arranged on the guide sleeve to drive the moving part to move axially along the guide sleeve. The device has a simple structure and is easy to use.

Description

Technical Field

[0001] The present invention relates to the field of medical equipment, and in particular to a stepper. Background Art

[0002] In recent years, with the development of imaging technology, especially the widespread application of MRI examination technology, the detection rate of prostate cancer lesions has become increasingly higher, but prostate puncture biopsy is still the "gold standard" for diagnosing prostate cancer. MRI examination has a high resolution of prostate tissue and a high lesion detection rate, which has a good guiding significance for puncture positioning. The combination of MRI and transrectal ultrasonography (TRUS) technology, that is, MRI-TRUS fusion as a new technology to guide prostate puncture biopsy, can not only accurately locate through MRI, but also combine with the real-time positioning of ultrasound, which can improve the accuracy of puncture and reduce the misdiagnosis or missed diagnosis of prostate cancer caused by imaging positioning errors.

[0003] During the test, a handheld probe is inserted into the human body. Due to discomfort or pain, the patient will move, causing the probe's initial preset position to deviate. However, the detection system cannot obtain feedback on the displacement, resulting in errors and inaccuracies in image comparison, affecting the test results. Therefore, it is necessary to develop a set of equipment that can be used to install the probe, and through this equipment, the probe can be conveniently controlled and corresponding feedback on the displacement changes can be obtained. Summary of the invention

[0004] In view of this, it is necessary to provide a stepper which is easy to operate, simple in structure and can timely feedback the probe displacement change data.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: a stepper, comprising a guide sleeve rotatably connected to a robotic arm, a moving part slidingly and rotatably connected inside the guide sleeve, a mounting part for mounting a probe detachably connected to the front end of the moving part, and a detection element for detecting the rotation and displacement of the moving part installed on the guide sleeve.

[0006] Furthermore, triangular rotation grooves are provided on two opposite outer side walls of the guide sleeve, and the robot arm is rotationally connected in the rotation grooves.

[0007] Furthermore, the guide sleeve is provided with a driving member for driving the moving part to move axially along the guide sleeve.

[0008] Furthermore, the driving member includes a knob with a gear, and a rack meshing with the gear is provided on the side wall of the moving part.

[0009] Furthermore, the mounting portion includes a base and a probe lock, the base is provided with a slot, the rear end of the probe is placed in the slot, and the probe is fixedly connected to the mounting portion by the probe lock.

[0010] Furthermore, the mounting portion also includes a positioning piece, the base is also provided with a socket, the movable portion has an insertion rod inserted into the socket, the front end peripheral side wall of the insertion rod has an annular groove, the side wall of the base is provided with a slide groove connected to the socket, the positioning piece is slidably connected in the slide groove, so that when the positioning piece is inserted into the slide groove, the bottom of the positioning piece is just embedded in the groove of the insertion rod.

[0011] Furthermore, a positioning bead is provided at the entrance of the slide groove, and two positioning holes and a positioning groove connecting the two positioning holes are provided at the top end of the positioning piece. The depth of the positioning hole is greater than the depth of the positioning groove, so that when the positioning piece is inserted into the slide groove, the positioning bead is first embedded in the positioning hole at the front end of the positioning piece, and as the positioning piece is advanced, the positioning bead slides along the positioning groove to enter the positioning hole at the rear end of the positioning piece.

[0012] Furthermore, the detection element is a magnetic rotary encoder.

[0013] Furthermore, the moving part has a gear ring, a measuring wheel meshing with the gear ring is rotatably connected in the guide sleeve, and a first magnetic rotary encoder for detecting the rotation displacement of the measuring wheel is fixedly connected to the side of the measuring wheel.

[0014] Furthermore, a second magnetic rotary encoder for detecting the displacement of the moving part is fixedly connected inside the guide sleeve.

[0015] Compared with the prior art, the present invention has the following beneficial effects: the device can well assist doctors in completing the manipulation of the probe through a stepper with rotation and movement functions, and can timely obtain the displacement change of the probe, and has a simple structure and is easy to use.

[0016] In order to make the above and other purposes, features and advantages of the present invention more clearly understood, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram of an embodiment of the present invention.

[0018] Figure 2 Schematic diagram of the structure of the moving part in the embodiment of the present invention.

[0019] Figure 3 Schematic diagram of the structure of the installation part in the embodiment of the present invention.

[0020] Figure 4 It is a schematic diagram of the structure of the positioning piece and the sliding groove in the embodiment of the present invention.

[0021] Figure 5 Schematic diagram of the structure of the positioning piece in the embodiment of the present invention.

[0022] In the figure: 1-guide sleeve, 11-rotating groove, 12-knob, 2-moving part, 21-rack, 22-insertion rod, 23-gear ring, 24-measuring wheel, 25-rotating part, 3-installing part, 31-base, 32-probe lock, 33-jack, 34-slide groove, 35-positioning bead, 36-positioning sheet, 361-positioning hole, 362-positioning groove, 4-probe, 5-first magnetic rotary encoder, 6-second magnetic rotary encoder. DETAILED DESCRIPTION

[0023] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation mode, structure, characteristics and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0024] like Figure 1-2 As shown, a stepper includes a guide sleeve 1, a moving part 2, a mounting part 3 and a detection element.

[0025] The guide sleeve 1 is rotatably connected to a mechanical arm, the moving part is slidably and rotatably connected in the guide sleeve, the mounting part is detachably mounted on the moving part, and the detection element is used to detect the rotation and displacement of the moving part. The moving part can be rotated in the guide sleeve by directly rotating the moving part.

[0026] The two opposite outer side walls of the guide sleeve 1 are provided with triangular rotation grooves 11, and the mechanical arm is rotatably connected in the rotation grooves 11. The triangular rotation grooves 11 enable the stepper to rotate and are also used to limit the rotation angle of the stepper.

[0027] The guide sleeve 1 is provided with a driving member for driving the moving part to move axially along the guide sleeve. Preferably, the driving member includes a knob 12 with a gear, and a rack 21 meshing with the gear is provided on the side wall of the moving part 2. By rotating the knob 12, the moving part is driven to move axially along the guide sleeve. A rotating part 25 is fixedly connected to the rear end of the moving part, and by rotating the rotating part, the moving part is driven to rotate in the guide sleeve.

[0028] like Figure 3-5As shown, a mounting portion 3 for mounting a probe is detachably connected to the front end of the movable portion 2, and the mounting portion 3 includes a base 31, a probe lock buckle 32 and a positioning piece 36. A card slot is provided on the base 31, and the rear end of the probe 4 is placed in the card slot. The probe lock buckle 32 is locked to fix the probe 4 on the mounting portion; a plug hole 33 is also provided on the base 31, and a plug rod 22 inserted into the plug hole is provided at the front end of the movable portion 2, and an annular groove is provided at the front end of the plug rod 22. A slide groove 34 connected to the plug hole is provided on the side wall of the base 31, and the positioning piece 36 is slidably connected to the slide groove 34. When the positioning piece 36 is inserted into the slide groove 34, the bottom of the positioning piece 36 just fits It is embedded in the groove of the insertion rod, thereby fixing the insertion rod 22 to prevent the insertion rod from detaching from the mounting portion 3; a positioning bead 35 is provided at the entrance of the slide groove 34, and the bottom end of the positioning piece 36 is provided with two positioning holes 361 and a positioning groove 362 connecting the two positioning holes, and the depth of the positioning groove 362 is less than the depth of the positioning hole 361. When the positioning piece 36 is inserted into the slide groove 34, the positioning bead 365 is first embedded in the positioning hole at the front end. As the positioning piece 36 is pushed forward, the positioning bead 35 slides along the positioning groove 362 to enter the positioning hole at the rear end, so that the positioning piece is completely sent into the slide groove, and the positioning bead clamps the positioning piece to prevent the positioning piece from detaching from the slide groove without external force.

[0029] In this embodiment, the detection element is a magnetic rotary encoder. The moving part 2 has a gear ring 23, a measuring wheel 24 meshing with the gear ring is rotatably connected in the guide sleeve 1, and a first magnetic rotary encoder 5 for detecting the rotation displacement of the measuring wheel 24 is fixedly connected to the side of the measuring wheel 24. A second magnetic rotary encoder 6 for detecting the displacement of the moving part 2 is fixedly connected in the guide sleeve 1.

[0030] Through this stepper, the probe can be quickly installed and disassembled, and the probe can be rotated 360 degrees and moved linearly. At the same time, the entire stepper is installed on the mechanical arm to achieve up and down rotation and swing, realizing the use of multiple degrees of freedom and ensuring the convenience of using the probe. At the same time, through the magnetic rotary encoder, the position change of the probe is fed back in time, making the measurement result more accurate.

[0031] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A stepper, characterized in that: It comprises a guide sleeve rotatably connected to the mechanical arm, a moving part is slidably and rotatably connected in the guide sleeve, a mounting part for mounting a probe is detachably connected to the front end of the moving part, and a detection element for detecting the rotation and displacement of the moving part is mounted on the guide sleeve; The mounting part includes a base and a probe lock buckle, the base is provided with a slot, the rear end of the probe is placed in the slot, and the probe is fixedly connected to the mounting part through the probe lock buckle, the mounting part also includes a positioning piece, the base is also provided with a plug hole, the movable part has a plug rod inserted into the plug hole, the front end peripheral side wall of the plug rod has an annular groove, the side wall of the base is provided with a slide groove connected to the plug hole, the positioning piece is slidably connected in the slide groove, so that when the positioning piece is inserted into the slide groove, the bottom of the positioning piece is just embedded in the groove of the plug rod; A positioning bead is provided at the entrance of the slide groove, and two positioning holes and a positioning groove connecting the two positioning holes are provided at the top end of the positioning piece. The depth of the positioning hole is greater than the depth of the positioning groove, so that when the positioning piece is inserted into the slide groove, the positioning bead is first embedded in the positioning hole at the front end of the positioning piece, and as the positioning piece is advanced, the positioning bead slides along the positioning groove to enter the positioning hole at the rear end of the positioning piece; The guide sleeve is provided with a driving member for driving the moving part to move along the axial direction of the guide sleeve.

2. The stepper according to claim 1, characterized in that: The two opposite outer side walls of the guide sleeve are provided with triangular rotation grooves, and the mechanical arm is rotationally connected in the rotation grooves.

3. The stepper according to claim 1, characterized in that: The driving member comprises a knob with a gear, and a rack meshing with the gear is arranged on the side wall of the moving part.

4. The stepper according to any one of claims 1 to 3, characterized in that: The detection element is a magnetic rotary encoder.

5. The stepper according to claim 4, characterized in that: The moving part is provided with a gear ring, a measuring wheel meshing with the gear ring is rotatably connected in the guide sleeve, and a first magnetic rotary encoder for detecting the rotation displacement of the measuring wheel is fixedly connected to the side of the measuring wheel.

6. The stepper according to claim 4, characterized in that: A second magnetic rotary encoder for detecting the displacement of the moving part is fixedly connected inside the guide sleeve.

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