Ultrasonic probe mounting frame and ultrasonic probe device

Abstract

The present invention relates to an ultrasonic probe mounting frame and an ultrasonic probe device. The transmission mechanism of the ultrasonic probe mounting frame is respectively connected to the action part of the adjustment device and the probe mounting part; the action part of the adjustment device drives the probe mounting part to make linear reciprocating motion relative to the mounting seat through the transmission mechanism; the adjustment device includes a protrusion and a plurality of clamping holes, and when the action part of the adjustment device moves, the protrusion is driven to be clamped into the clamping holes in sequence. When the user adjusts the probe of this ultrasonic probe device, a clicking sound will be made when the protrusion enters the clamping hole, thereby prompting the operator that the probe has been rotated by one grid and has moved forward by one grid unit, and the displacement of the probe can also be felt by the rotation feel. This solution is easy and quick to assemble, and is provided with a grading structure, which improves the clarity of the hand feel. The control accuracy of the probe can be guaranteed by controlling the rotation state of the adjustment device, thereby improving the user experience.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to an ultrasonic probe mounting frame and an ultrasonic probe device. 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 higher and higher, but prostate puncture biopsy is still the "gold standard" for diagnosing prostate cancer. At present, in the field of medical devices, ultrasonic probes are widely used. In clinical use, ultrasonic probes are generally fixed on puncture stands to free the doctor's hands for puncture. The puncture stand can make the ultrasonic probe move forward and backward. On the other hand, the structure cannot be too complicated to cause difficulty in operation and high cost. The puncture stand published by patent number CN206424130U adjusts the longitudinal movement of the probe forward and backward through a sliding rod, and the adjustment accuracy is not enough. In addition, during the adjustment process, the hand feel clarity is poor. When adjusting the probe, the doctor cannot feel the progress of the probe's forward and backward adjustment by hand, which is not convenient for freeing the doctor's attention on the puncture work.

[0003] Therefore, how to achieve accurate positioning of the puncture rack, simple operation and low cost is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0004] Based on this, it is necessary to provide an ultrasonic probe device to address the problem of poor hand feeling clarity and low adjustment accuracy during probe adjustment in the prior art.

[0005] An ultrasonic probe mounting bracket, characterized in that it comprises: a mounting seat and a swing base, the mounting seat is provided with an adjustment device, a transmission mechanism, and a probe mounting part; the transmission mechanism is respectively connected to the action part of the adjustment device and the probe mounting part; the action part of the adjustment device drives the probe mounting part to perform linear reciprocating motion relative to the mounting seat through the transmission mechanism; the adjustment device comprises a protrusion and a plurality of clamping holes, and when the action part of the adjustment device moves, the protrusion is driven to be clamped into the clamping holes in sequence; the mounting seat is arranged on the swing base, and the mounting seat can rotate around the axis of the probe on the probe mounting part.

[0006] Among them, in order to save space and to more accurately control the displacement of the probe, the adjustment device is an adjustment knob including a rotating shaft, a rotating disk and a top ball, and the rotating shaft is coaxially fixedly connected to the rotating disk; a plurality of clamping holes are provided on the rotating disk, and when the rotating disk rotates, the top balls are driven to be clamped into the clamping holes in sequence.

[0007] Among them, in order to facilitate the adjustment of the adjustment device and save costs, the transmission mechanism is a closed circle with two ends tensioned by transmission wheels to form a linear active path, and the probe mounting part is fixedly connected to the closed circle; the action part is a rotating shaft, and the tensioning wheel is coaxially sleeved on the rotating shaft and driven to rotate by the rotating shaft.

[0008] Among them, in order to improve the accuracy of the front and rear adjustment of the probe and avoid slipping, the transmission wheel is a gear, the closing ring is a synchronous belt with teeth on the inside, and the synchronous belt is meshed with the gear; the probe mounting part is fixedly connected to the synchronous belt, and the gear drives the probe mounting part to perform longitudinal linear reciprocating motion relative to the mounting seat through the synchronous belt.

[0009] In order to improve the stability of the probe, guide the moving direction of the probe, and make the probe adjustment work more labor-saving, the ultrasound probe mounting bracket also includes a sliding block and a linear slide rail, and the sliding block is slidably connected to the linear slide rail; the probe mounting part is fixedly connected to the sliding block, and is driven by the transmission mechanism to perform linear reciprocating motion on the linear slide rail relative to the mounting seat.

[0010] In order to allow the probe to rotate, facilitate the doctor to locate the lesion, and position the probe during rotation to avoid shaking when the mounting base swings, thereby improving the positioning accuracy of the probe, the ultrasound probe mounting frame also includes a U-shaped swing base, and connecting parts are provided at both ends of the swing base. The mounting base is connected to the swing base through the two connecting parts, and the mounting base can rotate around the axis of the probe on the probe mounting part.

[0011] Among them, in order to allow the probe to rotate and to limit the rotation trajectory of the probe precisely, one end of the U-shaped swing base is provided with an arc track formed by an arc-shaped through hole, and the mounting seat is provided with a raised slider, and the mounting seat is slidably connected to the arc track through the raised slider; a fixed shaft is provided on the other end of the swing base, and the mounting seat is rotatably connected to the swing base through the fixed shaft; the center of the arc track and the axis line of the fixed shaft coincide with the axis line of the probe on the probe mounting part, and when the mounting seat slides on the arc track, the probe rotates.

[0012] Among them, in order to facilitate the probe handheld part to be better placed in the probe mounting part, the swing seat is moved laterally before placement, so that the probe handheld part is aligned with the mounting part position, and the ultrasonic probe device also includes a transverse movement mechanism, which includes a transverse movement base, a screw rod and a screw rod knob; the screw rod is arranged on the transverse movement base, and the screw rod is coaxially fixedly connected with the screw rod knob; the screw rod is transmission-connected to the swing base, and drives the swing base to make a lateral displacement.

[0013] On the other hand, the present invention further provides an ultrasonic probe device, comprising a probe and the ultrasonic probe mounting frame as described above, wherein the probe is mounted on the ultrasonic probe mounting frame.

[0014] Among them, in order to allow the movement of the probe without power supply and motor, and the positioning and activity state of each joint mechanical arm are implemented through mechanical transmission, the mounting seat and the probe are arranged on a mechanical arm, and the mechanical arm includes a control switch and a multi-section mechanical arm; the multi-section mechanical arms are interconnected in pairs, and the middle mechanical arm has a right-angle corner; the control switch includes a connecting rod mechanism and multiple rotation control mechanisms; the connecting rod mechanism includes multiple connecting rods and multiple right-angle connecting mechanisms, each connecting rod is arranged in a matching mechanical arm, and the right-angle connecting mechanism is arranged at the right-angle corner of the mechanical arm, which is used for A connecting rod is connected to both sides of the right-angle connection mechanism; a rotation control mechanism is provided at the matching position of two adjacent robotic arms, and the rotation control mechanism includes a first control unit and a second control unit respectively fixedly connected to the two adjacent robotic arms, the first control unit and the second control unit are provided with matching circumferential limiting structures, and the rotation control mechanism is sleeved on the connecting rod; the connecting rod mechanism can move axially in each robotic arm to release the circumferential limiting structure of each rotation control mechanism from the circumferential limiting, so that the first control unit and the second control unit can rotate relative to each other around the axis, and each section of the robotic arm cooperates to form a multi-degree-of-freedom rotating arm.

[0015] The technical solution of the present invention adds a card hole and a protrusion to the adjustment device before and after the adjustment probe. When the user turns the adjustment device to adjust the probe, a click sound is made when the protrusion enters the card hole, thereby prompting the operator that the probe has been rotated one grid and the probe has moved forward one grid unit of distance, and the rotation feel can also feel the displacement of the probe. After the probe moves to the specified position, it scans the image required by the doctor, and the doctor can perform the puncture operation with both hands. The technical solution has a simple structure, is easy and quick to assemble, is provided with a grading structure, improves the clarity of the hand feel, can ensure the control accuracy of the probe by controlling the rotation state of the adjustment device, and improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is an overall schematic diagram of an embodiment of an ultrasonic probe device of the present invention;

[0017] Figure 2 It is an overall schematic diagram of the ultrasonic probe device of the present invention from another angle;

[0018] Figure 3 for Figure 2 A partial enlarged schematic diagram of the position of the ultrasonic probe device D is shown;

[0019] Figure 4 A top view of an embodiment of an ultrasonic probe device of the present invention;

[0020] Figure 5 for Figure 4 A partial enlarged schematic diagram of the position of the rotation axis C of the ultrasonic probe;

[0021] Figure 6 It is an overall schematic diagram of the ultrasonic probe device of the present invention after partially hiding the mounting base housing;

[0022] Figure 7 for Figure 6 A partially enlarged schematic diagram of the position of the ultrasonic probe device A;

[0023] Figure 8 It is an overall schematic diagram of the ultrasonic probe device of the present invention after the mounting base is swung to a certain angle;

[0024] Fig. 9 for Figure 8 A side view of the ultrasound probe device;

[0025] Fig.10 is an overall schematic diagram of another embodiment of the ultrasonic probe device of the present invention;

[0026] Fig.11 for Fig.10 Schematic diagram of the internal structure of the robotic arm part.

[0027] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0028] 1. Probe; 2. Mounting seat; 21. Adjustment device; 211. Turntable; 212. Top ball; 213. Rotating shaft; 214. Clamping hole; 22. Probe mounting part; 23. Synchronous belt; 24. Sliding block; 25. Linear slide rail; 3. Swinging base; 31. Arc track; 32. Fixed shaft; 33. Clamping device; 4. Auxiliary handle; 5. Transverse movement mechanism; 51. Screw knob; 52. Screw; 6. Robotic arm. DETAILED DESCRIPTION

[0029] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and understandable, the specific implementation methods of the present invention are described clearly and completely below in conjunction with the accompanying drawings. Obviously, the specific details described below are only part of the embodiments of the present invention, and the present invention can also be implemented in many other embodiments different from those described herein. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the protection scope of the present invention.

[0030] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0032] Reference Figures 1 to 5 As shown, an embodiment of the present invention proposes an ultrasound probe mounting bracket, including a mounting seat 2 and a swing base 3, and an adjustment device 21, a transmission mechanism, and a probe mounting portion 22 provided on the mounting seat 2; the transmission mechanism is respectively connected to the action portion of the adjustment device 21 and the probe mounting portion 22; the action portion of the adjustment device 21 drives the probe mounting portion 22 to perform linear reciprocating motion relative to the mounting seat 2 through the transmission mechanism; the adjustment device 21 includes a protrusion and a plurality of clamping holes 214, and when the action portion of the adjustment device 21 moves, the protrusion is driven to be clamped into the clamping holes 214 in sequence; the mounting seat 3 is arranged on the swing base 3, and the mounting seat 2 can rotate around the axis of the probe 1 on the probe mounting portion 22.

[0033] The technical solution of the present invention adds a clamping hole 214 and a protrusion to the adjustment device 21 before and after the adjustment probe 1. When the user turns the adjustment device 21 to adjust the probe 1, a click sound is made when the protrusion enters the clamping hole 214, thereby prompting the operator that the probe 1 has been rotated one grid and the probe 1 has moved forward one grid unit of distance, and the rotation feel can also feel the displacement of the probe 1. After the probe 1 moves to the specified position, it scans the image required by the doctor, and the doctor can perform the puncture operation with both hands. The technical solution has a simple structure, is easy and quick to assemble, is provided with a grading structure, improves the clarity of the hand feel, can ensure the control accuracy of the probe 1 by controlling the rotation state of the adjustment device 21, and improves the user experience.

[0034] In this embodiment, the adjustment device 21 is an adjustment knob including a rotating shaft 213, a rotating disk 211 and a top ball 212. The rotating shaft 213 is coaxially fixedly connected to the rotating disk 211. A plurality of locking holes 214 are provided on the rotating disk 211. When the rotating disk 211 rotates, the top balls 212 are driven to be locked into the locking holes 214 in sequence.

[0035] It should be noted that the top balls 212 are evenly and equally spaced on the turntable 211 , and the turntable 211 is provided with a scale. The knob-type design can save space and is also for more precise control of the displacement of the probe 1 .

[0036] It is understandable that the adjustment device 21 can also be implemented using other structures, for example, the position of the probe 1 is adjusted by a toggle block on a linear track, and the positions of the clamping holes 214 are arranged to be equally distributed in a linear shape, and when the toggle block moves linearly, the protruding blocks are sequentially clamped into the clamping holes 214. Of course, its structure is not limited to that described in the embodiment.

[0037] See attached Figure 6 And attached Figure 7 In this embodiment of the present invention, the transmission mechanism is a closed loop with a linear movable path formed by tensioning the two ends through the transmission wheel, and the probe 1 is fixedly connected to the closed loop through the probe mounting portion 22; a tension wheel is coaxially sleeved on the rotating shaft 213 and driven to rotate by the rotating shaft 213.

[0038] It is understandable that the adjustment device 21 can be adjusted easily by the cooperation of the tension wheel and the closing ring, and the cost is saved and the adjustment process is effortless. Of course, the transmission mechanism can also be realized by other structures such as a push rod and a threaded screw.

[0039] Among them, the transmission wheel is a gear, the closed ring is a synchronous belt 23 with meshing teeth on the inside, and the synchronous belt 23 is engaged with the gear; the probe mounting part 22 is fixedly connected to the synchronous belt 23, and the gear and the synchronous belt 23 drive the probe 1 to perform longitudinal linear reciprocating motion relative to the mounting base 2.

[0040] Compared with the prior art method of using a turbine rod and an adjustment knob, the present technical solution uses a synchronous belt 23 to adjust the position of the probe 1, which is more portable and helps reduce the size and weight of the device. The cooperation of the top bead 212 and the clamping hole 214 can make up for the defect of the synchronous belt 23 having no self-locking function, making the adjustment process portable and accurate, which is convenient for doctors to use during surgery.

[0041] Compared with the structure of the guide rod and the turbine rod in the prior art, the use of the synchronous belt 23 has a smaller projected area and a smaller lateral area, which can further reduce the size of the device, making it more lightweight and easier for doctors to operate.

[0042] It is understandable that the cooperation of the gear and the closed ring improves the accuracy of the front and rear adjustment of the probe 1 and avoids slipping. Of course, the transmission mechanism can also be realized by the cooperation of a pulley and a belt, a gear and a chain, etc., which is not limited to the structure described in this embodiment.

[0043] On the basis of this embodiment, further, the ultrasound probe mounting bracket also includes a sliding block 24 and a linear slide rail 25, the sliding block 24 is slidably connected to the linear slide rail 25; the probe 1 is fixedly connected to the sliding block 24, and is driven by a transmission mechanism to perform linear reciprocating motion on the linear slide rail 25 relative to the mounting base 2.

[0044] The slide block 24 and the linear slide rail 25 cooperate with the above synchronous belt 23 structure to have a guiding effect, which is beneficial to the positioning and stability of the probe. When in use, the turntable 211 is turned to adjust the forward and backward movement of the probe 1, and the gear on the rotating shaft 213 drives the probe 1 on the conveyor belt to move forward and backward in the patient's rectum to find the location of the lesion and align for ultrasonic examination. The cooperation of the linear slide rail 25 and the slide block 24 can improve the stability of the probe 1, guide the moving direction of the probe 1, and make the adjustment of the probe 1 more labor-saving.

[0045] Specifically, in order to facilitate replacement and maintenance of the probe 1, the probe mounting portion 22 is a buckle, and the probe 1 is fixed to the sliding block 24 by the buckle, which includes a slot for the probe 1, and the probe 1 is installed in the slot and fixed in the slot by a buckle with a hinge.

[0046] Reference Figure 8 as well as Fig. 9 As shown, the ultrasonic probe mounting frame also includes a U-shaped swing base 3, and connecting parts are provided at both ends of the swing base 3. The mounting seat 2 is connected to the swing base 3 through the two connecting parts, and the mounting seat 2 can rotate around the axis of the probe 1 on the probe mounting portion 22. One end of the U-shaped swing base 3 is provided with a circular arc track 31 formed by a circular arc through hole, and a protruding slider is provided on the mounting seat 2. The mounting seat 2 is slidably connected to the circular arc track 31 through the protruding slider; a fixed shaft 32 is provided on the other end of the swing base 3, and the mounting seat 2 is rotatably connected to the swing base 3 through the fixed shaft 32; the center of the circular arc track 31 and the axis of the fixed shaft 32 are both coincident with the axis of the probe 1 on the probe mounting portion 22, and when the mounting seat 2 slides on the circular arc track 31, the probe 1 rotates.

[0047] Compared with the prior art method of using teeth that engage between the adjusting fixing groove and the protrusion to enable the support bracket to drive the entire probe clamp to swing left and right, the present technical solution uses a U-shaped swing base 3 with connecting parts at both ends, and the mounting base 2 is connected to the swing base 3 through two connecting parts, and the mounting base 2 can rotate around the axis of the probe 1 on the probe mounting part 22. It is more lightweight, which is beneficial to reducing the size and weight of the equipment, and is more convenient for doctors to use during surgery.

[0048] In order to conveniently and quickly position the angle of the probe on the mounting seat, a clamping device 33 is provided at the connection between the swing base 3 and the mounting seat 2, and the clamping device 33 fixes and clamps the mounting seat 2.

[0049] It should be noted that the fixing base swings with the probe 1 as the center of the circle when swinging, so that the probe 1 can rotate, which is convenient for the doctor to locate the lesion. The U-shaped swing base 3 and the mounting base 2 are connected at two places through the fixed shaft 32 and the arc-shaped track 31 to avoid shaking when the mounting base 2 swings, thereby improving the positioning accuracy of the probe 1. When the lesion position is found, the rotation angle of the probe 1 is locked by the clamping device 33, so that the angle of the probe 1 on the mounting base 2 can be conveniently and quickly positioned.

[0050] Among them, in order to facilitate the probe handheld part to be better placed in the probe mounting part 22, the swing seat 3 is moved laterally before placement, so that the probe handheld part is aligned with the mounting part 22. The ultrasonic probe mounting frame also includes a transverse movement mechanism 5, which includes a transverse movement base, a screw rod 52 and a screw rod knob 51; the screw rod 52 is arranged on the transverse movement base, and the screw rod 52 is coaxially fixedly connected with the screw rod knob 51; the screw rod 52 is transmission-connected to the swing base 3, and drives the swing base 3 to make a lateral displacement.

[0051] In this embodiment, in order to conveniently move the probe 1 and facilitate the doctor to hold the ultrasound probe mounting frame, an auxiliary handle 4 is further provided on the swing base 3.

[0052] On the other hand, the present invention further provides an ultrasonic probe device, comprising a probe and the ultrasonic probe mounting frame as described above, wherein the probe is mounted on the ultrasonic probe mounting frame.

[0053] Reference Fig.10 and Fig.11The mounting seat 2 and the probe 1 are arranged on a mechanical arm 6, and the mechanical arm 6 includes a control switch and a multi-section mechanical arm; the multi-section mechanical arms are connected to each other in pairs, and the middle mechanical arm has a right-angle corner; the control switch includes a connecting rod mechanism and a plurality of rotation control mechanisms; the connecting rod mechanism includes a plurality of connecting rods and a plurality of right-angle connecting mechanisms, each connecting rod is arranged in a matching mechanical arm, and the right-angle connecting mechanism is arranged at the right-angle corner of the mechanical arm, and is used to connect the connecting rods on both sides of the right-angle connecting mechanism; a rotation control mechanism is provided at the matching position of two adjacent mechanical arms, and the rotation control mechanism includes a first control unit and a second control unit respectively fixedly connected to the adjacent mechanical arms, and the first control unit and the second control unit are provided with a matching circumferential limiting structure, and the rotation control mechanism is sleeved on the connecting rod; the connecting rod mechanism can move axially in each mechanical arm to release the circumferential limiting structure of each rotation control mechanism from the circumferential limiting, so that the first control unit and the second control unit can rotate relative to each other around the axis, and each section of the mechanical arm cooperates to form a multi-degree-of-freedom rotating arm.

[0054] Specifically, it should be noted that the position of the right-angle corner on the robot arm can be any position, such as near the two ends and the middle, and there is no limitation here. The length of the robot arm can be set according to the moving distance, and there is no limitation here. In addition, the number of robot arms is 7 sections, and the degree of freedom is six degrees of freedom. In other embodiment structures, the number of robot arms can be appropriately increased or decreased according to the degree of freedom requirements. The plane connecting the two is set as the rotation plane. It can be obtained from the above structure that the two adjacent rotation planes are perpendicular to each other.

[0055] It can be understood that the robot arm 6 has the following beneficial effects: 1. It has multiple degrees of freedom and can imitate the movement of a human arm. The movement of multiple degrees of freedom of the robot arm 6 can be completed by manipulating the connecting rod mechanism. 2. No power supply or motor is required. It is a purely mechanical action. The positioning and activity status of each joint robot arm are implemented through mechanical transmission.

[0056] In this embodiment, when using the ultrasonic probe device, the user holds the auxiliary handle 4 with one hand, and presses the mechanical arm buckle with the other hand to move the portable puncture frame to the perineum. After releasing the mechanical arm buckle, the puncture frame stops at the current position, and the ultrasonic probe 1 is loaded into the probe 1 clamp and fixed. After the probe 1 enters the rectum, the forward and backward stepping knobs are rotated to step 1mm per grid. A dividing disk is provided on the rotating knob, and each grid is 1 mm. When the top bead 212 enters the dividing disk hole during rotation, a click sound prompts the operator to move forward 1mm, and the rotation feel can also be felt. After the probe 1 moves to the specified position, the knob is rotated to rotate according to the circular shape of the probe 1 to scan the image required by the doctor. By rotating the fixed knob, the probe 1 stops at this position, and the doctor can perform the puncture operation with both hands. The probe 1 can move forward and backward and rotate left and right. The device has a simple structure, is light and compact, and is easy to use.

[0057] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0058] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for those of ordinary skill in the art, several variations, substitutions and improvements can be made without departing from the concept of the present invention, and these should all be included in the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the claims.

Claims

1. An ultrasonic probe mounting bracket, characterized in that: include: The mounting seat and the swing base are provided with an adjustment device, a transmission mechanism, and a probe mounting part on the mounting seat; the transmission mechanism is respectively connected to the action part of the adjustment device and the probe mounting part; the action part of the adjustment device drives the probe mounting part to make a linear reciprocating motion relative to the mounting seat through the transmission mechanism; the adjustment device includes a protrusion and a plurality of clamping holes, and when the action part of the adjustment device moves, the protrusion is driven to be clamped into the clamping holes in sequence; the mounting seat is arranged on the swing base, and the mounting seat can rotate around the axis of the probe on the probe mounting part; the adjustment device is an adjustment knob including a rotating shaft, a rotating disk and a top ball, and the rotating shaft is coaxially fixedly connected with the rotating disk; a plurality of clamping holes are provided on the rotating disk, and when the rotating disk rotates, the top ball is driven to be clamped into the clamping holes in sequence; the transmission mechanism is a closed ring with two ends tensioned by a transmission wheel to form a linear active path, and the probe mounting part is fixedly connected to the closed ring; the action part is a rotating shaft, and a tensioning wheel is coaxially sleeved on the rotating shaft and driven to rotate by the rotating shaft.

2. The ultrasonic probe mounting bracket according to claim 1, characterized in that: The transmission wheel is a gear, the closed ring is a synchronous belt with teeth on the inner side, and the synchronous belt is meshed with the gear; the probe mounting part is fixedly connected to the synchronous belt, and the gear drives the probe mounting part to perform longitudinal linear reciprocating motion relative to the mounting seat through the synchronous belt.

3. The ultrasonic probe mounting bracket according to claim 2, characterized in that: It also includes a sliding block and a linear slide rail, the sliding block is slidably connected to the linear slide rail; the probe mounting part is fixedly connected to the sliding block and driven by the transmission mechanism to perform linear reciprocating motion relative to the mounting seat on the linear slide rail.

4. The ultrasonic probe mounting bracket according to claim 1, characterized in that: The swing base is U-shaped, with connecting parts at both ends of the swing base, the mounting seat is connected to the swing base through two connecting parts, and the mounting seat can rotate around the axis of the probe on the probe mounting part.

5. The ultrasonic probe mounting bracket according to claim 4, characterized in that: One end of the U-shaped swing base is provided with an arc-shaped track formed by an arc-shaped through hole, and the mounting seat is provided with a raised slider, and the mounting seat is slidably connected to the arc-shaped track through the raised slider; a fixed shaft is provided on the other end of the swing base, and the mounting seat is rotatably connected to the swing base through the fixed shaft; the center of the arc-shaped track and the axis line of the fixed shaft coincide with the axis line of the probe on the probe mounting part, and when the mounting seat slides on the arc-shaped track, the probe rotates.

6. The ultrasonic probe mounting bracket according to claim 4, characterized in that: It also includes a transverse movement mechanism, which includes a transverse movement base, a screw and a screw knob; the screw is arranged on the transverse movement base, and the screw is coaxially fixedly connected with the screw knob; the screw is transmission-connected to the swing base, and drives the swing base to make a lateral displacement.

7. An ultrasonic probe device, characterized in that: include: A probe and an ultrasonic probe mounting frame as claimed in any one of claims 1 to 6, wherein the probe is mounted on the ultrasonic probe mounting frame.

8. The ultrasonic probe device according to claim 7, characterized in that: The mounting base and the probe are arranged on a mechanical arm, and the mechanical arm comprises a control switch and a multi-section mechanical arm; The multi-section mechanical arms are connected to each other in pairs, and the middle mechanical arms have right-angle corners; The control switch includes a connecting rod mechanism and a plurality of rotation control mechanisms; The connecting rod mechanism includes a plurality of connecting rods and a plurality of right-angle connecting mechanisms, each connecting rod is arranged in a matching mechanical arm, and the right-angle connecting mechanism is arranged at a right-angle corner of the mechanical arm, and is used to connect the connecting rods on both sides of the right-angle connecting mechanism; A rotation control mechanism is provided at the matching position of two adjacent mechanical arms, and the rotation control mechanism includes a first control unit and a second control unit respectively fixedly connected to the two adjacent mechanical arms, and the first control unit and the second control unit are provided with a matching circumferential limiting structure, and the rotation control mechanism is sleeved on the connecting rod; The connecting rod mechanism can move axially in each mechanical arm to release the circumferential limit structure of each rotation control mechanism, so that the first control unit and the second control unit can rotate relative to each other around the axis, and each section of the mechanical arm cooperates to form a multi-degree-of-freedom rotating arm.

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