Parallel ultrasonic robot and ultrasonic diagnosis and treatment system

Abstract

The application relates to the technical field of ultrasonic equipment, and provides a parallel ultrasonic robot and an ultrasonic diagnosis and treatment system. The parallel ultrasonic robot comprises a first platform, a second platform and a connecting driving unit, the first platform is connected with the second platform through the connecting driving unit, the first platform comprises a first connecting part used for being connected with a positioning arm, the second platform comprises a probe clamping unit used for being connected with an ultrasonic probe; the connecting driving unit comprises a plurality of connecting driving parts, the connecting driving part comprises a motor module and a connecting rod module, the motor module can move relative to the first platform along the circumference of the first platform, and the connecting rod module connects the motor module and the second platform. The application designs a robot with a novel parallel configuration in view of the problems of a large volume, a complex structure, poor rigidity and inconvenience in quick building of an existing serial ultrasonic robot, and the robot has the advantages of compact structure, portability, large rigidity and safety, and is suitable for popularization to an ultrasonic diagnosis and treatment system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ultrasonic equipment, in particular to a parallel ultrasonic robot and an ultrasonic diagnosis and treatment system. BACKGROUND

[0002] In recent years, with the continuous development of medical technology, expert doctors perform ultrasonic diagnosis through remote control of ultrasonic robots, realizing sharing of medical resources and effectively alleviating the phenomenon of resource scarcity in remote and basic areas. The teleoperation extracorporeal ultrasonic robot refers to a robot that clamps an ultrasonic probe and uses wireless communication technology to perform near or remote ultrasonic detection of the human body outside the body.

[0003] The existing teleoperation extracorporeal ultrasonic robot adopts a serial robot configuration to realize positioning and control of the probe, and the serial robot configuration has problems such as large system size, high cost, poor rigidity, inconvenience of transportation and rapid construction, and the need for a larger range of probe rotation angles in some detection scenarios. SUMMARY

[0004] The present application provides a parallel ultrasonic robot and an ultrasonic diagnosis and treatment system to solve the defects of the serial robot in the prior art, and provides a parallel robot with large rigidity, compact structure, large axial rotation angle, portability and low cost, realizing safe use of the ultrasonic diagnosis and treatment system.

[0005] The present application provides a parallel ultrasonic robot, comprising: a first platform, a second platform and a connection driving unit, the first platform is connected with the second platform through the connection driving unit, the first platform comprises a first connecting part for connecting with a positioning arm, and the second platform comprises a probe clamping unit for connecting with an ultrasonic probe.

[0006] The connection driving unit comprises a plurality of connection driving parts, the connection driving part comprises a motor module and a connecting rod module, the motor module can move relative to the first platform along the circumference of the first platform, and the connecting rod module connects the motor module and the second platform.

[0007] According to the parallel ultrasonic robot provided by the present application, the first platform further comprises a center gear and a gear fixing plate, the center gear is connected with the first connecting part through the gear fixing plate, and the motor module is arranged in the circumference of the center gear.

[0008] According to the parallel ultrasonic robot provided by the present application, the motor module comprises a motor, a first gear and a first bearing, the first gear is arranged on the output shaft of the motor, the first gear is engaged with the center gear, the first bearing and the first gear are respectively arranged on the inner and outer circular surfaces of the center gear, and the first bearing connects the connecting rod module.

[0009] The parallel ultrasonic robot provided by the application comprises a connecting rod module, a first bearing module, a second bearing module and a second platform module.

[0010] The parallel ultrasonic robot provided by the application comprises a first bearing module, a second bearing module and a second platform module.

[0011] The parallel ultrasonic robot provided by the application comprises a first bearing module, a second bearing module and a second platform module.

[0012] The parallel ultrasonic robot provided by the application comprises a first platform module.

[0013] The parallel ultrasonic robot provided by the application comprises a connecting drive unit module.

[0014] The parallel ultrasonic robot provided by the application comprises a probe clamping unit module.

[0015] The parallel ultrasonic robot provided by the application comprises a second platform module.

[0016] The parallel ultrasonic robot provided by the application comprises a second platform module.

[0017] This invention provides a parallel ultrasound robot and ultrasound diagnostic system. The remote ultrasound robot, based on a parallel configuration, fixes the ultrasound probe, offering higher safety compared to traditional serial robots. By using a first platform, a second platform, and connecting drive units, multiple sets of drive units are connected to the first and second platforms in parallel, and each unit controls its own motor to move, reducing calculation errors inherent in serial configurations and achieving more precise motion control. Furthermore, the parallel configuration offers significant economic advantages and higher safety, making it suitable for widespread application in ultrasound diagnostic systems. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is one of the structural schematic diagrams of the parallel ultrasonic robot provided in the embodiments of the present invention;

[0020] Figure 2 This is the second structural schematic diagram of the parallel ultrasonic robot provided in the embodiments of the present invention;

[0021] Figure 3 This is a schematic diagram of the structure of the second platform provided in an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of the structure of the first platform provided in an embodiment of the present invention;

[0023] Figure 5 This is one of the structural schematic diagrams of the motor module provided in the embodiments of the present invention;

[0024] Figure 6 This is a schematic diagram of the interaction between the motor module and the central gear provided in an embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of the pose of the parallel ultrasonic robot provided in an embodiment of the present invention;

[0026] Figure 8 This is a schematic diagram of the end-effector posture adjustment of the parallel ultrasonic robot provided in an embodiment of the present invention;

[0027] Figure 9 This is the third structural schematic diagram of the parallel ultrasonic robot provided in the embodiments of the present invention;

[0028] Figure 10 This is the second structural schematic diagram of the motor module provided in the embodiment of the present invention;

[0029] Figure 11 Fig. 1 is a structural schematic diagram of an ultrasonic diagnosis and treatment system provided by an embodiment of the present application.

[0030] Reference signs:

[0031] 1: trolley and positioning arm; 2: parallel ultrasonic robot; 3: ultrasonic probe; 4: patient; 5: operating bed;

[0032] 101: first platform; 102: connecting driving unit; 103: second platform;

[0033] 201: probe clamping unit; 202: connecting rod; 203: motor module; 204: central gear; 205: gear fixing plate; 206: mounting fixing piece; 207: handle;

[0034] 2011: first clamping piece; 2012: fixing plate; 2013: force sensor; 2014: connecting piece; 2015: second clamping piece;

[0035] 2031: motor; 2032: motor mounting plate; 2033: fixing plate; 2034: first gear; 2035: upper bearing cover plate; 2036: upper bearing; 2037: bearing support piece; 2038: lower bearing;

[0036] 2041: inner circular surface; 2042: boss; 2043: gear mounting hole; 2044: first hinge; 2045: second hinge; 2046: horizontal fixing plate; 2047: vertical fixing plate;

[0037] 2061: first connecting part. DETAILED DESCRIPTION

[0038] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0039] Ultrasound diagnosis is a technology that applies ultrasound detection technology to human body, and finds diseases and makes suggestions by measuring physiological or tissue structure data and morphology. Ultrasound diagnosis is a non-invasive, painless, convenient, intuitive and effective examination method, especially B-ultrasound, which is widely used and has a great impact. It is one of the four major medical imaging technologies together with X-ray, CT and magnetic resonance imaging. Remote extracorporeal ultrasound robot is mainly used to expand the assistance of doctors in ultrasound diagnosis, and has high application value in scenarios such as ultrasound diagnosis requiring doctors to maintain a certain action for a long time and ultrasound diagnosis in remote mountainous areas.

[0040] However, the existing ultrasound robot technical solutions all adopt a serial robot configuration to realize positioning and control of the probe, and generally adopt an industrial 6-axis robot as the positioning and control of the probe. The serial robot structure involved in these solutions has problems such as large system size, high cost, and rich motion space. Under such background, the parallel ultrasound robot is proposed in the embodiments of the present application, and the parallel ultrasound robot is described below Figures 1-8 The parallel ultrasound robot of the present application is described as follows Figure 1 As shown in the figure, the parallel ultrasound robot provided by the embodiments of the present application comprises:

[0041] The first platform 101, the second platform 103 and the connecting driving unit 102, the first platform 101 is connected with the second platform 103 through the connecting driving unit 102, the first platform 101 comprises a first connecting part 2061 for connecting with a positioning arm, and the second platform 103 comprises a probe clamping unit 201 for connecting with an ultrasound probe 3;

[0042] The connecting driving unit 102 comprises a plurality of groups of connecting driving parts, the connecting driving part comprises a motor module and a connecting rod module, the motor module can move relative to the first platform 101 along the circumference of the first platform 101, and the connecting rod module connects the motor module and the second platform 103.

[0043] It should be noted that the first platform in the embodiments of the present application is used to connect the positioning arm of the ultrasound diagnosis and treatment system, and the second platform is connected with the ultrasound probe. In the actual application of remote ultrasound diagnosis and treatment, the doctor will issue an instruction to control the motor module of the first platform, so that the second platform moves through the connecting driving unit, which facilitates the detection and diagnosis of the patient.

[0044] The parallel ultrasonic robot provided by the embodiment of the present application takes a first platform as a fixed platform and a second platform as a movable platform, when a motor module works, the motor module drives a connecting rod module to move, and because the first platform and the second platform are connected and fixed by a plurality of groups of connecting driving parts, the parallel ultrasonic robot can realize the movement of multiple direction translations and multiple direction postures of the second platform relative to the first platform, thus forming a parallel robot configuration with multiple degrees of freedom. Compared with the serial robot configuration in the prior art, the parallel robot configuration has the advantages of large rigidity, compact structure, large axial rotation angle range, light weight and low cost, and because the motor module can move along the circumference of the first platform 101, the motor module can drive the connecting rod module to rotate relative to the first platform, and finally the ultrasonic probe clamped by the second platform can realize 360° axial freedom relative to the first platform.

[0045] In at least one embodiment of the present application, the first platform 101 comprises a central gear 204 and a gear fixing plate 205, the central gear 204 is connected to the first connecting part 2061 through the gear fixing plate 205, and the motor module is arranged in the circumference of the central gear 204.

[0046] It should be noted that in the embodiment of the present application, the motor module can move around the circumference of the central gear, which means that the motor module moves around the outer circumference of the central gear, and because the central gear 204 is connected to the first connecting part 2061 through the gear fixing plate 205, the central gear will not move during the ultrasonic diagnosis and treatment, and the motor will drive the motor module to move, so that the motor module moves around the central gear 204 during work.

[0047] As shown in Figure 4 In the embodiment of the present application, the first platform mainly comprises a central gear 204, a gear fixing plate 205 and a mounting and fixing part 206. The gear fixing plate 205 is fixed with the central gear 204. The mounting and fixing part 206 is fixed with the gear fixing plate 205. The mounting and fixing part 206 comprises a first connecting part 2061 which can be fixed and mounted with a trolley and the end of a positioning arm 1.

[0048] Specifically, the mounting and fixing part 206 is usually composed of two parts, including a planar fixing part and a first connecting part 2061, and the planar fixing part is fixed with the gear fixing plate 205, as shown in Figure 4 The planar fixing part is a cross-shaped fixing part, and the first connecting part is generally provided as a protruding part, which is suitable for the interface shape of the positioning arm and is connected with a mechanical arm or a positioning arm in a diagnosis and treatment system.

[0049] In at least one embodiment of the present application, a handheld unit is arranged on the first platform.

[0050] It should be noted that the existing scheme robot joint adopts active joint, and the movement control of the robot is operated and controlled by the remote doctor. Meanwhile, the control mode of the active joint can cause that the unexpected event in the diagnosis and treatment process cannot be handled in time, and there is a possibility of injuring the patient, and the safety is not high. Therefore, the hand-held unit is arranged on the first platform in the embodiment of the application, and the on-site nurse can participate in assisting the work of the remote doctor, and the arrangement of the hand-held unit is not limited, and can be arranged at any position on the first platform which does not interfere with the movement of the driving connection part.

[0051] Specifically, in the embodiment, the hand-held unit is a handle 207. Referring to Figure 2 and Figure 4 , the handle 207 is fixed with the mounting fixture 206.

[0052] When it is necessary to provide ultrasonic diagnosis and treatment for the patient, the nurse can drag the robot to a suitable position through the hand-held unit according to the embodiment of the application, and the remote doctor can complete the scanning task of the target position by operating and controlling the movement of the robot. When the robot fails, the medical staff at the patient end can quickly move the robot away from the patient, so as to avoid unnecessary harm to the patient caused by the robot. Therefore, the technical implementation scheme has good safety.

[0053] In at least one embodiment of the application, the motor module comprises a motor 2031, a first gear 2034 and a first bearing, the first gear 2034 is arranged on the output shaft of the motor, the first gear 2034 is engaged with the center gear 204, the first bearing and the first gear 2034 are arranged on the inner and outer circular surfaces of the center gear 204 respectively, and the first bearing is connected with the connecting rod module.

[0054] It should be noted that when the center gear is an external gear, the first bearing is arranged on the inner circular surface 2041 of the center gear 204, and when the center gear is an internal gear, the first bearing is arranged on the outer circular surface of the center gear 204. The first gear and the first bearing are not arranged on the same circular surface of the center gear, but are arranged on the inner and outer sides of the center gear. In the embodiment, the motor 2031 is connected with the first gear 2034, so that the rotation of the motor output shaft will be transmitted to the first gear to drive the gear to rotate, and since the first gear 2034 is engaged with the center gear 204, the first gear 2034 will drive the motor module 203 to move along the circumference of the center gear 204. Since the first bearing is connected with the first gear 2034 and arranged on the inner circular surface 2041 of the center gear 204, the movement of the first gear 2034 will drive the first bearing to move with the relative position unchanged. The connecting rod 202 connected with the first bearing will also move under the drive of the first gear 2034.

[0055] As Figure 5As shown in the figure, it is a schematic diagram of the motor module of the embodiment of the application, which comprises a motor 2031, a motor mounting plate 2032, a fixed plate 2033, a first gear 2034 and a first bearing. The motor 2031 is fixed on the motor mounting plate 2032. The motor mounting plate 2032 is fixed relative to the fixed plate 2033 by screws, and the gap between the pinion and the gear can be reduced by fine-tuning the screws, so that the gear engagement is more accurate. To ensure that the teeth of the first gear 2034 and the center gear 204 are engaged. The first gear 2034 is fixed on the output shaft of the motor 2031 to realize the rotation of the first gear 2034 driven by the motor output shaft.

[0056] Therefore, when the motor 2031 output shaft rotates, the first gear 2034 will rotate with the motor shaft. The center gear 204 is fixed. Therefore, the first gear 2034 rotates with the motor 2031 around the center gear 204 to make a circular engagement motion. The movement of the motor will drive the connecting rod module to move, and finally make the position of the second platform relative to the first platform change.

[0057] In at least one embodiment of the application, the connecting rod module comprises a connecting rod 202, a first hinge 2044 and a second hinge 2045, the connecting rod 202 is provided with the first hinge 2044 and the second hinge 2045 at both ends respectively, the first hinge 2044 is connected to the first bearing, and the second hinge 2045 is connected to the second platform 103.

[0058] It should be noted that the first hinge 2044 and the second hinge 2045 are used to make both ends of the connecting rod rotate in multiple directions around the end of the connecting rod, realizing rotation in multiple directions. Specifically, the first hinge 2044 and the second hinge 2045 in the embodiment are universal cross hinges, which can facilitate 360-degree smooth rotation of the end.

[0059] In at least one embodiment of the application, the first bearing comprises an upper bearing 2036, a bearing support 2037 and a lower bearing 2038, the center gear 204 comprises a boss on the circular surface connected to the first bearing, the upper bearing 2036 is connected to the lower bearing 2038 through the bearing support 2037, the upper bearing is connected to the upper surface of the boss 2042, and the lower bearing 2038 is connected to the lower surface of the boss 2042. The cooperation of the upper and lower bearings with the boss realizes the axial fixation of the center gear.

[0060] It should be noted that when the central gear is an external gear, a boss 2042 is arranged on the inner circular surface 2041 of the central gear. When the central gear is an internal gear, a boss is arranged on the outer circular surface of the central gear. The first bearing is used to facilitate the movement of the motor module and the connecting rod module. Due to the transmission effect, the movement error of the motor module will be amplified to the connecting rod module. Therefore, the boss 2042 is arranged on the inner circular surface 2041 of the central gear, and the height of the boss 2042 is close to the height of the bearing support 2037. Therefore, the first bearing is installed on the boss 2042, the upper bearing 2036 is in contact with the upper surface of the boss 2042, and the lower bearing 2038 is in contact with the lower surface of the boss 2042, so as to effectively limit the longitudinal displacement of the motor module, i.e. the axial displacement of the central gear.

[0061] In addition, in order to realize the function of the boss, a slide rail can also be arranged on the inner circular surface 2041 of the central gear, and the upper bearing 2036 and the lower bearing 2038 can slide in the slide rail.

[0062] As shown in Figure 5 The first bearing includes an upper bearing cover plate 2035 arranged on the upper bearing 2036 to improve stability. Figure 6 As shown in

[0063] Specifically, a series of gear mounting holes 2043 are arranged on the circumference of the central gear 204 for connecting and fixing the central gear 204 and the gear fixing plate 205 together.

[0064] In at least one embodiment of the present application, the first bearing includes an upper bearing 2036, a lower bearing 2038, and a bearing fixing plate. The circular surface of the central gear in contact with the first bearing includes a boss 2042. The upper surface of the upper bearing 2036 is in contact with the upper surface of the boss 2042, and the lower surface of the lower bearing 2038 is in contact with the lower surface of the boss 2042. The bearing fixing plate is used to fix the relative position between the first gear and the upper bearing. The axial direction of the central gear is fixed by the cooperation of the upper and lower bearings, the bearing fixing plate and the boss.

[0065] It should be noted that the motor module can also be arranged in another form, as shown in Figure 9 The bearing fixing plate is added to limit the first bearing.

[0066] Specifically, as shown inFigure 10 As shown, the bearing fixing plate comprises two parts, namely a horizontal fixing plate 2046 and a vertical fixing plate 2047, the horizontal fixing plate 2046 is provided with two through holes, and the first gear and the upper bearing can be embedded in the respective through holes, so that the relative position between the first gear 2034 and the upper bearing 2036 is unchanged. The vertical fixing plate 2047 is perpendicular to the fixing plate 2033 and is used to connect the horizontal fixing plate 2046 and the fixing plate 2033, thereby limiting the position of the motor module in the axial direction of the center gear, and achieving fixation.

[0067] In at least one embodiment of the present application, the connection driving unit comprises 6 groups of connection driving parts.

[0068] It should be noted that at least 6 degrees of freedom need to be set for the robot to complete displacement and rotation at each angle, therefore, 6 groups of connection driving parts are set in the embodiment, specifically:

[0069] Six groups of motor modules 203 are arranged on the first platform, and six groups of hinges are arranged on the second platform. The first platform and the second platform are connected and fixed by the six groups of connecting rods 202. Thus, a 6-degree-of-freedom parallel robot configuration is formed. The parallel robot can realize three-direction translation and three-direction attitude adjustment motion of the end relative to the center gear 204. As can be understood from the above description, when the output shaft of the motor 2031 rotates, the first gear 2034 will rotate with the motor shaft. The center gear 204 is fixed and does not move. Therefore, the first gear 2034 rotates with the motor 2031 around the center gear 204 to do a circular meshing motion. The six groups of motor modules 203 independently rotate around the center gear to do a circular meshing motion, which can realize the relative motion of the second platform 103 relative to the center gear 204, including three-degree-of-freedom translation and three-direction attitude adjustment, a total of six degrees of freedom.

[0070] Compared with the traditional serial industrial 6-axis robot as a probe, the parallel ultrasonic robot of the embodiment of the present application has the advantages of large rigidity, compact structure, large axial rotation angle, light weight and low cost.

[0071] In at least one embodiment of the present application, the probe clamping unit 201 comprises a first clamping piece 2011 and a second clamping piece 2015, which are used to clamp the ultrasonic probe 3 from both sides.

[0072] It should be noted that the two clamping pieces, the first clamping piece 2011 and the second clamping piece 2015, are respectively located on the two sides of the ultrasonic probe 3 and cooperate with the surface of the probe 3. By tightening the two first clamping pieces 2011, the ultrasonic probe 3 is fixed.

[0073] The parallel ultrasonic robot of the embodiment of the present application, the probe clamping unit of which is clamped from both sides by the first clamping piece 2011 and the second clamping piece 2015, can adapt to different probe sizes, has a certain universality for probe specifications, and is simple to install and convenient to disassemble.

[0074] In at least one embodiment of the present application, the second platform further comprises a force sensor, a probe fixing plate and a connecting piece, the lower surface of the force sensor is connected with the probe clamping unit, and the upper surface of the force sensor is connected with the probe fixing plate through the connecting piece.

[0075] As shown in Figure 3 , the second platform comprises: a first clamping piece 2011 and a second clamping piece 2015, a fixing plate 2012, a force sensor 2013 and a connecting piece 2014. The two probe clamping pieces are fixed with the lower surface of the force sensor 2013. The upper surface of the force sensor 2013 is connected and fixed to the fixing plate 2012 through three symmetrically distributed connecting pieces 2014. The above-mentioned probe clamping unit 201 can realize the spatial fixation of the ultrasonic probe 3 while measuring the contact force between the end of the ultrasonic probe 3 and the body surface of the patient 4. The fixing plate 2012 further comprises a hole for fixing the second hinge 2045.

[0076] The parallel ultrasonic robot of the embodiment of the present application measures the contact force between the probe and the body surface of the patient through the force sensor integrated at the end to ensure the quality of ultrasonic imaging and the safety between the machine and the patient.

[0077] In at least one embodiment of the present application, referring to Figure 2 , the parallel ultrasonic robot provided by the embodiment of the present application comprises: a probe clamping unit 201, a connecting rod 202, a motor module 203, a center gear 204, a gear fixing plate 205, a mounting fixing piece 206 and a handle 207. The probe clamping unit 201 provides a clamping and fixing function for the ultrasonic probe 3. The probe clamping unit 201 is connected with a group of motor modules 203 through a group of connecting rods 202. The two ends of the connecting rod 202 are respectively fixed with hinges. The motor module 203 and the center gear 204 can move relative to the center gear 204. The gear fixing plate 205 is fixed with the center gear 204. The mounting fixing piece 206 is fixed with the gear fixing plate 205. The handle 207 is fixed with the mounting fixing piece 206.

[0078] The parallel ultrasonic robot of the embodiment of the present application adopts a passive handheld auxiliary mode to fix the ultrasonic probe, which has higher safety compared with the active probe fixing mode in other comparative documents. In addition, since the probe can rotate 360 degrees in the embodiment of the present application, the parallel ultrasonic robot has strong rotational freedom, and is more suitable for human body scanning parts that need large angle changes.

[0079] The parallel ultrasonic robot has the characteristics of small size, portability, high flexibility and multiple redundant degrees of freedom. Compared with the traditional configuration, the robot realizes the high mechatronic integration of man-machine integration, has the advantages of light weight, high flexibility, high motion accuracy and the like. Due to the portability and safety, the robot can be flexibly deployed in community health service centers, primary hospitals and mobile ambulance platforms, realizes the ultrasonic diagnosis and interventional operation navigation under remote operation, and serves the primary medical care needs.

[0080] As shown in Figure 7 and Figure 8 , the end of the parallel ultrasonic robot relative to the center gear 204 under different motor movements is shown to have different relative poses, which embodies the multiple detection poses of the parallel ultrasonic robot.

[0081] The embodiment of the application also discloses an ultrasonic diagnosis and treatment system, which comprises a trolley, an ultrasonic probe, an operating bed and the parallel ultrasonic robot according to any one of the above embodiments.

[0082] As shown in Figure 10 , specifically, the remote ultrasonic robot mainly comprises the following components: a trolley and a positioning arm 1, a parallel ultrasonic robot 2, an ultrasonic probe 3 and an operating bed 5. The trolley and the positioning arm 1 can facilitate the initial three-dimensional positioning of the entire robot system and facilitate the placement and arrangement of the robot in the operating room. The parallel ultrasonic robot 2 is fixed at the end of the trolley and the positioning arm 1, so that the initial fixation of the end ultrasonic probe 3 on the patient's body surface is completed by relying on the trolley and the positioning arm 1. The ultrasonic probe 3 is fixed at the end of the parallel ultrasonic robot 2, and the probe is scanned on the patient's body surface by relying on the parallel ultrasonic robot 2. The ultrasonic probe 3, the parallel ultrasonic robot 2 and the trolley and the positioning arm 1 can be quickly disassembled.

[0083] The ultrasonic diagnosis and treatment system in the embodiment of the application has the following working process: first, the nurse confirms the scope of ultrasonic diagnosis and treatment, moves the trolley and the positioning arm 1 to the appropriate position, and then the doctor obtains the detection condition of the patient in real time through remote image feedback, remotely controls the parallel ultrasonic robot 2 to detect, and the nurse will assist the movement of the parallel ultrasonic robot 2 according to the doctor's indication and the on-site situation until the detection is completed.

[0084] The ultrasonic diagnosis and treatment system in the embodiment of the application realizes passive wide-range positioning and active small-range control of the probe, and the end probe is controlled by a remote operator to realize small-range scanning and diagnosis and treatment of the patient, which takes into account the small scanning area of the ultrasound, the great influence of the scanning result on the body surface contact force, safety in the diagnosis and treatment process, and the physical fatigue of the medical staff.

[0085] In at least one embodiment of the application, the first platform further comprises a central gear and a gear fixing plate, the central gear is connected to the first connecting part through the gear fixing plate, and the motor module is arranged in the circumferential direction of the central gear.

[0086] In at least one embodiment of the application, the motor module comprises a motor, a first gear and a first bearing, the first gear is arranged on the output shaft of the motor, the first gear is engaged with the central gear, and the first bearing and the first gear are arranged on the inner and outer circular surfaces of the central gear respectively, and the first bearing is connected to the connecting rod module.

[0087] In at least one embodiment of the application, the connecting rod module comprises a connecting rod, a first hinge and a second hinge, the connecting rod is provided with the first hinge and the second hinge at both ends respectively, the first hinge is connected to the first bearing, and the second hinge is connected to the second platform.

[0088] In at least one embodiment of the application, the first bearing comprises an upper bearing, a bearing support and a lower bearing, the circular surface where the central gear and the first bearing meet comprises a boss, the upper bearing is connected to the lower bearing through the bearing support, the upper surface of the boss and the upper bearing are connected, and the lower surface of the boss and the lower bearing are connected.

[0089] In at least one embodiment of the application, the first bearing comprises an upper bearing, a lower bearing and a bearing fixing plate, the circular surface where the central gear and the first bearing meet comprises a boss, the upper surface of the boss and the upper bearing are connected, the lower surface of the boss and the lower bearing are connected, and the bearing fixing plate is used to fix the relative position between the first gear and the upper bearing.

[0090] In at least one embodiment of the application, a handheld unit is arranged on the first platform.

[0091] In at least one embodiment of the application, the connecting driving unit comprises three groups, each group comprises two connecting driving parts, and the three groups of connecting driving parts are symmetrically distributed relative to the first platform.

[0092] In at least one embodiment of the present application, the probe clamping unit comprises a first clamping member and a second clamping member for clamping the ultrasonic probe from both sides.

[0093] In at least one embodiment of the present application, the second platform further comprises a force sensor, a probe fixing plate and a connecting member, a lower surface of the force sensor is connected with the probe clamping unit, and the connecting member connects an upper surface of the force sensor and the probe fixing plate.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A parallel ultrasonic robot, characterized in that, The application relates to a connecting driving unit for an ultrasonic diagnosis and treatment system, which comprises a first platform, a second platform and a connecting driving unit, the first platform is connected with the second platform through the connecting driving unit, the first platform comprises a first connecting part for connecting with a positioning arm, and the second platform comprises a probe clamping unit for connecting with an ultrasonic probe; the connecting driving unit comprises a plurality of connecting driving parts, the connecting driving part comprises a motor module and a connecting rod module, the motor module can move along the circumference of the first platform relative to the first platform, and the connecting rod module connects the motor module and the second platform; the first platform is stationary, and the motor module moves to drive the connecting rod module to move the second platform; the first platform further comprises a central gear, a gear fixing plate and a mounting fixing part, the central gear is connected with the first connecting part through the gear fixing plate, the motor module is arranged in the circumference of the central gear; the mounting fixing part is fixed with the gear fixing plate; the mounting fixing part comprises a plane fixing part and a first connecting part, the plane fixing part is fixed with the gear fixing plate, the plane fixing part is a cross fixing part, the first connecting part is arranged as a convex part, the convex part is suitable for the interface shape of the positioning arm and is connected with a mechanical arm or a positioning arm in the diagnosis and treatment system; the motor module moves around the outer circumference of the central gear, the central gear is stationary during ultrasonic diagnosis and treatment, and the motor works to drive the motor module to move; the second platform further comprises a force sensor, a probe fixing plate and a connecting piece, the lower surface of the force sensor is connected with the probe clamping unit, and the connecting piece connects the upper surface of the force sensor and the probe fixing plate; the upper surface of the force sensor is connected and fixed to the fixing plate through three symmetrically distributed connecting pieces, the probe clamping unit is used for realizing the spatial fixation of the ultrasonic probe and measuring the contact force between the end of the ultrasonic probe and the surface of a patient; the fixing plate further comprises a hole for fixing a second hinge. The motor module comprises a motor, a first gear and a first bearing, the first gear is arranged on the output shaft of the motor, the first gear is engaged with the central gear, the first bearing and the first gear are arranged on the inner and outer circumferential surfaces of the central gear respectively, and the first bearing connects the connecting rod module. The connecting rod module comprises a connecting rod, a first hinge and a second hinge, the connecting rod is provided with the first hinge and the second hinge at two ends respectively, the first hinge connects the first bearing, and the second hinge connects the second platform. The first bearing comprises an upper bearing, a bearing support and a lower bearing, the central gear comprises a boss on the circumferential surface connected with the first bearing, the upper bearing is connected with the lower bearing through the bearing support, the upper surface of the upper bearing is connected with the upper surface of the boss, and the lower surface of the lower bearing is connected with the lower surface of the boss. ​ ​ ​ 2. The parallel ultrasonic robot of claim 1, wherein, ​ 3. The parallel ultrasonic robot of claim 2, wherein, ​ 4. The parallel ultrasonic robot of claim 2, wherein, ​ 5. The parallel ultrasonic robot of claim 2, wherein, The first bearing comprises an upper bearing, a lower bearing and a bearing fixing plate, the center gear comprises a boss on the circular surface where the first bearing is connected, the upper bearing is connected with the upper surface of the boss, the lower bearing is connected with the lower surface of the boss, and the bearing fixing plate is used to fix the relative position between the first gear and the upper bearing.

6. The parallel ultrasonic robot according to any of claims 1 to 5, characterized in that, A handheld unit is arranged on the first platform.

7. The parallel ultrasonic robot according to any of claims 1 to 5, characterized in that, The connection driving unit comprises three groups, each group comprising two connection driving parts, and the three groups of connection driving parts are symmetrically distributed relative to the first platform.

8. The parallel ultrasonic robot according to any of claims 1 to 5, characterized in that, The probe clamping unit comprises a first clamping piece and a second clamping piece, which are used to clamp the ultrasonic probe from both sides.

9. An ultrasonic diagnostic system, characterized by It comprises: A trolley, an ultrasonic probe, an operating bed and a parallel ultrasonic robot according to any one of claims 1 to 8, the trolley is arranged on one side of the operating bed, the trolley is provided with a positioning arm, and the parallel ultrasonic robot is arranged on the positioning arm through the first connecting part, and the ultrasonic probe is arranged on the parallel ultrasonic robot through the probe clamping unit.

Images