A medical robotic arm based on ultrasonic motor

Abstract

The present invention is applicable to medical equipment and provides a medical mechanical arm based on an ultrasonic motor, comprising a linear guide rail, a bottom seat, and a rotating seat; a support arm is hinged on the top of the rotating seat; the support arm is rotatably connected to a connecting tube at one end away from the rotating seat; a first screw is rotatably connected inside the connecting tube; a bracket is sleeved on the inner side of the end of the connecting tube away from the support arm; the inner sides of both ends of the U-shaped frame are rotatably connected to the second screw, and the inner sides of the two limiting guide grooves are slidably matched with limiting guide seats that are threadedly matched with the second screw; the end plate is hinged to two symmetrically arranged side push plates through a double-axis hinge seat; a connecting rod is hinged between the back sides of the push plates on both sides and the two limiting guide seats; the device can be operated remotely, realizes multi-degree-of-freedom displacement, adjusts the patient's body position, improves the work efficiency of medical staff, and avoids motor failure in a nuclear magnetic field environment by using an ultrasonic motor.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and more particularly, to a medical robotic arm based on an ultrasonic motor. Background Art

[0002] Magnetic resonance imaging (MRI) is an important disease examination method in modern medicine. It can help doctors "see" early lesions that are difficult to detect. When performing MRI examinations, the patient needs to lie flat on the bed, and then the bed is moved to send the patient into the MRI detector for examination of the corresponding parts.

[0003] During MRI scanning, medical staff cannot enter due to the special environment. They can only communicate with the patient through the monitoring screen and the intercom system to adjust the body position during the MRI examination. However, for some patients with limited mobility or poor cooperation, adjusting the body position is very inconvenient, which reduces the work efficiency of medical staff. Therefore, if there is an auxiliary device that can help the patient move the body to the appropriate position on the examination bed under the control of the doctor, it will greatly improve the examination efficiency.

[0004] However, in the MRI room, due to the influence of the magnetic field, ordinary electromagnetic motors cannot be used. To avoid failure of the electromagnetic motors, the equipment supporting the MRI equipment generally adopts manual methods. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a medical robotic arm based on an ultrasonic motor that can be remotely operated to adjust the position of a patient's body.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A medical robotic arm based on an ultrasonic motor, characterized by:

[0008] It includes a linear guide rail; the surface of the linear guide rail is slidably matched with a bottom end seat; a third screw is rotatably connected between the two ends of the linear guide rail; the third screw is connected to the bottom end seat through a ball nut; a rotating seat is rotatably connected to the bottom end seat;

[0009] A support arm is hinged on the top of the rotating seat; the end of the support arm away from the rotating seat is rotatably connected to a connecting cylinder; a first screw is rotatably connected inside the connecting cylinder; a bracket is sleeved inside the end of the connecting cylinder away from the support arm;

[0010] The bracket includes an end shaft matched with the connecting tube; a U-shaped frame is fixed to the end of the end shaft; two oppositely arranged second screws are rotatably connected at both ends of the U-shaped frame;

[0011] An end plate is provided between the two ends of the U-shaped frame; both end surfaces of the end plate are provided with a limit guide groove; the inner sides of the two limit guide grooves are slidably fitted with a limit guide seat that cooperates with the second screw thread;

[0012] A double-axis hinge is provided at the center of a surface of the end plate away from the U-shaped frame; the end plate is hinged to two symmetrically arranged side push plates through the double-axis hinge; a connecting rod is hinged between the back surfaces of the two side push plates and the two limit guide seats;

[0013] An L-shaped frame is fixedly provided on one side of the end plate; and a side support plate is vertically provided on the other end of the L-shaped frame.

[0014] The present invention is further configured as follows: a cavity is opened inside the bottom end seat; a first ultrasonic motor is installed in the cavity; a rotating shaft end of the first ultrasonic motor is connected to the rotating seat;

[0015] The top of the cavity is a circular opening structure; the inner wall of the cavity is provided with a limiting annular groove.

[0016] The present invention is further configured as follows: a limiting guide ring is provided on the peripheral side surface of the bottom end of the rotating seat and matches the limiting ring groove;

[0017] A connecting hinge is provided at the top of the rotating seat; a second ultrasonic motor is fixedly provided at one side of the connecting hinge; and a rotating shaft end of the second ultrasonic motor is connected to the bottom end of the supporting arm.

[0018] The present invention is further configured as follows: the support arm is an arc-shaped structure; the bottom end of the support arm is provided with a hinge shaft that cooperates with the connecting hinge seat;

[0019] A top seat is provided at the top end of the support arm; a third ultrasonic motor is installed in the top seat; and a rotating shaft end of the third ultrasonic motor is connected to the inner end of the connecting tube.

[0020] The present invention is further configured as follows: one end of the connecting tube is an open structure; the other end of the connecting tube is provided with an end seat plate; the side of the end seat plate is provided with a rotating shaft that is rotatably connected to the top seat; a fourth ultrasonic motor is fixedly provided on the surface of the end seat plate; the rotating shaft end of the fourth ultrasonic motor is fixedly connected to the end of the first screw; and a limiting groove is provided between the two ends inside the connecting tube.

[0021] The present invention is further configured as follows: the end of the end shaft away from the U-shaped frame is provided with a limiting end head which is mutually sleeved with the connecting tube; the peripheral side of the limiting end head is provided with a limiting guide block which cooperates with the limiting groove; a second threaded hole which cooperates with the first screw is opened between the limiting end head and the end of the end shaft.

[0022] The present invention is further configured as follows: a threaded sleeve matching the second screw is provided on one surface of the position limiting guide seat; and a first connecting shaft hingedly connected to the end of the connecting rod is provided on the other surface of the position limiting guide seat.

[0023] The present invention is further configured as follows: a second connecting shaft hinged to the end of the connecting rod is provided on the back of the side push plate; and soft cushions are provided on the opposite surfaces of the side push plate and the side support plate.

[0024] The present invention is further configured as follows: fifth ultrasonic motors are fixedly provided on the outside of both ends of the U-shaped frame; and the two rotating shaft ends of the fifth ultrasonic motors are fixedly connected to the ends of the two second screw rods respectively.

[0025] The present invention is further configured as follows: a sixth ultrasonic motor is fixedly provided at one end of the linear guide rail; and a rotating shaft end of the sixth ultrasonic motor is fixedly connected to an end of the third lead screw.

[0026] Advantages of the present invention

[0027] Through the coordinated use of the connecting tube, the first screw, the bracket, the second screw, the limiting guide seat, the side push plate and the connecting rod, the fourth ultrasonic motor drives the second screw to rotate, so that the bracket moves as a whole, and cooperates with the side support plate to make the patient move as a whole. The two fifth ultrasonic motors drive the second screw to rotate, and under the action of the limiting guide seat and the connecting rod, the side push plate is pushed to flip, and the patient's body position is adjusted. It can be operated remotely, thereby improving the work efficiency of medical staff.

[0028] The third screw rotates and drives the device to move as a whole, and the rotating seat is rotated by the first ultrasonic motor, and the support arm is flipped under the action of the second ultrasonic motor. At the same time, the connecting tube is flipped as a whole by the third ultrasonic motor, thereby realizing multi-degree-of-freedom displacement. The overall operation is convenient, and by adopting multiple ultrasonic motors, the motor is prevented from failing in a nuclear magnetic field environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a structural schematic diagram of a medical robotic arm based on an ultrasonic motor according to the present invention.

[0030] Figure 2 The figure is a schematic cross-sectional structural diagram of a medical robotic arm based on an ultrasonic motor according to the present invention.

[0031] Figure 3 For the present invention Figure 2 Schematic diagram of the structure at point A in the middle.

[0032] Figure 4 It is a structural schematic diagram of the bottom end seat of the present invention.

[0033] Figure 5 It is a structural schematic diagram of the rotating seat of the present invention.

[0034] Figure 6 Schematic diagram of the structure of the support arm of the present invention.

[0035] Figure 7It is a structural schematic diagram of the connecting tube of the present invention.

[0036] Figure 8 Schematic diagram of the structure of the support of the present invention.

[0037] Figure 9 It is a structural schematic diagram of the position limiting guide seat of the present invention.

[0038] Figure 10 It is a structural schematic diagram of the side thrust plate of the present invention.

[0039] In the figure: 1, linear guide rail; 2, third lead screw; 3, bottom end seat; 4, rotating seat; 5, support arm; 6, connecting tube; 7, first screw; 8, bracket; 9, second screw; 10, limit guide seat; 11, side push plate; 12, connecting rod; 14, second ultrasonic motor; 15, third ultrasonic motor; 16, fourth ultrasonic motor; 17, fifth ultrasonic motor; 18, sixth ultrasonic motor; 301, cavity; 302, limit ring groove; 401, limit guide ring; 402, connecting rod Connecting hinge seat; 501, hinge shaft; 502, top seat; 601, end seat plate; 602, rotating shaft; 603, limiting groove; 801, end shaft; 802, U-shaped frame; 803, end plate; 804, limiting guide groove; 805, double-axis hinge seat; 806, L-shaped frame; 807, side support plate; 808, limiting end head; 809, limiting guide block; 8010, second threaded hole; 1001, threaded sleeve; 1002, first connecting shaft; 1101, second connecting shaft. DETAILED DESCRIPTION

[0040] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0041] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0042] In the present invention, unless otherwise specified, directions such as "up" and "down" are generally used with respect to the directions shown in the drawings, or with respect to the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "left" and "right" are generally used with respect to the left and right shown in the drawings; "inside" and "outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directions are not used to limit the present invention.

[0043] Example 1

[0044] See also Figure 1-7 , the present invention provides the following technical solutions:

[0045] Specifically, the medical robotic arm based on the ultrasonic motor of the embodiment of the present invention includes a linear guide rail 1; a bottom end seat 3 is slidably fitted on the linear guide rail 1; a third screw 2 is rotatably connected between the two ends inside the linear guide rail 1; the third screw 2 is spirally connected to the bottom end seat 3 through a ball nut; a sixth ultrasonic motor 18 is fixedly provided at one end of the linear guide rail 1; the output end of the sixth ultrasonic motor 18 is connected to the third screw 2 through a coupling; a rotating seat 4 is rotatably connected to the bottom end seat; a cavity 301 is provided inside the bottom end seat 3; a first ultrasonic motor is installed inside the cavity 301; the rotating shaft end of the first ultrasonic motor is connected to the rotating seat 4; the top of the cavity 301 is a circular opening structure; a limiting ring groove 302 is provided on the inner wall of the cavity 301; a limiting guide ring 401 is provided on the outer peripheral side of the bottom end of the rotating seat 4 to match the limiting ring groove 302; a connecting hinge seat 402 is provided at the top of the rotating seat 4; a second ultrasonic motor 14 is installed on the connecting hinge seat 402; the second ultrasonic motor 14 The output shaft is connected to the bottom end of the support arm 5; the top of the rotating seat 4 is connected to the support arm 5; the hinged support arm 5 is rotatably connected to the connecting tube 6 away from the end of the rotating seat 4; the support arm 5 is an arc structure; the bottom end of the support arm 5 is provided with a hinge shaft 501 that cooperates with the connecting hinge seat 402; the top part of the support arm 5 is provided with a top seat 502; the top seat 502 is installed in the third ultrasonic motor 15; the rotating shaft end of the third ultrasonic motor 15 is connected to the end of the connecting tube 6; the first screw 7 is rotatably connected inside the connecting tube 6; the outer end of the connecting tube 6 is an open structure; the inner end of the connecting tube 6 is provided with an end seat plate 601; the side of the end seat plate 601 is provided with a rotating shaft 602 that is rotatably connected to the top seat 502; the fourth ultrasonic motor 16 is fixedly installed on the surface of the end seat plate 601; the rotating shaft end of the fourth ultrasonic motor 16 is connected to the end of the first screw 7; a limiting slot 603 is provided between the two ends of the interior of the connecting tube 6; the connecting tube 6 is slidably connected to the bracket 8 at one end away from the support arm 5;

[0046] The working principle of the first embodiment of the present invention is as follows: the linear guide rail 1 is fixed to the side edge of the MRI examination bed by bolts, the sixth ultrasonic motor 18 rotates to drive the third screw 2 to rotate, so that the robotic arm moves to the specified position along the linear guide rail 1, and the first ultrasonic motor drives the rotating seat 4 to rotate, and because the rotating seat 4 cooperates with the limiting ring groove 302 on the inner side of the top of the cavity 301 through the limiting guide ring 401, and cooperates with the second ultrasonic motor 14 to rotate and drive the support arm 5 to rotate along the connecting hinge seat 402 on the surface of the rotating seat 4, thereby driving the entire bracket 8 to flip over, so that the entire bracket 8 is located on the top of the bed, and at the same time, the third ultrasonic motor 15 rotates and drives the entire bracket 8 to rotate, so that the two side push plates 11 of the bracket 8 are located on the side of the patient's body, realizing multi-degree-of-freedom displacement of the entire robotic arm.

[0047] Example 2

[0048] See also Figure 2-3 、 Figure 7-10, this embodiment 2 makes the following improvements on the basis of embodiment 1. Specifically, the bracket 8 includes an end shaft 801 that cooperates with the connecting tube 6; a U-shaped frame 802 is fixed to the end of the end shaft 801; a fifth ultrasonic motor 17 is installed on the outside of both ends of the U-shaped frame 802; the rotating shaft ends of the two fifth ultrasonic motors 17 are respectively connected to the ends of the two second screw rods 9; the two ends of the U-shaped frame 802 are rotatably connected to the two oppositely arranged second screw rods 9; an end plate 803 is provided between the two ends of the U-shaped frame 802; limited guide grooves 804 are provided on the surfaces of both ends of the end plate 803; a limited guide seat 10 that is threadably matched with the second screw rod 9 is slidably provided on the inner side of the two limited guide grooves 804; a threaded sleeve 1001 that cooperates with the second screw rod 9 is provided on one side of the limited guide seat 10; a first connecting shaft 1002 that is hinged to the end of the connecting rod 12 is provided on the other side of the limited guide seat 10; the end plate 80 A double-axis hinge seat 805 is provided at the center of a surface away from the U-shaped frame 802; the end plate 803 is hinged to two symmetrically arranged side push plates 11 through the double-axis hinge seat 805; a connecting rod 12 is hinged between the back sides of the push plates 11 and the two limiting guide seats 11; an L-shaped frame 806 is fixedly provided on one side of the end plate 803; a side support plate 807 is vertically provided at the other end of the L-shaped frame 806; a second connecting shaft 1101 is provided on the back side of the side push plate 11 and is hinged to the end of the connecting rod 12; the opposing surfaces of the side push plate 11 and the side support plate 807 are both provided with soft pads; a limiting end head 808 is provided at the end of the end shaft 801 away from the U-shaped frame 802, which is mutually engaged with the connecting tube 6; a limiting guide block 809 is provided on the side surface of the limiting end head 808 that cooperates with the limiting groove 603; a second threaded hole 8010 that cooperates with the first screw rod 7 is opened between the limiting end head 808 and the end of the end shaft 801.

[0049] The working principle of the second embodiment of the present invention is as follows: when the patient's body is located on the MRI examination bed and is offset to one side of the entire robotic arm, the fourth ultrasonic motor 16 rotates and drives the first screw 7 to rotate. When the first screw 7 rotates, it cooperates with the second threaded hole 8010 between the end shaft 801 and the limiting end head 808. The limiting guide block 809 located on the side surface of the limiting end head 808 cooperates with the limiting groove 603 on the inner wall of the connecting tube 6, so that the bracket 8 moves to the other side as a whole, and under the action of the two side push plates 11, the patient's body located between the two side push plates 11 and the side support plate 807 is moved to the other side, and the two fifth ultrasonic motors 17 rotate and drive the second screw 9 to rotate. When the two second screws 9 rotate, they cooperate with the threaded sleeve 1001 at one end of the limiting guide seat 10, and the limiting guide seat 10 and the limiting guide grooves 804 on the surfaces of both ends of the end plate 803 cooperate with each other. By cooperating, the two limiting guide seats 10 move along the limiting guide grooves 804 on the surfaces of both ends of the end plate 803, and the limiting guide seats 10 drive the connecting rod 12 to flip over when moving, and since the two side push plates 11 are connected to the connecting rod 12 through the second connecting shaft 1101, the two side push plates 11 flip over, and cooperate with the side support plate 807 to align and fine-tune the position of the patient's body part located between the two side push plates 11 and the side support plate 807. For example, when the patient's body is on the MRI examination bed and deviates away from one side of the entire robotic arm, the fourth ultrasonic motor 16 rotates, so that the bracket 8 drives the patient's body located between the two side push plates 11 and the side support plate 807 to move to the other side through the side support plate 807, and cooperates with the flipping of the two side push plates 11 to align and fine-tune the position of the patient's body part. It can be operated remotely, and the operation is accurate and convenient, thereby improving the work efficiency of medical staff.

[0050] Obviously, the embodiments described above are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0051] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, tasks, devices, components and / or combinations thereof.

[0052] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0053] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

[0054] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A medical robotic arm based on an ultrasonic motor, characterized by: The invention comprises a linear guide rail (1); a bottom end seat (3) is slidably fitted on the surface of the linear guide rail (1); a third lead screw (2) is rotatably connected between the two ends inside the linear guide rail (1); the third lead screw (2) is rotatably connected to the bottom end seat (3) via a ball nut; a rotating seat (4) is rotatably connected to the bottom end seat (3); a cavity (301) is provided inside the bottom end seat (3); a first ultrasonic motor is installed in the cavity (301); The top of the rotating seat (4) is hinged with a support arm (5); the end of the support arm (5) away from the rotating seat (4) is rotatably connected to a connecting tube (6); the interior of the connecting tube (6) is rotatably connected to a first screw (7); the end of the connecting tube (6) away from the support arm (5) is sleeved with a bracket (8); The bracket (8) includes an end shaft (801) matched with the connecting tube (6); a U-shaped frame (802) is fixed to the end of the end shaft (801); two oppositely arranged second screw rods (9) are rotatably connected at both ends of the U-shaped frame (802); An end plate (803) is provided between the two ends of the U-shaped frame (802); both end surfaces of the end plate (803) are provided with a limiting guide groove (804); the inner sides of the two limiting guide grooves (804) are slidably fitted with a limiting guide seat (10) that is threadably fitted with the second screw rod (9); A double-axis hinge seat (805) is provided at a center position of a surface of the end plate (803) away from the U-shaped frame (802); the end plate (803) is hingedly connected to two symmetrically arranged side push plates (11) via the double-axis hinge seat (805); a connecting rod (12) is hingedly connected between the back surfaces of the two side push plates (11) and the two limiting guide seats (10); An L-shaped frame (806) is fixedly provided on one side of the end plate (803); and a side support plate (807) is vertically provided on the other end of the L-shaped frame (806).

2. The medical robotic arm based on an ultrasonic motor according to claim 1, characterized in that: The rotating shaft end of the first ultrasonic motor is connected to the rotating seat (4); The top of the cavity (301) is a circular opening structure; the inner wall of the cavity (301) is provided with a limiting annular groove (302).

3. The medical robotic arm based on an ultrasonic motor according to claim 2, characterized in that: A limiting guide ring (401) is provided on the peripheral side surface of the bottom end of the rotating seat (4) and matches the limiting ring groove (302); A connecting hinge seat (402) is provided at the top end of the rotating seat (4); a second ultrasonic motor (14) is fixedly provided on one side of the connecting hinge seat (402); and a rotating shaft end of the second ultrasonic motor (14) is connected to the bottom end of the support arm (5).

4. The medical robotic arm based on an ultrasonic motor according to claim 3, characterized in that: The support arm (5) is an arc-shaped structure; the bottom end of the support arm (5) is provided with a hinge shaft (501) that matches the connecting hinge seat (402); A top end seat (502) is provided at the top end of the support arm (5); a third ultrasonic motor (15) is installed in the top end seat (502); and a rotating shaft end of the third ultrasonic motor (15) is connected to the inner end of the connecting cylinder (6).

5. The medical robotic arm based on an ultrasonic motor according to claim 4, characterized in that: The outer end of the connecting tube (6) is an open structure; An end seat plate (601) is provided at the inner end of the connecting cylinder (6); a rotating shaft (602) rotatably connected to the top seat (502) is provided on the side of the end seat plate (601); A fourth ultrasonic motor (16) is mounted on the end base plate (601); the rotating shaft end of the fourth ultrasonic motor (16) is connected to the end of the first screw (7); A limiting groove (603) is provided between the two ends inside the connecting cylinder (6).

6. The medical robotic arm based on an ultrasonic motor according to claim 5, characterized in that: The end of the end shaft (801) away from the U-shaped frame (802) is provided with a limiting end head (808) that is sleeved with the connecting tube (6); the side surface of the limiting end head (808) is provided with a limiting guide block (809) that cooperates with the limiting groove (603); A second threaded hole (8010) that matches the first screw rod (7) is provided between the limiting end (808) and the end of the end shaft (801).

7. The medical robotic arm based on an ultrasonic motor according to claim 1, characterized in that: A threaded sleeve (1001) that matches the second screw rod (9) is provided on one surface of the position limiting guide seat (10); The other surface of the position limiting guide seat (10) is provided with a first connecting shaft (1002) hingedly connected to the end of the connecting rod (12).

8. The medical robotic arm based on an ultrasonic motor according to claim 1, characterized in that: The back side of the side push plate (11) is provided with a second connecting shaft (1101) hingedly connected to the end of the connecting rod (12); The opposing surfaces of the side push plate (11) and the side support plate (807) are both provided with soft pads.

9. The medical robotic arm based on an ultrasonic motor according to claim 1, characterized in that: A fifth ultrasonic motor (17) is fixedly provided on the outside of both ends of the U-shaped frame (802); the rotating shaft ends of the two fifth ultrasonic motors (17) are respectively fixedly connected to the ends of the two second screw rods (9).

10. The medical robotic arm based on an ultrasonic motor according to claim 1, characterized in that: A sixth ultrasonic motor (18) is fixedly provided at one end of the linear guide rail (1); and a rotating shaft end of the sixth ultrasonic motor (18) is fixedly connected to an end of the third lead screw (2).

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