Miniaturized ultrasonic diagnosis and treatment robot and ultrasonic diagnosis and treatment system

Abstract

The application provides a miniaturized ultrasonic diagnosis and treatment robot and an ultrasonic diagnosis and treatment system. The miniaturized ultrasonic diagnosis and treatment 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 for connecting with a positioning arm. The second platform comprises a probe clamping unit for connecting with an ultrasonic probe. The connecting driving unit comprises a plurality of driving rod assemblies. The driving rod assembly comprises a motor and a connecting rod assembly. The plurality of motors of the connecting driving unit are arranged towards the center of the first platform. The two ends of the connecting rod assembly are connected with the motor and the second platform respectively. The connecting rod assembly rotates around the output shaft of the motor under the driving of the motor and drives the second platform to move correspondingly. The technical scheme further compresses the configuration size of the existing parallel ultrasonic robot, and better meets the clinical requirements of miniaturized ultrasonic diagnosis and treatment.

Description

Technical Field

[0001] This invention relates to the field of ultrasound equipment technology, and in particular to a miniaturized ultrasound diagnostic robot and ultrasound diagnostic system. Background Technology

[0002] Ultrasound-assisted robots refer to robots that use remote operation or automatic scanning to perform ultrasound detection on the human body outside the body by holding an ultrasound probe.

[0003] Current technologies primarily employ articulated robots to hold ultrasound probes for ultrasound diagnosis and treatment, typically using industrial-grade 6-axis robots for probe positioning and control. While these robots offer ample motion capabilities, they require a large footprint, hindering clinical surgical procedures in human-robot collaborative environments. In recent years, some technologies have applied parallel robot configurations to ultrasound diagnosis and treatment, demonstrating advantages such as high precision and compact structure. However, their configuration size still requires further optimization and cannot better meet the miniaturized clinical requirements of ultrasound diagnosis and treatment. Summary of the Invention

[0004] To address the problems existing in the prior art, the present invention provides a miniaturized ultrasound diagnostic robot and ultrasound diagnostic system.

[0005] In a first aspect, the present invention provides a miniaturized ultrasound diagnostic robot, comprising:

[0006] First platform, second platform, and connection drive unit;

[0007] The first platform is connected to the second platform via the connection drive unit. The first platform includes a first connecting part for connecting to a positioning arm, and the second platform includes a probe clamping unit for connecting to an ultrasonic probe. The connection drive unit includes multiple drive rod assemblies.

[0008] The drive rod assembly includes a motor and a connecting rod assembly. The multiple motors in the connecting drive unit are arranged to converge toward the center of the first platform. The two ends of the connecting rod assembly are respectively connected to the motor and the second platform. The connecting rod assembly rotates around the output shaft of the motor under the drive of the motor and drives the second platform to make corresponding movements.

[0009] Optionally, the connection drive unit includes three sets of sub-units, each set of sub-units includes two drive rod assemblies, and each drive rod assembly includes a motor and a linkage assembly;

[0010] The connection drive unit includes six motors arranged in two layers along the central axis of the first platform, and three motors belonging to the three sub-units are located on the same layer.

[0011] Optionally, the six motors included in the connection drive unit are arranged in a spatially staggered pattern.

[0012] Optionally, the output shafts of two motors belonging to the same group of sub-units are parallel.

[0013] Optionally, the drive rod assembly further includes a transmission gear assembly and a swing arm. The transmission gear assembly is connected to the motor, the swing arm is mounted on the transmission gear assembly and rotates with the transmission gear assembly, and the connecting rod assembly connects the swing arm and the second platform respectively.

[0014] Optionally, the transmission gear assembly includes a first-stage input gear, a first-stage output gear, a second-stage input gear, and a second-stage output gear;

[0015] The primary input gear is fixedly connected to the output shaft of the motor, meshes with the primary output gear, is coaxially fixedly connected with the secondary input gear, meshes with the secondary output gear, and is fixedly connected to the swing arm.

[0016] Optionally, the second platform further includes a force sensor, a probe fixing plate, and a force sensor connector, wherein the first surface of the force sensor is in contact with the probe clamping unit, and the force sensor connector connects the second surface of the force sensor and the probe fixing plate;

[0017] Wherein, the first surface of the force sensor is the sensing surface of the force sensor, and the second surface of the force sensor is another surface of the force sensor opposite to the sensing surface.

[0018] Optionally, the probe clamping unit includes a first clamping member and a second clamping member, the first clamping member and the second clamping member being used to clamp the ultrasound probe from both sides.

[0019] Optionally, a handheld unit is provided on the first platform.

[0020] In a second aspect, the present invention also provides an ultrasound diagnostic and treatment system, comprising: a trolley, an ultrasound probe, an operating table, and a miniaturized ultrasound diagnostic and treatment robot according to any one of the first aspects, wherein the trolley is disposed on one side of the operating table, a positioning arm is disposed on the trolley, the miniaturized ultrasound diagnostic and treatment robot is disposed on the positioning arm via the first connecting part, and the ultrasound probe is disposed on the miniaturized ultrasound diagnostic and treatment robot via the probe clamping unit.

[0021] The miniaturized ultrasound diagnostic robot and ultrasound diagnostic system provided by this invention connect a first platform to a second platform via a connecting drive unit. The first platform includes a first connecting part for connecting to a positioning arm, and the second platform includes a probe clamping unit for connecting to an ultrasound probe, realizing probe clamping, positioning, and control. The connecting drive unit includes multiple drive rod assemblies; wherein, each drive rod assembly includes a motor and a linkage assembly. The multiple motors included in the connecting drive unit are converged towards the center of the first platform, further compressing the configuration size of existing parallel ultrasound robots and better meeting the miniaturized clinical requirements of ultrasound diagnostics. The two ends of the linkage assembly are respectively connected to the motor and the second platform. Driven by the motor, the linkage assembly rotates around the motor output shaft and drives the second platform to perform corresponding movements, reducing the calculation error of the serial configuration and achieving more precise control of the movement. Attached Figure Description

[0022] 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.

[0023] Figure 1 This is one of the structural schematic diagrams of the miniaturized ultrasound diagnostic robot provided by the present invention;

[0024] Figure 2 This is the second structural schematic diagram of the miniaturized ultrasound diagnostic robot provided by the present invention;

[0025] Figure 3 This is a schematic diagram of the structure of the second platform provided by the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of the first platform and part of the connecting drive unit provided by the present invention;

[0027] Figure 5 This is one of the structural schematic diagrams of the driving component provided by the present invention;

[0028] Figure 6 This is the second schematic diagram of the structure of the driving component provided by the present invention;

[0029] Figure 7 This is one of the structural schematic diagrams of the transmission gear assembly provided by the present invention;

[0030] Figure 8 This is the second schematic diagram of the transmission gear assembly provided by the present invention;

[0031] Figure 9 This is a schematic diagram of the drive rod assembly of the present invention;

[0032] Figure 10 This is one of the schematic diagrams of the overall drive assembly configuration provided by the present invention;

[0033] Figure 11 This is the second schematic diagram of the overall drive assembly configuration provided by the present invention;

[0034] Figure 12 This is a schematic diagram of the structure of the ultrasound diagnostic and treatment system provided in an embodiment of the present invention;

[0035] Figure label:

[0036] 1: Cart and positioning arm; 2: Miniaturized ultrasound diagnostic robot; 3: Ultrasound probe; 4: Patient; 5: Operating table; 201: Second platform; 202: Connecting drive unit; 203: First platform; 204: Handheld unit; 205: First connecting part; 206: Linkage assembly; 2011: Probe clamping unit; 2012: Probe fixing plate; 2013: Force sensor connector; 2014: Force sensor; 2031: First platform fixing plate; 2032: Transmission gear assembly; 2033: Drive assembly; 20321: First-stage input gear; 20322: First-stage output gear; 20323: Second-stage input gear; 20324: Second-stage output gear; 20325: Swing arm; 20331: Motor; 20332: Motor fixing part. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0038] Ultrasound-guided interventional surgeries often require robotic systems with high precision, high transmission capacity, and miniaturization, with the robot's configuration and size being a key indicator. Current technologies primarily employ articulated robots to hold ultrasound probes and complete ultrasound diagnostic procedures. These typically use industrial-grade 6-axis robots for probe positioning and control, offering ample motion capabilities but requiring a large footprint, which is detrimental to clinical procedures in a human-robot collaborative environment. In recent years, some technologies have applied parallel robot configurations to ultrasound diagnostics, demonstrating advantages such as high precision and compact structure. However, their configuration and size still require further optimization and cannot better meet the miniaturized clinical requirements of ultrasound diagnostics.

[0039] Against this technological backdrop, embodiments of the present invention propose a miniaturized ultrasound diagnostic robot, which will be described below in conjunction with... Figures 1 to 12 The miniaturized ultrasound diagnostic robot of the present invention is described as follows: Figure 1 As shown, an embodiment of the present invention provides a miniaturized ultrasound diagnostic robot, comprising:

[0040] First platform 203, second platform 201 and connection drive unit 202;

[0041] The first platform 203 is connected to the second platform 201 via the connecting drive unit 202. The first platform 203 includes a first connecting part 205 for connecting to the positioning arm. The second platform 201 includes a probe clamping unit 2011 for connecting to the ultrasonic probe 3. The connecting drive unit 202 includes multiple drive rod assemblies.

[0042] The drive rod assembly includes a motor 20331 and a connecting rod assembly 206. The multiple motors 20331 in the drive unit 202 are arranged to converge toward the center of the first platform 203. The two ends of the connecting rod assembly 206 are respectively connected to the motor 20331 and the second platform 201. The connecting rod assembly 206 rotates around the output shaft of the motor 20331 under the drive of the motor 20331 and drives the second platform 201 to make corresponding movements.

[0043] Specifically, in this embodiment of the invention, the first platform 203 includes a first connecting part 205 for connecting to the positioning arm of the ultrasound diagnostic system, so that the miniaturized ultrasound diagnostic robot can be fixed on the positioning arm; the second platform 201 includes a probe clamping unit 2011 for connecting to the ultrasound probe 3, the probe clamping unit 2011 being used to clamp the ultrasound probe 3.

[0044] The connection drive unit 202 includes multiple drive rod assemblies, each drive rod assembly including a motor 20331 and a connecting rod assembly 206.

[0045] The multiple motors 20331 included in the drive unit 202 are all arranged to converge toward the center of the first platform 203, without occupying the surrounding area of ​​the first platform 203, thereby reducing the size of the entire miniaturized ultrasound diagnostic robot.

[0046] The linkage assembly 206 can be any type of rod-shaped assembly, including a single linkage with a joint bearing, or a multi-jointed rod-shaped assembly. It should be understood that the linkage assembly 206 should have multiple degrees of freedom. The two ends of the linkage assembly 206 can be connected to a motor 20331 and a second platform 201, respectively. When the motor 20331 is working, the linkage assembly 206 can be excited by the motor 20331 and rotate freely relative to the first platform 203. When a doctor performs remote ultrasound diagnosis on a patient, the doctor will issue commands to remotely control the drive unit 202, causing the second platform 201 to move or rotate relative to the first platform 203, controlling the position and orientation of the ultrasound probe 3, thereby completing the robot-assisted ultrasound diagnosis.

[0047] The miniaturized ultrasound diagnostic robot provided in this embodiment of the invention uses a first platform as a fixed platform and a second platform as a moving platform. Upon receiving a control command, the motor operates, driving the linkage assembly to move the second platform relative to the first platform. Since the first and second platforms are connected and fixed by multiple drive rod assemblies, this miniaturized ultrasound diagnostic robot can achieve multi-directional translation and multi-directional attitude adjustment of the second platform relative to the first platform, thus forming a multi-degree-of-freedom parallel robot configuration. Because the linkage assembly operates in a way that allows the robot to have a flexible working range relative to the axis of the first platform, the miniaturized ultrasound diagnostic robot of this embodiment of the invention can adapt to patients of more different body types during detection tasks.

[0048] Optionally, the connection drive unit 202 includes three sets of sub-units, each set of sub-units includes two drive rod assemblies, and each drive rod assembly includes a motor 20331 and a linkage assembly 206;

[0049] The six motors 20331 included in the connecting drive unit 202 are arranged in two layers along the central axis of the first platform 203, and the three motors 20331 belonging to the three sub-units are located on the same layer.

[0050] Specifically, the connecting drive unit 202 may include three sets of sub-units, each set of sub-units includes two drive rod assemblies, each drive rod assembly includes a motor 20331 and a linkage assembly 206, that is, the connecting drive unit 202 includes six motors 20331, each set of sub-units includes a drive assembly 2033, and a drive assembly 2033 includes two motors 20331.

[0051] These six motors 20331 can be arranged in two layers along the central axis of the first platform 203, and the three motors 20331 belonging to the three sub-units are located on the same layer. That is, in each sub-unit, the first motor is located on the first layer and is fixedly connected to the first platform 203, and the second motor is located on the second layer. The first motor and the second motor can be connected by fasteners or other arbitrary connection methods.

[0052] The miniaturized ultrasound diagnostic robot provided in this embodiment of the invention arranges the six motors of the connecting drive unit in two layers along the central axis of the first platform, and the three motors belonging to the three sub-units are located on the same layer. Compared with the structure of setting all motors on the same layer, the volume occupied by the motors in one layer is compressed, making the structure of the connecting drive unit compact.

[0053] Optionally, the six motors 20331 included in the drive unit 202 are arranged in a spatially staggered manner.

[0054] Specifically, when the six motors 20331 included in the connecting drive unit 202 are arranged in two layers along the central axis of the first platform 203, and the three motors 20331 belonging to the three sub-units are located on the same layer, the six motors 20331 can be spatially staggered.

[0055] like Figure 4 , Figure 5 and Figure 6 As shown, the first platform may also include a first platform fixing plate 2031. Any two motors 20331 in any group include a first motor and a second motor. The first motor is fixed on the first platform fixing plate 2031, and the second motor is located on the second layer. The first motor and the second motor are fixedly connected by motor fixing parts 20332. The two motors 20331 of each sub-unit are spatially staggered with the two motors 20331 of other sub-units.

[0056] In this embodiment of the invention, by setting the six motors included in the connecting drive unit to a spatially staggered distribution, the volume of the miniaturized ultrasound diagnostic robot configuration can be fully compressed, maximizing the compactness of the connecting drive unit structure.

[0057] Optionally, the output shafts of two motors 20331 belonging to the same sub-unit are parallel.

[0058] Specifically, when the six motors 20331 are spatially staggered, the output shafts of two motors 20331 belonging to the same sub-unit can be parallel.

[0059] In one embodiment, the output shafts of two motors 20331 belonging to the same subunit are parallel, and one end of two connecting rod assemblies 206 belonging to the same subunit is connected to the two motors 20331, while the other end can be connected to the second platform 201 at an adjacent position or at the same position. Figure 2 , Figure 10 and Figure 11 As shown, the second platform 201 may include a probe fixing plate 2012, which is an approximately triangular fixing plate. Two connecting rod assemblies 206 belonging to the same sub-unit are connected to one corner of the probe fixing plate 2012 of the second platform 201. Compared with the probe fixing plate 2012 being evenly distributed around the periphery of the second platform 201, the volume of the second platform 201 can be compressed.

[0060] In one embodiment, the output shafts of the two motors 20331 in each subunit are perpendicular to the edge of the first platform fixing plate 2031. For example... Figure 5 and Figure 6 As shown, the output shafts of the two motors 20331 in each subunit are parallel and perpendicular to the edge of the first platform fixing plate 2031.

[0061] In this embodiment of the invention, the output shafts of two motors belonging to the same sub-unit are set to be parallel, which facilitates the motors to drive the linkage assembly to rotate in order to adjust the position and attitude of the second platform and ensure the structural stability of the miniaturized ultrasound diagnostic robot.

[0062] Optionally, the drive rod assembly further includes a transmission gear assembly 2032 and a swing arm 20325. The transmission gear assembly 2032 is connected to the motor 20331, the swing arm 20325 is mounted on the transmission gear assembly 2032, and the swing arm 20325 rotates with the transmission gear assembly 2032. The connecting rod assembly 206 connects the swing arm 20325 and the second platform 201 respectively.

[0063] Specifically, the drive rod assembly can be a transmission assembly consisting of a motor 20331, a transmission gear assembly 2032, a swing arm 20325, and a connecting rod assembly 206. First, the motor 20331 operates, driving the transmission gear assembly 2032 to rotate. Then, the rotation of the transmission gear assembly 2032 drives the swing arm 20325 mounted on it to rotate. After the swing arm 20325 rotates with the transmission gear assembly 2032, the connecting rod assembly 206 connects the swing arm 20325 and the second platform 201 respectively, thereby allowing the second platform 201 to adjust its position and attitude relative to the first platform 203.

[0064] like Figure 9 As shown, one end of the connecting rod assembly 206 is fixed to the swing arm 20325, as... Figure 10 and Figure 11As shown, the other end of the linkage assembly 206 is connected and fixed to the second platform 201. When the motor 20331 rotates, it drives the swing arm 20325 to rotate together, and under the action of the linkage assembly 206, it drives the second platform 201 to move together, so as to realize the position and posture adjustment of the second platform 201, thereby completing the scanning action of the ultrasound probe 3 on the patient's body surface.

[0065] The miniaturized ultrasound diagnostic robot provided in this invention maximizes the compactness of the first platform structure and reduces its weight by incorporating a transmission gear assembly and a swing arm mounted on the transmission gear assembly. Furthermore, due to the large transmission ratio and low power loss of the transmission gears, it can adapt to various complex remote control commands.

[0066] Optionally, the transmission gear assembly 2032 includes a first-stage input gear 20321, a first-stage output gear 20322, a second-stage input gear 20323, and a second-stage output gear 20324;

[0067] Specifically, the first-stage input gear 20321 is fixedly connected to the output shaft of the motor 20331, the first-stage input gear 20321 meshes with the first-stage output gear 20322, the first-stage output gear 20322 is coaxially fixedly connected with the second-stage input gear 20323, the second-stage input gear 20323 meshes with the second-stage output gear 20324, and the second-stage output gear 20324 is fixedly connected to the swing arm 20325.

[0068] Specifically, such as Figure 7 and Figure 8 As shown, the transmission gear assembly 2032 may include a first-stage input gear 20321, a first-stage output gear 20322, a second-stage input gear 20323, and a second-stage output gear 20324. The fixed end of the first-stage input gear 20321 is fixedly connected to the output shaft of the motor 20331, and the gear end of the first-stage input gear 20321 meshes with the gear end of the first-stage output gear 20322. The first-stage output gear 20322 and the second-stage input gear 20323 are coaxially fixedly connected, thus allowing them to rotate synchronously. The second-stage input gear 20323 meshes with the second-stage output gear 20324. The swing arm 20325 is fixedly connected to the second-stage output gear 20324.

[0069] When the first-stage input gear 20321 rotates synchronously with the output shaft of the motor 20331, all stages of gears will mesh together, ultimately driving the rocker arm 20325 to rotate around the central axis of the second-stage output gear 20324. This transmission gear structure allows for higher transmission accuracy and a larger transmission ratio.

[0070] Optionally, the second platform 201 also includes a force sensor 2014, a probe fixing plate 2012 and a force sensor connector 2013. The first surface of the force sensor 2014 is in contact with the probe clamping unit 2011, and the force sensor connector 2013 connects the second surface of the force sensor 2014 and the probe fixing plate 2012.

[0071] The first surface of the force sensor 2014 is the sensing surface of the force sensor 2014, and the second surface of the force sensor 2014 is the other surface of the force sensor 2014 opposite to the sensing surface.

[0072] Specifically, such as Figure 3 As shown, the second platform 201 includes: a probe clamping unit 2011, a probe fixing plate 2012, a force sensor connector 2013, and force sensors 2014. The probe clamping unit 2011 is fixed to both sides of the ultrasound probe 3 and clamps and fixes the ultrasound probe. Three force sensors 2014 are distributed between the probe clamping unit 2011 and the force sensor connector 2013. The probe clamping unit 2011 is fixedly connected to the first surface (i.e., the sensing surface) of the force sensor 2014. The second surface (i.e., the non-sensing surface) of the force sensor 2014 is fixedly connected to the force sensor connector 2013. The main function of the lower platform assembly 201 is to clamp and fix the ultrasound probe 3 and to measure the contact force between the ultrasound probe 3 and the patient's body surface by arranging the force sensors 2014, thereby better presenting the ultrasound scan image.

[0073] This invention relates to a miniaturized ultrasound diagnostic robot that proposes a scheme to correlate the contact force between the probe tip and the patient's body surface, enabling better presentation of ultrasound images. A remote physician can control the robot and the contact force between the probe and the patient's body surface via teleoperation to achieve small-area scanning and diagnostic tasks using the probe tip.

[0074] Optionally, the probe clamping unit 2011 includes a first clamping member and a second clamping member, which are used to clamp the ultrasound probe from both sides.

[0075] Specifically, two clamping components, a first clamping component and a second clamping component, are located on both sides of the ultrasonic probe 3 and mate with the surface of the ultrasonic probe 3. The first clamping component and the second clamping component can be tightened by screws or other detachable connection methods to fix the ultrasonic probe 3 in place.

[0076] The miniaturized ultrasound diagnostic robot of this invention has a probe clamping unit that clamps the probe from both sides through a first clamping member and a second clamping member. It can adapt to different probe sizes, has a certain degree of universality for probe specifications, and is simple to install and easy to disassemble.

[0077] Optionally, a handheld unit 204 is provided on the first platform 203.

[0078] Specifically, existing solutions all use active joints for robot joints, and the robot's motion control is all operated remotely by a doctor. However, this active joint control method can lead to unforeseen events during treatment that cannot be handled promptly, potentially causing injury to the patient and posing a safety risk. Therefore, this embodiment of the invention provides a handheld unit 204 on the first platform 203, allowing on-site nurses to assist remote doctors. The placement of the handheld unit 204 is not limited and can be located anywhere on the first platform 203 without interfering with the movement of the connecting drive unit 202.

[0079] Specifically, in this embodiment, the handheld unit 204 is a handle. For example... Figure 2 As shown, the handle and the first connecting part 205 are jointly disposed on the surface of the first platform 203, and the number of handles can be three, respectively disposed on the three sides of the first platform 203.

[0080] When ultrasound diagnosis is required for a patient, using this embodiment of the invention, medical staff can use the handheld unit 204 to drag the miniaturized ultrasound diagnostic robot to a suitable position. The doctor can then remotely control the robot's movement to complete the scanning task at the target location. In the event of a malfunction, medical staff can also use the handheld unit 204 to remove the miniaturized ultrasound diagnostic robot from the patient, preventing unnecessary harm. Therefore, this technical solution also offers excellent safety.

[0081] The remote ultrasound robot of this invention uses a passive handheld auxiliary method to fix the ultrasound probe, which has higher safety compared to other active technical solutions.

[0082] In at least one embodiment of the present invention, a miniaturized ultrasound diagnostic robot, such as Figure 2 As shown, it mainly includes the following components: a second platform 201, a linkage assembly 206, a first platform 203, a handheld unit 204, and a first connecting part 205. The ultrasound probe 3 is fixed to the lower platform assembly 201. The second platform 201 is connected to the first platform 203 via the linkage assembly 206. The handheld unit 204 is fixed to the first connecting part 205. The first connecting part 205 is fixed to the end of the trolley and positioning arm 1. The handheld unit 204 is used by the operator to drag the miniaturized ultrasound diagnostic robot 2 to move the ultrasound probe 3 to the appropriate scanning area of ​​the patient 4.

[0083] This invention addresses the issue of volume redundancy in parallel ultrasound robot configurations by proposing a miniaturized parallel robot design scheme based on mechanical design principles. This scheme employs a spatially staggered actuator layout and adds corresponding transmission structures, significantly reducing the size of the parallel ultrasound robot while improving its load-bearing capacity, demonstrating good clinical application value. Furthermore, this scheme utilizes passive large-range positioning and handheld assisted small-range positioning, controlling robot movement and the contact force between the ultrasound probe and the patient's body surface through remote operation or automatic scanning, thus meeting the needs of routine clinical scanning tasks. This technology offers advantages such as small size, high transmission ratio, compact structure, portability, high safety, and substantial economic cost.

[0084] This invention also discloses an ultrasound diagnostic and treatment system, including: a trolley, an ultrasound probe, an operating table, and a miniaturized ultrasound diagnostic and treatment robot according to any of the above embodiments. The trolley is disposed on one side of the operating table, and a positioning arm is disposed on the trolley. The miniaturized ultrasound diagnostic and treatment robot is disposed on the positioning arm through the first connecting part, and the ultrasound probe is disposed on the miniaturized ultrasound diagnostic and treatment robot through the probe clamping unit.

[0085] Specifically, such as Figure 12 As shown, the ultrasound diagnostic and treatment system mainly includes the following components: a cart and positioning arm 1, a miniaturized ultrasound diagnostic and treatment robot 2, an ultrasound probe 3, and an operating table 5. The cart and positioning arm 1 can be used for initial three-dimensional positioning of the overall robot system and facilitate the placement and arrangement of the robot in the operating room. The miniaturized ultrasound diagnostic and treatment robot 2 is fixed at the end of the cart and positioning arm 1, thus relying on the cart and positioning arm 1 to initially fix the end ultrasound probe 3 on the patient's body surface. The ultrasound probe 3 is fixed at the end of the miniaturized ultrasound diagnostic and treatment robot 2, relying on the miniaturized ultrasound diagnostic and treatment robot 2 to perform examination scanning on the patient's body surface. The ultrasound probe 3, miniaturized ultrasound diagnostic and treatment robot 2, cart and positioning arm 1, and miniaturized ultrasound diagnostic and treatment robot 5 can be quickly assembled and disassembled.

[0086] The ultrasound diagnostic system in this embodiment of the invention operates as follows: First, the nurse confirms the scope of the ultrasound diagnostic process, moves the trolley and positioning arm 1 to an appropriate position, and then the doctor obtains real-time information about the patient's detection status through remote image feedback. The doctor remotely operates the miniature ultrasound diagnostic robot 2 to perform the detection. The nurse will assist in moving the miniature ultrasound diagnostic robot 2 at any time according to the doctor's instructions and the situation on site until the detection is completed.

[0087] The ultrasound diagnostic system in this embodiment of the invention achieves passive large-area positioning of the probe and active auxiliary small-area control. A remote physician controls a miniaturized ultrasound diagnostic robot via teleoperation, and the probe contacts the patient's skin to perform small-area scanning and diagnostic tasks. This system balances the characteristics of small ultrasound scanning area and the significant influence of surface contact force on scanning results, while also considering safety during the diagnostic process and the physical fatigue and workload of medical staff.

[0088] The ultrasound diagnostic and treatment system of this invention provides a miniaturized ultrasound diagnostic and treatment robot, comprising at least:

[0089] First platform 203, second platform 201 and connection drive unit 202;

[0090] The first platform 203 is connected to the second platform 201 via the connecting drive unit 202. The first platform 203 includes a first connecting part 205 for connecting to the positioning arm. The second platform 201 includes a probe clamping unit 2011 for connecting to the ultrasonic probe 3. The connecting drive unit 202 includes multiple drive rod assemblies.

[0091] The drive rod assembly includes a motor 20331 and a connecting rod assembly 206. The multiple motors 20331 in the drive unit 202 are arranged to converge toward the center of the first platform 203. The two ends of the connecting rod assembly 206 are respectively connected to the motor 20331 and the second platform 201. The connecting rod assembly 206 rotates around the output shaft of the motor 20331 under the drive of the motor 20331 and drives the second platform 201 to make corresponding movements.

[0092] Optionally, the connection drive unit 202 includes three sets of sub-units, each set of sub-units includes two drive rod assemblies, and each drive rod assembly includes a motor 20331 and a linkage assembly 206;

[0093] The six motors 20331 included in the connecting drive unit 202 are arranged in two layers along the central axis of the first platform 203, and the three motors 20331 belonging to the three sub-units are located on the same layer.

[0094] Optionally, the six motors 20331 included in the drive unit 202 are arranged in a spatially staggered manner.

[0095] Optionally, the output shafts of two motors 20331 belonging to the same sub-unit are parallel.

[0096] Optionally, the drive rod assembly further includes a transmission gear assembly 2032 and a swing arm 20325. The transmission gear assembly 2032 is connected to the motor 20331, the swing arm 20325 is mounted on the transmission gear assembly 2032, and the swing arm 20325 rotates with the transmission gear assembly 2032. The connecting rod assembly 206 connects the swing arm 20325 and the second platform 201 respectively.

[0097] Optionally, the transmission gear assembly 2032 includes a first-stage input gear 20321, a first-stage output gear 20322, a second-stage input gear 20323, and a second-stage output gear 20324;

[0098] Specifically, the first-stage input gear 20321 is fixedly connected to the output shaft of the motor 20331, the first-stage input gear 20321 meshes with the first-stage output gear 20322, the first-stage output gear 20322 is coaxially fixedly connected with the second-stage input gear 20323, the second-stage input gear 20323 meshes with the second-stage output gear 20324, and the second-stage output gear 20324 is fixedly connected to the swing arm 20325.

[0099] Optionally, the second platform 201 also includes a force sensor 2014, a probe fixing plate 2012 and a force sensor connector 2013. The first surface of the force sensor 2014 is in contact with the probe clamping unit 2011, and the force sensor connector 2013 connects the second surface of the force sensor 2014 and the probe fixing plate 2012.

[0100] The first surface of the force sensor 2014 is the sensing surface of the force sensor 2014, and the second surface of the force sensor 2014 is the other surface of the force sensor 2014 opposite to the sensing surface.

[0101] Optionally, the probe clamping unit 2011 includes a first clamping member and a second clamping member, which are used to clamp the ultrasound probe from both sides.

[0102] Optionally, a handheld unit 204 is provided on the first platform 203.

[0103] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions 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 invention.

Claims

1. A miniaturized ultrasound diagnostic robot, characterized in that, include: First platform, second platform, and connection drive unit; The first platform is connected to the second platform via the connection drive unit. The first platform includes a first connecting part for connecting to a positioning arm, and the second platform includes a probe clamping unit for connecting to an ultrasonic probe. The connection drive unit includes multiple drive rod assemblies. The drive rod assembly includes a motor and a linkage assembly. The multiple motors in the connecting drive unit are arranged to converge toward the center of the first platform. The two ends of the linkage assembly are respectively connected to the motor and the second platform. The linkage assembly rotates around the output shaft of the motor under the drive of the motor and drives the second platform to make corresponding movements. The connection drive unit includes three sets of sub-units, each set of sub-units includes two drive rod assemblies, and each drive rod assembly includes a motor and a linkage assembly. The connection drive unit includes six motors arranged in two layers along the central axis of the first platform, and three motors belonging to the three sub-units are located on the same layer.

2. The miniaturized ultrasound diagnostic robot according to claim 1, characterized in that, The six motors included in the connection drive unit are arranged in a spatially staggered pattern.

3. The miniaturized ultrasound diagnostic robot according to claim 2, characterized in that, The output shafts of the two motors belonging to the same subunit are parallel.

4. The miniaturized ultrasound diagnostic robot according to any one of claims 1 to 3, characterized in that, The drive rod assembly further includes a transmission gear assembly and a swing arm. The transmission gear assembly is connected to the motor, the swing arm is mounted on the transmission gear assembly and rotates with the transmission gear assembly, and the connecting rod assembly connects the swing arm and the second platform respectively.

5. The miniaturized ultrasound diagnostic robot according to claim 4, characterized in that, The transmission gear assembly includes a first-stage input gear, a first-stage output gear, a second-stage input gear, and a second-stage output gear; The primary input gear is fixedly connected to the output shaft of the motor, meshes with the primary output gear, is coaxially fixedly connected with the secondary input gear, meshes with the secondary output gear, and is fixedly connected to the swing arm.

6. The miniaturized ultrasound diagnostic robot according to any one of claims 1 to 3, characterized in that, The second platform also includes a force sensor, a probe fixing plate, and a force sensor connector. The first surface of the force sensor is in contact with the probe clamping unit, and the force sensor connector connects the second surface of the force sensor and the probe fixing plate. Wherein, the first surface of the force sensor is the sensing surface of the force sensor, and the second surface of the force sensor is another surface of the force sensor opposite to the sensing surface.

7. The miniaturized ultrasound diagnostic robot according to any one of claims 1 to 3, characterized in that, The probe clamping unit includes a first clamping member and a second clamping member, which are used to clamp the ultrasound probe from both sides.

8. The miniaturized ultrasound diagnostic robot according to any one of claims 1 to 3, characterized in that, The first platform is equipped with a handheld unit.

9. An ultrasound diagnostic and treatment system, characterized in that, include: The miniaturized ultrasound diagnostic robot according to any one of claims 1 to 8 includes a trolley, an ultrasound probe, an operating table, and a miniaturized ultrasound diagnostic robot according to any one of claims 1 to 8. The trolley is disposed on one side of the operating table and a positioning arm is disposed on the trolley. The miniaturized ultrasound diagnostic robot is disposed on the positioning arm via the first connecting part, and the ultrasound probe is disposed on the miniaturized ultrasound diagnostic robot via the probe clamping unit.

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