Ultrasonic imaging diagnosis auxiliary manipulator and use method thereof

Abstract

The present invention relates to the technical field of imaging diagnostic equipment, and more specifically, to an ultrasonic imaging diagnostic auxiliary manipulator and a method for using the same, comprising a mechanical arm and a detection device fixed to the end of the mechanical arm, wherein the detection device comprises a fixing mechanism, a driving mechanism disposed inside the fixing mechanism, a coating mechanism for coating a coupling agent on the patient's skin, and an ultrasonic probe that swings as the internal structure of the driving mechanism moves. The ultrasonic imaging diagnostic auxiliary manipulator and the method for using the same, after the driving motor is started, can drive the moving block to reciprocate inside the fixed box body through a dial, and the moving crossbar drives the swing bracket and the clamping frame below for fixing the ultrasonic probe to swing, thereby allowing the ultrasonic probe to perform multi-directional scanning while reducing the manufacturing cost of the mechanical arm.

Description

Technical Field

[0001] The present invention relates to the technical field of imaging diagnostic equipment, and in particular to an ultrasonic imaging diagnostic auxiliary manipulator and a method for using the same. Background Art

[0002] The ultrasonic imaging diagnostic auxiliary robot is a medical device that integrates advanced image recognition and mechanical control technologies. It can capture and analyze medical images in real time through high-precision sensors and cameras, providing doctors with accurate auxiliary diagnostic information. It can simulate human hand movements and assist doctors in performing detailed image annotation, lesion area measurement, and three-dimensional reconstruction, greatly improving the accuracy and efficiency of diagnosis.

[0003] The patent with application number CN202210576457.1 discloses an operating hand system and method for a remote cardiac color ultrasound robot, including a control handle, a resistive screen and an embedded computer. The control handle is connected to the embedded computer circuit, and the resistive screen is connected to the embedded computer circuit. The cardiac color ultrasound robot includes a robotic arm with a pressure sensor at the end of the robotic arm. According to the force condition feedback from the robot end, different vibration modes are used to allow doctors to understand the interaction status between the remote robot and the patient from the hand feeling.

[0004] In medical imaging diagnosis, single-angle ultrasonic detection is prone to blind spots due to the non-parallel direction of blood flow in the lesion and the ultrasonic beam, increasing the risk of missed diagnosis or misdiagnosis. To reduce this risk, medical personnel often manually adjust the probe angle and perform multi-directional scans. However, in remote diagnosis, although high-precision robotic arms can improve accuracy, their application is limited due to high cost and complex maintenance. Traditional robotic arms are difficult to meet the needs of fine angle swings. At the same time, the robotic arms mainly assist in the movement of the probe, and the coupling agent still needs to be applied by the nurse before detection, which increases labor costs and reduces the level of automation in remote diagnosis.

[0005] In view of this, we propose an ultrasonic imaging diagnosis-assisted manipulator and a method of using the same. Summary of the invention

[0006] The object of the present invention is to provide an ultrasonic imaging diagnosis auxiliary manipulator and a method of using the same to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above object, on the one hand, the present invention provides the following technical solutions:

[0008] An ultrasonic imaging diagnosis auxiliary manipulator, comprising a mechanical arm and a detection device fixed to the end of the mechanical arm, wherein the detection device comprises a fixing mechanism, a driving mechanism arranged inside the fixing mechanism, an applying mechanism for applying a coupling agent to the patient's skin, and an ultrasonic probe arranged at the bottom of the driving mechanism and having a changing inclination angle;

[0009] The fixing mechanism comprises a fixing box body, a pair of fixing horizontal bars located directly below the fixing box body and arranged in parallel, and a docking gear symmetrically arranged inside one of the fixing horizontal bars, and arc-shaped grooves penetrating inside and outside are opened on the outer side walls at the left and right ends of the fixing box body;

[0010] The driving mechanism includes a driving motor, a moving block disposed below the output shaft of the driving motor and reciprocating inside the fixed box body, two swing brackets whose fixed angles change as the moving block moves, a clamping frame disposed between the bottoms of the two swing brackets for fixing the ultrasound probe, and a rod wall gear disposed on the center rod outside the clamping frame, wherein the rod wall gear is disposed in the middle of one of the fixed horizontal bars and meshes with the two docking gears;

[0011] The coating mechanism includes a pair of rotating shafts sleeved between the two ends of a pair of fixed horizontal bars, a coating roller sleeved on the outside of the rotating shaft, and an outer sleeve frame arranged above the coating roller for storing coupling agent. One side end of the rotating shaft is provided with a transmission part that meshes with the docking gear for transmission; the driving motor drives the moving block to swing back and forth, and the clamping frame clamps the ultrasonic probe to change its inclination angle through the swing bracket, and then drives the two docking gears to reciprocate through the rod wall gear, and then drives the coating roller to touch the skin and rotate to complete the coating of the coupling agent.

[0012] In the technical solution of the present invention, two parallel limiting sliding grooves with T-shaped longitudinal cross-sections are opened on the inner bottom surface of the fixed box body, and a partition plate is integrally formed on the inner side wall of the fixed box body. The height of the groove wall on the top surface of the arc groove is lower than the horizontal height of the bottom surface of the partition plate.

[0013] In the technical solution of the present invention, a downward extension rod is welded between the bottom surfaces at the left and right ends of the fixed box body and the fixed horizontal bar, and an inner groove for placing the docking gear and the internal structure of the coating mechanism is opened inside the fixed horizontal bar, and the docking gear is rotatably connected to the inside of the fixed horizontal bar.

[0014] In the technical solution of the present invention, the driving motor is fixedly connected to the top surface of the partition plate by screws, the output shaft of the driving motor extends to the bottom of the partition plate and the end is coaxially connected to a dial, the dial is rotatably connected to the bottom surface of the partition plate, and a lever is integrally formed on the bottom surface of the dial near the edge.

[0015] In the technical solution of the present invention, a limit sliding block is integrally formed on the bottom surface of the moving block and is slidably connected to the inside of the limit sliding groove. A connecting groove running through the left and right is opened inside the moving block. A block top groove is opened on the top surface of the moving block to provide a moving range for the shift rod.

[0016] In the technical solution of the present invention, a frame slide groove that runs through the left and right sides is opened at a position near the top of the outer wall of the swing bracket, and the same movable cross bar is placed inside the connecting groove and the frame slide groove. The movable cross bar is slidably connected to the inside of the arc groove, and a disc that contacts the outer wall of the movable cross bar is integrally formed at the end position of the movable cross bar.

[0017] In the technical solution of the present invention, the clamping frame is rotatably connected between two fixed horizontal bars through the frame wall center rods at the left and right ends, the end portions of the frame wall center rods at the left and right ends of the clamping frame are clamped and fixed with swing brackets, and the outer walls of the frame wall center rods at the left and right ends of the clamping frame are clamped and fixed with rod wall gears that mesh with the docking gears.

[0018] In the technical solution of the present invention, the left and right ends of the rotating shaft are respectively rotatably connected to the groove walls of the left and right fixed horizontal bars, the coating roller is clamped and fixed to the outer wall of the rotating shaft, and the bottom surfaces of the left and right ends of the outer casing are clamped and fixed to the top surfaces of the two fixed horizontal bars, and an injection tube for injecting coupling agent is clamped on the top surface of the outer casing.

[0019] In the technical solution of the present invention, the transmission part includes a rotating ratchet fixed at the end of the rotating shaft, an outer ring tooth mounted on the outside of the rotating ratchet and meshing with the docking gear, a plurality of ratchets rotatably connected to the groove of the inner ring wall of the outer ring tooth, and a rotating ring bar integrally formed on the outer ring tooth, and the rotating ring bar is rotatably connected to the groove wall of the groove in the fixed horizontal bar.

[0020] On the other hand, the present invention provides a method for using an ultrasonic imaging diagnosis auxiliary manipulator, using the ultrasonic imaging diagnosis auxiliary manipulator, comprising the following steps:

[0021] S1. First, through remote image and sound transmission, we can get a preliminary understanding of the patient's condition and guide the patient to lie on the testing bed;

[0022] S2. Then, the remote doctor controls the overall movement of the robotic arm through signal transmission, directly places the ultrasonic probe in the detection device against the patient's skin, and drives the ultrasonic probe to move back and forth at the position where the patient needs to be detected;

[0023] S3, at the same time, start the driving motor in the driving mechanism to drive the dial to rotate, so that the moving block as a whole moves back and forth inside the fixed box body;

[0024] S4. At this time, the moving crossbar placed inside the connecting groove moves together with the moving block. While its position inside the arc groove is constantly changing, it drives the swing bracket as a whole to swing back and forth, and the clamping frame clamping the ultrasonic probe changes its inclination angle together, thereby simulating manual diagnosis;

[0025] S5. When the clamping frame swings, the rod wall gear fixed on one of the frame wall center rods drives the outer ring gear to reciprocate, and the plurality of ratchets inside the gear drive the rotating ratchet wheel and the rotating shaft to rotate in one direction during the reciprocating rotation.

[0026] S6. At this time, the continuously rotating application roller squeezes and massages the patient's skin while bringing out the coupling agent inside the outer casing, and along with the continuously moving detection device, the coupling agent is evenly applied to the position where the patient needs to be detected;

[0027] S7. After the coupling agent is discharged, the remote medical staff controls the robotic arm to accurately move the ultrasound probe to the position where the patient needs to be tested, and scans the same part from different directions by continuously changing the tilt angle of the ultrasound probe;

[0028] S8. After the detection is completed, the driving motor is turned off, and the mechanical arm is controlled to restore the position of the detection device, and the coupling agent is filled into the outer casing through the injection tube through the external injection device.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. The ultrasonic imaging diagnosis auxiliary manipulator and its use method, after the driving motor is started, can drive the moving block to move back and forth inside the fixed box body through the dial, and let the moving cross bar drive the swing bracket together with the clamping frame below for fixing the ultrasonic probe to swing, so that the ultrasonic probe can perform multi-directional scanning while reducing the manufacturing cost of the robot arm.

[0031] 2. The ultrasonic imaging diagnosis auxiliary manipulator and its use method, while the clamping frame is swinging, the transmission part in the coating mechanism can allow the coating roller to bring out the coupling agent in the outer coat frame, so that medical personnel can evenly apply the coupling agent to the patient's skin surface directly from a remote location, thereby reducing labor costs and improving the automation level of remote diagnosis. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0033] Figure 2 It is a schematic diagram of the structure of the detection device in the present invention.

[0034] Figure 3 It is a schematic diagram of the structural section of the detection device in the present invention.

[0035] Figure 4 It is a schematic cross-sectional view of the structure of the fixing mechanism in the present invention.

[0036] Figure 5It is a structural schematic diagram of the driving mechanism in the present invention.

[0037] Figure 6 It is a schematic diagram of the structural disassembly of the driving mechanism in the present invention.

[0038] Figure 7 It is a schematic diagram of the structure of the moving block in the present invention.

[0039] Figure 8 It is a schematic cross-sectional view of the structure of the coating mechanism in the present invention.

[0040] Fig. 9 It is a structural schematic diagram of the transmission part in the present invention.

[0041] Fig.10 It is a schematic diagram of the structure of the ultrasonic probe in the present invention.

[0042] Description of reference numerals:

[0043] 100, mechanical arm; 200, detection device; 210, fixing mechanism; 211, fixing box body; 2110, limiting slide groove; 2111, arc groove; 212, partition plate; 213, lower extension rod; 214, fixed horizontal bar; 215, docking gear; 220, driving mechanism; 221, driving motor; 222, dial; 2220, lever; 223, moving block; 2230, limiting slide block; 2231, connecting groove; 2 232, slot on top of block; 224, movable cross bar; 225, swing bracket; 2250, frame slide groove; 226, clamping frame; 227, rod wall gear; 230, coating mechanism; 231, rotating shaft; 232, coating roller; 233, transmission part; 2330, rotating ratchet; 2331, outer sleeve ring gear; 2332, pawl; 2333, rotating ring strip; 234, outer sleeve frame; 235, injection tube; 240, ultrasonic probe. DETAILED DESCRIPTION

[0044] The following will be combined with the accompanying drawings in the present invention to clearly and completely describe the technical solutions in the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] See also Figure 1-Figure 10 As shown, this embodiment provides a technical solution:

[0046] An ultrasonic imaging diagnosis auxiliary manipulator comprises a manipulator arm 100 and a detection device 200 fixed to the end of the manipulator arm 100, wherein the detection device 200 comprises a fixing mechanism 210, a driving mechanism 220 disposed inside the fixing mechanism 210, an applying mechanism 230 for applying a coupling agent to a patient's skin, and an ultrasonic probe 240 disposed at the bottom of the driving mechanism 220 and having a changing inclination angle;

[0047] In the present invention, the fixing mechanism 210 includes a fixing box body 211, a pair of fixing horizontal bars 214 located directly below the fixing box body 211 and arranged in parallel, and a docking gear 215 symmetrically arranged inside one of the fixing horizontal bars 214. The outer side walls of the left and right ends of the fixing box body 211 are provided with arc grooves 2111 that penetrate inside and outside.

[0048] Specifically, two parallel limiting grooves 2110 with a T-shaped longitudinal cross-section are opened on the inner bottom surface of the fixed box body 211, and a partition plate 212 is integrally formed on the inner side wall of the fixed box body 211. The height of the groove wall on the top surface of the arc groove 2111 is lower than the horizontal height of the bottom surface of the partition plate 212.

[0049] Furthermore, a downward extension rod 213 is welded between the bottom surface of the left and right ends of the fixed box body 211 and the fixed horizontal bar 214, and a groove is opened inside the fixed horizontal bar 214 for placing the docking gear 215 and the internal structure of the coating mechanism 230, and the docking gear 215 is rotatably connected to the inside of the fixed horizontal bar 214.

[0050] Furthermore, the fixed box body 211 is used to ensure the strength of the overall structure of the fixing mechanism 210, the limiting slide groove 2110 and the arc groove 2111 are used to limit the movement range of the internal structure of the driving mechanism 220, the partition plate 212 is used to provide a placement platform for the structure in the driving mechanism 220, and the downward extension rod 213 is used to provide a fixed base point for the fixed horizontal bar 214.

[0051] In this embodiment, Figure 5-Figure 7 As shown, the driving mechanism 220 includes a driving motor 221, a moving block 223 disposed below the output shaft of the driving motor 221 and reciprocating inside the fixed box body 211, two swing brackets 225 whose fixed angles change as the moving block 223 moves, a clamping frame 226 disposed between the bottoms of the two swing brackets 225 for fixing the ultrasonic probe 240, and a rod wall gear 227 disposed on the center rod outside the clamping frame 226, the rod wall gear 227 being disposed in the middle of one of the fixed horizontal bars 214 and meshing with the two docking gears 215;

[0052] Specifically, the drive motor 221 is fixedly connected to the top surface of the partition plate 212 by screws, the output shaft of the drive motor 221 extends to the bottom of the partition plate 212 and the end is coaxially connected to a dial 222, the dial 222 is rotatably connected to the bottom surface of the partition plate 212, and a lever 2220 is integrally formed on the bottom surface of the dial 222 near the edge.

[0053] Furthermore, a limiting slider 2230 is integrally formed on the bottom surface of the moving block 223 and is slidably connected to the inside of the limiting slide groove 2110. A connecting groove 2231 is opened inside the moving block 223 to pass through the left and right sides. A block top groove 2232 is opened on the top surface of the moving block 223 to provide a moving range for the lever 2220.

[0054] Furthermore, a frame slide groove 2250 that runs through the left and right sides is opened at a position near the top of the outer wall of the swing bracket 225, and the same movable cross bar 224 is placed inside the connecting groove 2231 and the frame slide groove 2250. The movable cross bar 224 is slidably connected to the inside of the arc groove 2111, and a disc that contacts the outer wall of the movable cross bar 224 is integrally formed at the end position of the movable cross bar 224.

[0055] Furthermore, the clamping frame 226 is rotatably connected between the two fixed horizontal bars 214 through the frame wall center rods at the left and right ends, the end portions of the frame wall center rods at the left and right ends of the clamping frame 226 are clamped and fixed to the swing bracket 225, and the outer walls of the frame wall center rods at the left and right ends of the clamping frame 226 are clamped and fixed with rod wall gears 227 that mesh with the docking gear 215.

[0056] Furthermore, after the driving motor 221 is started, the output shaft rotates the dial 222, and the lever 2220 under the dial 222 can move inside the slot 2232 on the top of the block, allowing the moving block 223 to move back and forth as a whole inside the fixed box body 211. At this time, the moving cross bar 224 placed inside the connecting groove 2231 moves together with the moving block 223. While its own position inside the arc groove 2111 is constantly changing, it drives the swing bracket 225 to swing back and forth as a whole, and allows the clamping frame 226 to swing together, so that the inclination angle of the ultrasonic probe 240 fixed inside the clamping frame 226 is constantly changing.

[0057] In this embodiment, Fig. 9As shown, the coating mechanism 230 includes a pair of rotating shafts 231 sleeved between the two ends of a pair of fixed horizontal bars 214, a coating roller 232 sleeved on the outside of the rotating shaft 231, and an outer casing frame 234 disposed above the coating roller 232 for storing the coupling agent. A transmission part 233 meshing with the docking gear 215 is disposed on one side end of the rotating shaft 231; the driving motor 221 drives the moving block 223 to swing back and forth, and the swing bracket 225 drives the clamping frame 226 to clamp the ultrasonic probe 240 to change the inclination angle, and then the rod wall gear 227 drives the two docking gears 215 to reciprocate, and then drives the coating roller 232 to touch the skin and rotate to complete the coating of the coupling agent;

[0058] Specifically, the left and right ends of the rotating shaft 231 are respectively rotatably connected to the groove walls of the left and right fixed horizontal bars 214, the coating roller 232 is clamped and fixed to the outer wall of the rotating shaft 231, and the bottom surfaces of the left and right ends of the outer casing 234 are clamped and fixed to the top surfaces of the two fixed horizontal bars 214, and the top surface of the outer casing 234 is clamped with an injection tube 235 for injecting coupling agent.

[0059] Furthermore, the transmission part 233 includes a rotating ratchet 2330 that is clamped and fixed at the end of the rotating shaft 231, an outer ring tooth 2331 that is sleeved on the outside of the rotating ratchet 2330 and meshes with the docking gear 215, a plurality of ratchet pawls 2332 that are rotatably connected to the inner ring wall groove of the outer ring tooth 2331, and a rotating ring bar 2333 that is integrally formed on the outer ring tooth 2331, and the rotating ring bar 2333 is rotatably connected to the groove wall of the groove in the fixed horizontal bar 214.

[0060] Furthermore, while the clamping frame 226 swings, the rod wall gear 227 fixed on one of the frame wall center rods rotates back and forth, and the outer sleeve ring gear 2331 is driven to rotate back and forth through the docking gear 215. During the reciprocating rotation, the plurality of ratchets 2332 inside thereof drive the rotating ratchet 2330 together with the rotating shaft 231 to rotate in one direction, and the application roller 232 continuously rotates in one direction under the outer sleeve frame 234. At this time, the continuously rotating application roller 232 squeezes and massages the patient's skin while bringing out the coupling agent inside the outer sleeve frame 234.

[0061] The present invention also provides a method for using an ultrasonic imaging diagnosis auxiliary manipulator, which includes the following steps:

[0062] S1. First, through remote image and sound transmission, we can get a preliminary understanding of the patient's condition and guide the patient to lie on the testing bed;

[0063] S2. Then, the remote doctor controls the entire mechanical arm 100 to move through signal transmission, directly places the ultrasonic probe 240 in the detection device 200 against the patient's skin, and drives the ultrasonic probe 240 to move back and forth at the position where the patient needs to be detected;

[0064] S3. At the same time, the driving motor 221 in the driving mechanism 220 is started to drive the dial 222 to rotate, and the moving block 223 as a whole moves back and forth inside the fixed box body 211;

[0065] S4. At this time, the moving crossbar 224 placed inside the connecting groove 2231 moves together with the moving block 223. While its position inside the arc groove 2111 is constantly changing, it drives the swing bracket 225 to swing back and forth as a whole, and the clamping frame 226 clamping the ultrasonic probe 240 changes its inclination angle together, thereby simulating manual diagnosis;

[0066] S5. When the clamping frame 226 swings, the rod wall gear 227 fixed on one of the frame wall center rods drives the outer ring gear 2331 to reciprocate, and the plurality of ratchet pawls 2332 inside the outer ring gear 2331 drive the rotating ratchet wheel 2330 and the rotating shaft 231 to rotate in one direction during the reciprocating rotation.

[0067] S6. At this time, the continuously rotating application roller 232 squeezes and massages the patient's skin while bringing out the coupling agent inside the outer casing 234, and along with the continuously moving detection device 200, the coupling agent is evenly applied to the position of the patient where the detection is required;

[0068] S7. After the coupling agent is discharged, the remote medical staff controls the robot arm 100 to move the ultrasound probe 240 accurately to the position of the patient that needs to be examined, and scans the same part from different directions by continuously changing the tilt angle of the ultrasound probe 240.

[0069] S8. After the detection is completed, the driving motor 221 is turned off, and the robot arm 100 is controlled to restore the position of the detection device 200, and the coupling agent is filled into the outer casing 234 through the injection tube 235 via the external injection device.

[0070] The foregoing description of specific exemplary embodiments of the present invention is for the purpose of illustration and demonstration. These descriptions are not intended to limit the present invention to the precise form disclosed, and it is clear that many changes and variations can be made based on the above teachings. The purpose of selecting and describing exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art can realize and utilize various different exemplary embodiments of the present invention and various different selections and changes. The scope of the present invention is intended to be limited by the specification and its equivalents.

Claims

1. An ultrasonic imaging diagnosis auxiliary manipulator, comprising a manipulator arm (100) and a detection device (200) fixed to the end of the manipulator arm (100), characterized in that: The detection device (200) comprises a fixing mechanism (210), a driving mechanism (220) arranged inside the fixing mechanism (210), an application mechanism (230) used to apply a coupling agent to the patient's skin, and an ultrasonic probe (240) arranged at the bottom of the driving mechanism (220) and having a changing inclination angle; The fixing mechanism (210) comprises a fixing box body (211), a pair of fixing horizontal bars (214) located directly below the fixing box body (211) and arranged in parallel, and a docking gear (215) symmetrically arranged inside one of the fixing horizontal bars (214); the outer side walls at the left and right ends of the fixing box body (211) are both provided with arc-shaped grooves (2111) that penetrate inside and outside; The driving mechanism (220) comprises a driving motor (221), a moving block (223) disposed below an output shaft of the driving motor (221) and reciprocating inside a fixed box body (211), two swing brackets (225) whose fixed angles change as the moving block (223) moves, a clamping frame (226) disposed between the bottoms of the two swing brackets (225) and used to fix the ultrasonic probe (240), and a rod wall gear (227) disposed on a central rod outside the clamping frame (226), wherein the rod wall gear (227) is disposed in the middle of one of the fixed horizontal bars (214) and meshes with the two docking gears (215); The coating mechanism (230) comprises a pair of rotating shafts (231) sleeved between the two ends of a pair of fixed horizontal bars (214), a coating roller (232) sleeved on the outside of the rotating shafts (231), and an outer casing frame (234) disposed above the coating roller (232) for storing coupling agent, wherein one side end of the rotating shaft (231) is provided with a transmission portion (233) meshing with the docking gear (215) for transmission; the driving motor (221) drives the moving block (223) to swing back and forth, and the swing bracket (225) drives the clamping frame (226) to clamp the ultrasonic probe (240) to change its inclination angle, and then drives the two docking gears (215) to reciprocate through the rod wall gear (227), and then drives the coating roller (232) to rotate in contact with the skin to complete the coating of the coupling agent; The left and right ends of the rotating shaft (231) are respectively rotatably connected to the groove walls of the grooves in the left and right fixed horizontal bars (214); the coating roller (232) is clamped and fixed to the outer wall of the rotating shaft (231); the bottom surfaces of the left and right ends of the outer casing (234) are clamped and fixed to the top surfaces of the two fixed horizontal bars (214); and an injection tube (235) for injecting coupling agent is clamped on the top surface of the outer casing (234); The transmission part (233) comprises a rotating ratchet (2330) fixedly engaged with the end of the rotating shaft (231), an outer ring tooth (2331) sleeved on the outside of the rotating ratchet (2330) and meshing with the docking gear (215), a plurality of ratchet claws (2332) rotatably connected to the grooves in the inner ring wall of the outer ring tooth (2331), and a rotating ring bar (2333) integrally formed on the outer ring tooth (2331), wherein the rotating ring bar (2333) is rotatably connected to the groove wall of the groove in the fixed horizontal bar (214); The clamping frame (226) is rotatably connected between the two fixed horizontal bars (214) via the frame wall center rods at the left and right ends. The end portions of the frame wall center rods at the left and right ends of the clamping frame (226) are clamped and fixed to the swing brackets (225). The outer walls of the frame wall center rods at the left and right ends of the clamping frame (226) are clamped and fixed with rod wall gears (227) that mesh with the docking gears (215).

2. The ultrasonic imaging diagnosis auxiliary manipulator according to claim 1, characterized in that: Two parallel limiting sliding grooves (2110) with a T-shaped longitudinal cross section are provided on the inner bottom surface of the fixed box body (211), and a partition plate (212) is integrally formed on the inner side wall of the fixed box body (211), and the height of the groove wall on the top surface of the arc-shaped groove (2111) is lower than the horizontal height of the bottom surface of the partition plate (212).

3. The ultrasonic imaging diagnosis auxiliary manipulator according to claim 2, characterized in that: A downward extending rod (213) is welded between the bottom surfaces of the left and right ends of the fixed box body (211) and the fixed horizontal bar (214); an inner slot for accommodating a docking gear (215) and the internal structure of the coating mechanism (230) is provided inside the fixed horizontal bar (214); the docking gear (215) is rotatably connected to the inside of the fixed horizontal bar (214).

4. The ultrasonic imaging diagnosis auxiliary manipulator according to claim 3, characterized in that: The driving motor (221) is fixedly connected to the top surface of the partition plate (212) by means of screws; the output shaft of the driving motor (221) extends to the bottom of the partition plate (212) and the end thereof is coaxially connected to a dial (222); the dial (222) is rotatably connected to the bottom surface of the partition plate (212); a lever (2220) is integrally formed on the bottom surface of the dial (222) near the edge.

5. The ultrasonic imaging diagnosis auxiliary manipulator according to claim 4, characterized in that: A limit sliding block (2230) is integrally formed on the bottom surface of the moving block (223) and is slidably connected to the inside of the limit sliding groove (2110); a connecting groove (2231) is provided inside the moving block (223) and is connected to the left and right sides; and a block top opening groove (2232) is provided on the top surface of the moving block (223) for providing a moving range for the shifting rod (2220).

6. The ultrasonic imaging diagnosis auxiliary manipulator according to claim 5, characterized in that: A frame body slide groove (2250) extending from left to right is provided at a position near the top of the outer side wall of the swing bracket (225), and the same movable cross bar (224) is placed inside the connecting groove (2231) and the frame body slide groove (2250). The movable cross bar (224) is slidably connected to the inside of the arc groove (2111), and a disc that contacts the outer side wall of the movable cross bar (224) is integrally formed at the end position of the movable cross bar (224).

7. A method for using an ultrasonic imaging diagnosis auxiliary manipulator, using the ultrasonic imaging diagnosis auxiliary manipulator according to claim 6, characterized in that: The following steps are involved: S1. First, through remote image and sound transmission, we can get a preliminary understanding of the patient's condition and guide the patient to lie on the testing bed; S2. Then, the remote doctor controls the entire mechanical arm (100) to move by signal transmission, directly places the ultrasonic probe (240) in the detection device (200) against the patient's skin, and drives the ultrasonic probe (240) to move back and forth at the position of the patient that needs to be detected; S3. At the same time, the driving motor (221) in the driving mechanism (220) is started to drive the dial (222) to rotate, and the moving block (223) as a whole moves back and forth inside the fixed box body (211); S4. At this time, the movable cross bar (224) placed inside the connecting groove (2231) moves together with the movable block (223). While its position inside the arc groove (2111) is constantly changing, it drives the swing bracket (225) to swing back and forth as a whole, and causes the clamping frame (226) clamping the ultrasonic probe (240) to change its inclination angle together, thereby simulating manual diagnosis; S5, while the clamping frame (226) is swinging, the rod wall gear (227) fixed on one of the frame wall center rods drives the outer ring gear (2331) to reciprocate, and the plurality of ratchet pawls (2332) inside the outer ring gear (2331) drive the rotating ratchet wheel (2330) and the rotating shaft (231) to rotate in one direction during the reciprocating rotation; S6. At this time, the continuously rotating application roller (232) squeezes and massages the patient's skin while bringing out the coupling agent inside the outer casing frame (234), and along with the continuously moving detection device (200), the coupling agent is evenly applied to the position of the patient where detection is required; S7. After the coupling agent is discharged, the remote medical staff controls the robotic arm (100) to move the ultrasonic probe (240) accurately to the position of the patient that needs to be examined, and scans the same part from different directions by continuously changing the tilt angle of the ultrasonic probe (240); S8. After the detection is completed, the driving motor (221) is turned off, and the mechanical arm (100) is controlled to restore the position of the detection device (200), and the coupling agent is filled into the outer casing (234) through the injection tube (235) by means of the external injection device.

Images