Lifting and Rotating Mechanism, Imaging Probe Movement Control Method and Ultrasonic Therapy Device

Abstract

The present invention discloses a lifting and rotating mechanism, a method for controlling the movement of an imaging probe, and an ultrasonic treatment device, belonging to the technical field of biomedical instruments. The purpose of achieving a compact, miniaturized and highly precise lifting and rotating mechanism is realized. The lifting and rotating mechanism is used to drive the imaging probe to lift or rotate; the lifting and rotating mechanism includes: a lifting cylinder, and the imaging probe is detachably connected to the lifting cylinder. A lifting drive assembly, the lifting drive assembly has a threaded cylinder and is threadedly connected to the lifting cylinder. A rotation drive assembly, the rotation drive assembly has a rotating cylinder and is key-connected to the lifting cylinder. When the lifting cylinder needs to be lifted or lowered, the rotation drive assembly is not started, and the lifting drive assembly is started to rotate the threaded cylinder to drive the lifting cylinder to lift or lower along the key of the rotating cylinder. When the lifting cylinder needs to rotate, the rotation drive assembly and the lifting drive assembly are started simultaneously so that the rotating cylinder and the threaded cylinder rotate in the same direction and at the same speed, thereby driving the lifting cylinder to only rotate without lifting or lowering.

Description

Technical Field

[0001] The present invention belongs to the technical field of biomedical instruments, and particularly relates to a lifting and rotating mechanism, a method for controlling the movement of an imaging probe, and an ultrasonic treatment device. Background Art

[0002] During the treatment process, most focused ultrasound treatment devices use an imaging probe (such as a B-ultrasound probe) for guidance to accurately guide the ultrasonic focusing transducer to the position corresponding to the target tissue. In order to improve the accuracy of the guiding position, precise control of the imaging probe is particularly important. In addition, the imaging probe is generally integrated on the ultrasonic focusing transducer, and the ultrasonic focusing transducer needs to work in a liquid medium. Therefore, sealing at the imaging probe is also important. In view of this, while realizing the lifting and rotation of the imaging probe, it is also required that the lifting and rotating mechanism is simple, compact, and lightweight, so as to facilitate sealing and improve accuracy.

[0003] Most of the lifting and rotating mechanisms provided by the prior art adopt a series connection method of a lifting mechanism and a rotating mechanism, that is, the entire rotating mechanism (including a driver and an actuator) is located at the end of the actuator of the lifting mechanism. After integrating the lifting mechanism and the rotating mechanism in series, the load of the lifting mechanism driver is large, and the volume and weight of the entire lifting and rotating mechanism are relatively high. At this time, it is not conducive to realizing the design requirements of miniaturization and lightweight, which will not only affect the design and application accuracy, but also is not conducive to realizing the sealing of the imaging probe. Summary of the Invention

[0004] The purpose of the present invention is to provide a lifting and rotating mechanism, a method for controlling the movement of an imaging probe, and an ultrasonic treatment device. By applying the cooperation of a threaded cylinder, a rotating cylinder and a lifting cylinder, and separately starting the lifting drive assembly as required or simultaneously, in the same direction and at the same speed starting the lifting drive assembly and the rotating drive assembly, the lifting or rotation of the lifting cylinder is respectively realized, so as to achieve the purpose of a compact, miniaturized and high-precision lifting and rotating mechanism.

[0005] In order to achieve the above purpose, the present invention provides the following technical solutions:

[0006] In a first aspect, the present invention provides a lifting and rotating mechanism for driving an imaging probe to lift or rotate; the lifting and rotating mechanism includes: a lifting cylinder, and the imaging probe is detachably connected to the lifting cylinder; a lifting drive assembly, the lifting drive assembly has a threaded cylinder and is threadedly connected to the lifting cylinder; a rotating drive assembly, the rotating drive assembly has a rotating cylinder and is key-connected to the lifting cylinder. When the lifting cylinder needs to be lifted or lowered, the rotating drive assembly is not started, and the lifting drive assembly is started to rotate the threaded cylinder, so as to drive the lifting cylinder to lift or lower along the key of the rotating cylinder. When the lifting cylinder needs to rotate, the rotating drive assembly and the lifting drive assembly are started simultaneously, so that the rotating cylinder and the threaded cylinder rotate in the same direction and at the same speed, thereby driving the lifting cylinder to only rotate without lifting or lowering.

[0007] As a possible implementation, the lifting drive assembly and the rotation drive assembly are each independently arranged.

[0008] As a possible implementation, the lifting cylinder sequentially has a threaded section, a boss section, and a key shaft section from bottom to top. In the assembled state, the threaded section is coaxially engaged with the threaded barrel, and the length of the threaded barrel is less than the length of the threaded section. A key groove is provided in the key shaft section, a flat key cooperating with the key groove is provided on the inner wall of the rotating cylinder, and the bottom end surface of the rotating cylinder extends to be close to the bottom end surface of the boss section. A sealing groove is circumferentially provided in the boss section, and an O-ring is provided in the sealing groove to achieve sealing between the rotating cylinder and the lifting cylinder.

[0009] As a possible implementation, a clamping hole A1 for clamping the imaging probe is provided downward from the top end surface of the lifting cylinder. Hole groups are provided on both sides of the lifting cylinder where the clamping hole A1 is located, and each hole group includes a connection hole B1 and a laser tube hole C1. The lifting and rotating mechanism further includes a protective sleeve, which is sleeved on the imaging probe and is detachably connected to the lifting cylinder coaxially. A clamping hole A2 is provided at the position of the protective sleeve corresponding to the clamping hole A1, a connection hole B2 is provided at the position of the protective sleeve corresponding to the connection hole B1, and a detachable connection between the protective sleeve and the lifting cylinder is achieved by using a connecting member that is simultaneously connected to the connection hole B1 and the connection hole B2. A laser tube hole C2 is provided at the position of the protective sleeve corresponding to the laser tube hole C1, and the laser tube is placed in a hole C formed by the laser tube hole C1 and the laser tube hole C2 together. An O-ring for sealing the laser tube is also provided in the hole C.

[0010] As a possible implementation, the lifting drive assembly includes a lifting drive motor, a lifting transmission assembly, a pair of lifting bearings, and a threaded barrel. The threaded barrel is carried by the pair of lifting bearings. The lifting drive motor is power-connected to the lifting transmission assembly to transmit power to the threaded barrel.

[0011] As a possible implementation, the rotation drive assembly includes a rotation drive motor, a rotation transmission assembly, a pair of rotation bearings, and a rotating cylinder; the rotating cylinder is carried by the pair of rotation bearings; the rotation drive motor is power-connected to the rotation transmission assembly to transmit power to the rotating cylinder.

[0012] As a possible implementation, the lifting and rotating mechanism further includes a sleeve, which is coaxially and detachably sleeved on the outer periphery of the lifting cylinder; through grooves are provided at the positions of the sleeve corresponding to the lifting transmission assembly and the rotation transmission assembly to facilitate the connection between the lifting transmission assembly and the threaded barrel and the connection between the rotation transmission assembly and the rotating cylinder.

[0013] In a second aspect, the present invention further provides an imaging probe movement control method. The imaging probe is detachably connected to the lifting cylinder included in the lifting and rotating mechanism provided in the first aspect. The lifting cylinder drives the imaging probe to have a lifting state or a rotating state. The imaging probe movement control method includes the following steps:

[0014] S10. Determine the initial position and the target position of the imaging probe;

[0015] S11. Determine the traveling path of the imaging probe based on the initial position and the target position, where the traveling path includes at least one of an ascending path, a descending path, a clockwise rotation path, and a counterclockwise rotation path;

[0016] S12. When it is the ascending path, control the rotation drive assembly to be in the off state, and at the same time control the lifting drive assembly to be in the on state, and make the lifting drive motor rotate forward, so as to drive the threaded cylinder to rotate forward through the lifting transmission assembly, and make the lifting cylinder move from the initial position to the target position along the ascending path;

[0017] S13. When it is the descending path, control the rotation drive assembly to be in the off state, and at the same time control the lifting drive assembly to be in the on state, and make the lifting drive motor rotate in reverse, so as to drive the threaded cylinder to rotate in reverse through the lifting transmission assembly, and make the lifting cylinder move from the initial position to the target position along the descending path;

[0018] S14. When it is the clockwise rotation path, control the rotation drive assembly and the lifting drive assembly to be in the on state at the same time, and make the lifting drive motor and the rotation drive motor rotate clockwise at the same speed, so as to drive the threaded cylinder to rotate forward through the lifting transmission assembly, and drive the rotating cylinder to rotate forward through the rotation transmission assembly, and make the lifting cylinder rotate from the initial position to the target position along the clockwise rotation path;

[0019] S15. When it is the counterclockwise rotation path, control the rotation drive assembly and the lifting drive assembly to be in the on state at the same time, and make the lifting drive motor and the rotation drive motor rotate counterclockwise at the same speed, so as to drive the threaded cylinder to rotate in reverse through the lifting transmission assembly, and drive the rotating cylinder to rotate in reverse through the rotation transmission assembly, and make the lifting cylinder rotate from the initial position to the target position along the counterclockwise rotation path.

[0020] In a third aspect, the present invention further provides another imaging probe motion control method. The imaging probe is detachably connected to the lifting cylinder included in the lifting and rotating mechanism provided in the first aspect; the lifting cylinder drives the imaging probe to have a lifting state or a rotating state; the imaging probe motion control method includes the following steps:

[0021] S10. Determine the initial position and the target position of the imaging probe;

[0022] S11. Determine the traveling path of the imaging probe based on the initial position and the target position, where the traveling path includes at least one of an ascending path, a descending path, a clockwise rotation path, and a counterclockwise rotation path;

[0023] S12. When it is an ascending path, control the rotation drive assembly to be in the off state, while controlling the lifting drive assembly to be in the on state, and reverse the lifting drive motor, so as to drive the threaded cylinder to reverse through the lifting transmission assembly, and move the lifting cylinder from the initial position to the target position along the ascending path;

[0024] S13. When it is a descending path, control the rotation drive assembly to be in the off state, while controlling the lifting drive assembly to be in the on state, and rotate the lifting drive motor forward, so as to drive the threaded cylinder to rotate forward through the lifting transmission assembly, and move the lifting cylinder from the initial position to the target position along the descending path;

[0025] S14. When it is a clockwise rotation path, simultaneously control the rotation drive assembly and the lifting drive assembly to be in the on state, and rotate the lifting drive motor and the rotation drive motor counterclockwise at equal speeds, so as to drive the threaded cylinder to reverse through the lifting transmission assembly, and drive the rotating cylinder to reverse through the rotation transmission assembly, and move the lifting cylinder from the initial position to the target position along the clockwise rotation path;

[0026] S15. When it is a counterclockwise rotation path, simultaneously control the rotation drive assembly and the lifting drive assembly to be in the on state, and rotate the lifting drive motor and the rotation drive motor clockwise at equal speeds, so as to drive the threaded cylinder to rotate forward through the lifting transmission assembly, and drive the rotating cylinder to rotate forward through the rotation transmission assembly, and move the lifting cylinder from the initial position to the target position along the counterclockwise rotation path.

[0027] In a fourth aspect, the present invention further provides an ultrasonic treatment device, and the ultrasonic treatment device applies the lifting and rotating mechanism provided in the first aspect.

[0028] Compared with the prior art, the present invention has the following effects:

[0029] 1. By applying the cooperation of the threaded cylinder, the rotating cylinder and the lifting cylinder, and separately starting the lifting drive assembly as required, or simultaneously, in the same direction and at the same speed starting the lifting drive assembly and the rotation drive assembly, the lifting or rotation of the lifting cylinder is respectively realized, achieving the purpose of compactness, miniaturization and high precision of the lifting and rotating mechanism.

[0030] 2. The lower section of the lifting cylinder has a threaded section matching the threaded cylinder. When the threaded cylinder rotates, the threaded cylinder drives the lifting cylinder to rise or fall. During the process, the keyway of the key shaft section provided on the upper section of the threaded cylinder cooperates with the flat key of the rotating cylinder to play a guiding role for the lifting cylinder, so as to ensure the stability and precision when the lifting cylinder rises or falls. That is, the cooperation of the keyway and the flat key can realize the rotation of the lifting cylinder on the one hand, and can realize the control of the stability and precision of the lifting process of the lifting cylinder on the other hand.

[0031] When the lifting cylinder needs to be raised or lowered, it can be achieved by closing the rotary drive assembly and opening the lifting drive assembly. When the lifting cylinder needs to rotate, the rotary drive assembly and the lifting drive assembly are simultaneously opened, and the rotary cylinder and the threaded cylinder are rotated in the same direction at the same speed to achieve it. That is, the lifting or rotation of the lifting cylinder can be achieved through a simple control logic or control method, which has the advantage of simple control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0033] Figure 1 It is a schematic diagram of the overall structure of the lifting and rotating mechanism provided by the embodiment of the present invention;

[0034] Figure 2 is Figure 1 a front view direction sectional view;

[0035] Figure 3 It is a schematic diagram of the overall internal structure of the lifting and rotating structure provided by the embodiment of the present invention;

[0036] Figure 4 It is a schematic diagram of the structure of the lifting cylinder provided by the embodiment of the present invention;

[0037] Figure 5 It is a schematic diagram of the structure of the rotary cylinder provided by the embodiment of the present invention;

[0038] Figure 6 It is a schematic diagram of the structure of the threaded cylinder provided by the embodiment of the present invention;

[0039] Figure 7 It is a schematic diagram of the structure of the imaging probe provided by the embodiment of the present invention;

[0040] Figure 8 It is a sectional view of the imaging probe provided by the embodiment of the present invention;

[0041] Figure 9 It is a schematic diagram of the structure of the laser tube provided by the embodiment of the present invention.

[0042] Reference numerals:

[0043] 1 - lifting cylinder, 10 - threaded section, 11 - boss section, 12 - key shaft section, 13 - sealing groove;

[0044] A1 - clamping hole, A2 - clamping hole, B1 - connecting hole, B2 - connecting hole, C1 - laser tube hole, C2 - laser tube hole, C - hole.

[0045] 2 - Lifting drive assembly, 20 - Lifting drive motor, 21 - Lifting transmission assembly, 22 - Lifting bearing pair, 23 - Threaded cylinder;

[0046] 3 - Rotation drive assembly, 30 - Rotation drive motor, 31 - Rotation transmission assembly, 32 - Rotation bearing pair, 33 - Rotation cylinder;

[0047] 4 - Protective cylinder;

[0048] 5 - Sleeve;

[0049] 6 - Imaging probe, 60 - O - ring seal, 61 - Thread;

[0050] 7 - Base. Detailed implementation mode

[0051] In order to facilitate a clear description of the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, terms such as "first" and "second" are used to distinguish the same items or similar items with basically the same functions and roles. For example, the first threshold and the second threshold are only used to distinguish different thresholds and do not limit their order. Those skilled in the art can understand that terms such as "first" and "second" do not limit the quantity and execution order, and "first", "second", etc. do not necessarily mean different.

[0052] It should be noted that in the present invention, words such as "exemplary" or "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the present invention should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Exactly speaking, using words such as "exemplary" or "for example" aims to present relevant concepts in a specific way.

[0053] In the present invention, "at least one" means one or more, and "a plurality" means two or more. "And / or" describes the association relationship of associated objects and indicates that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the front and back associated objects. "At least one (item)" or its similar expression refers to any combination of these items, including any combination of single item (item) or plural items (items). For example, at least one (item) of a, b or c can represent: a, b, c, the combination of a and b, the combination of a and c, the combination of b and c, or the combination of a, b and c, where a, b and c can be single or multiple.

[0054] See Figures 1 to 3, an embodiment of the present invention provides a lifting and rotating mechanism for driving an imaging probe to lift or rotate. The lifting and rotating mechanism includes a lifting cylinder 1, a lifting drive assembly 2, and a rotating drive assembly 3. The imaging probe 6 is detachably connected to the lifting cylinder 1. The lifting drive assembly 2 has a threaded cylinder 23 and is threadedly connected to the lifting cylinder 1. The rotating drive assembly 3 has a rotating cylinder 33 and is key-connected to the lifting cylinder 1. When the lifting cylinder 1 needs to be lifted or lowered, the rotating drive assembly 3 is not started, and the lifting drive assembly 2 is started to rotate the threaded cylinder 23 to drive the lifting cylinder 1 to lift or lower along the key of the rotating cylinder 33. When the lifting cylinder 1 needs to rotate, the rotating drive assembly 3 and the lifting drive assembly 2 are started simultaneously so that the rotating cylinder 33 and the threaded cylinder 23 rotate in the same direction and at the same speed, thereby driving the lifting cylinder 1 to only rotate without lifting or lowering.

[0055] The above imaging probe may specifically be a B-ultrasound probe or other devices for imaging.

[0056] In practical applications, the lifting and rotating mechanism can be initialized. At this time, the initial position of the imaging probe 6 can be determined. When guiding the ultrasonic focusing transducer to the position corresponding to the target tissue (target position), it is necessary to use the lifting and rotating mechanism to drive the imaging probe 6 to rise, fall, rotate clockwise, or rotate counterclockwise. When the imaging probe 6 rises or falls, the rotating drive assembly 3 is not started, and only the lifting drive assembly 2 is started. The threaded cylinder 23 included in the lifting drive assembly 2 drives the engaged lifting cylinder 1 to rise or fall. When the imaging probe 6 rotates clockwise or counterclockwise, the rotating drive assembly 3 and the lifting drive assembly 2 are started simultaneously so that the rotating cylinder 33 and the threaded cylinder 23 rotate in the same direction and at the same speed, thereby driving the lifting cylinder 1 to only rotate without lifting or lowering. Based on this, the imaging probe 6 is driven to rotate clockwise or counterclockwise.

[0057] The lifting and rotating mechanism provided by the embodiment of the present invention uses the cooperation of the threaded cylinder, the rotating cylinder, and the lifting cylinder, and separately starts the lifting drive assembly as needed or simultaneously, in the same direction, and at the same speed to start the lifting drive assembly and the rotating drive assembly to respectively realize the lifting or rotation of the lifting cylinder, achieving the purpose of compactness, miniaturization, and high precision of the lifting and rotating mechanism.

[0058] The lifting drive assembly and the rotating drive assembly are independently provided. That is, in practical applications, the lifting drive assembly and the rotating drive assembly are independently controlled according to actual needs, making the control logic simple and easy to operate.

[0059] See Figures 1 to 4, the lifting cylinder 1 is a hollow stepped shaft structure. The outer wall of the lifting cylinder successively has a threaded section 10, a boss section 11, and a key shaft section 12 from bottom to top. This structure of the lifting cylinder combines the actuator of the lifting mechanism and the actuator of the rotating mechanism, achieving the simplification of the structure. Among them, the threaded section 10 is assembled with the threaded cylinder 23. The axial length of the threaded cylinder 23 is less than the length of the threaded section 10 to provide a stroke for the lifting of the lifting cylinder 1. A keyway is provided in the key shaft section 12, and a flat key that cooperates with the keyway is provided on the inner wall of the rotating cylinder 33 assembled on the key shaft section 12. The cooperation between the keyway and the flat key can limit the rotational freedom between the rotating cylinder 33 and the lifting cylinder 1, but does not limit the axial movement freedom between the two. Moreover, when the lifting cylinder 1 rises or falls, the cooperation between the keyway and the flat key can also play an axial guiding role, thereby ensuring the accuracy and stability of the movement of the lifting cylinder 1. The bottom end face of the rotating cylinder 33 extends to be close to the bottom end face of the boss section 11, that is, the bottom end face of the rotating cylinder 33 can be basically flush with the bottom end face of the boss section 11 or slightly higher than the bottom end face of the boss section 11, while the top end face of the threaded cylinder 23 is located below the boss section 11. With such a setting, there will be no interference between the rotating cylinder 33 and the threaded cylinder 23. The boss section 11 plays a role in limiting the downward movement of the lifting cylinder 1 on the one hand, and on the other hand, a sealing groove 13 is axially provided in it, and a C-shaped or O-shaped sealing ring is provided in the sealing groove 13 to achieve effective sealing between the rotating cylinder 33 and the lifting cylinder 1.

[0060] A clamping hole A1 for clamping the imaging probe 6 is opened downward from the top end face of the lifting cylinder 1. The shape of the clamping hole A1 can fit the shape of the handle of the imaging probe 6. For example, the clamping hole A1 is an oval hole. On both sides of the lifting cylinder 1 where the clamping hole A1 is located, a hole group is provided. Each hole group includes a connecting hole B1 and a laser tube hole C1. For example, each hole group includes two connecting holes B1 and one laser tube hole C1, and the laser tube hole C1 is located exactly in the middle of the two connecting holes B1. See Figure 3 , Figures 7 to 9 , the lifting and rotating mechanism further includes a protective cylinder 4, which is sleeved on the periphery of the imaging probe 6 and is detachably connected coaxially with the lifting cylinder 1. Specifically, a clamping hole A2 is provided at the position of the protective cylinder 4 corresponding to the clamping hole A1, and a connecting hole B2 is provided at the position of the protective cylinder 4 corresponding to the connecting hole B1. A detachable connection between the protective cylinder 4 and the lifting cylinder 1 is realized by using a connecting piece that is simultaneously connected to the connecting hole B1 and the connecting hole B2. A laser tube hole C2 is provided at the position of the protective cylinder 4 corresponding to the laser tube hole C1, and the laser tube is placed in the hole C formed by the laser tube hole C1 and the laser tube hole C2. See Figure 9, an O - ring seal 60 and a thread 61 for fixing the sealed laser tube are also provided inside the hole C. A nut with an external thread structure is sleeved on the outer wall of the sealed laser tube. When the sealed laser tube is installed into the hole C, the external thread of the nut is screwed into the thread 61 inside the hole C. The O - ring seal 60 plays a limiting role on the one hand, that is, when the nut is screwed to the position of the O - ring seal 60, the installation of the sealed laser tube is completed; on the other hand, it also has a sealing effect to prevent moisture from passing through the hole C and damaging the imaging probe 6.

[0061] See Figure 2 , the lifting drive assembly 2 includes a lifting drive motor 20, a lifting transmission assembly 21, a lifting bearing pair 22 and a threaded barrel 23. The threaded barrel 23 is carried by the lifting bearing pair 22. The lifting drive motor 20 is power - connected to the lifting transmission assembly 21 to transmit power to the threaded barrel 23.

[0062] See Figure 2 , the rotation drive assembly 3 includes a rotation drive motor 30, a rotation transmission assembly 31, a rotation bearing pair 32 and a rotating barrel 33; the rotating barrel 33 is carried by the rotation bearing pair 32; the rotation drive motor 30 is power - connected to the rotation transmission assembly 31 to transmit power to the rotating barrel 33.

[0063] The above - mentioned lifting transmission assembly 2 and rotation transmission assembly 3 can be belt drive assemblies. The corresponding driven belt pulleys are respectively installed on the threaded barrel 23 and the rotating barrel 33, and the driving belt pulleys are installed on the output shafts of the corresponding drive motors. The inner rings of the lifting bearing pair 22 and the rotation bearing pair 32 are respectively arranged at the upper and lower ends of the threaded barrel 23 and the rotating barrel 33, and the outer rings are fixed to other structures of the lifting and rotating mechanism (such as the inner wall of the sleeve).

[0064] See Figure 2 , the above - mentioned lifting transmission assembly 2 and rotation transmission assembly 3 as a whole can be fixed on the base 7 of the lifting and rotating mechanism.

[0065] Both the lifting drive motor 20 and the rotation drive motor 30 are servo motors, which are reliable in operation, have low requirements for maintenance and servicing, are easy to improve the rapidity of the system, and at the same time provide a large working torque. The servo motor has a closed - loop control with high control precision.

[0066] See Figure 1 , the lifting and rotating mechanism further includes a sleeve 5, which is coaxially and detachably sleeved around the periphery of the lifting cylinder 1. The sleeve 5 is provided with through - slots at the positions corresponding to the lifting transmission assembly 21 and the rotation transmission assembly 31 to facilitate the connection between the lifting transmission assembly 21 and the threaded barrel 23, and the connection between the rotation transmission assembly 31 and the rotating barrel 33. The bottom end of the sleeve 5 is fixed to the base 7, and the top end of the sleeve 5 is a grid - like structure.

[0067] In a second aspect, the present invention further provides an imaging probe movement control method. The imaging probe is detachably connected to the lifting cylinder included in the lifting and rotating mechanism provided in the first aspect. The lifting cylinder drives the imaging probe to have a lifting state or a rotating state. The imaging probe movement control method includes the following steps:

[0068] S10. Determine the initial position and the target position of the imaging probe;

[0069] S11. Determine the walking path of the imaging probe based on the initial position and the target position. The walking path includes at least one of an ascending path, a descending path, a clockwise rotation path, and a counterclockwise rotation path;

[0070] S12. When it is an ascending path, control the rotation drive assembly to be in the off state, and at the same time control the lifting drive assembly to be in the on state, and make the lifting drive motor rotate forward, so as to drive the threaded cylinder to rotate forward through the lifting transmission assembly, and make the lifting cylinder move from the initial position along the ascending path to the target position;

[0071] S13. When it is a descending path, control the rotation drive assembly to be in the off state, and at the same time control the lifting drive assembly to be in the on state, and make the lifting drive motor rotate in reverse, so as to drive the threaded cylinder to rotate in reverse through the lifting transmission assembly, and make the lifting cylinder move from the initial position along the descending path to the target position;

[0072] S14. When it is a clockwise rotation path, control the rotation drive assembly and the lifting drive assembly to be in the on state at the same time, and make the lifting drive motor and the rotation drive motor rotate clockwise at equal speeds, so as to drive the threaded cylinder to rotate forward through the lifting transmission assembly, and drive the rotating cylinder to rotate forward through the rotation transmission assembly, and make the lifting cylinder rotate from the initial position along the clockwise rotation path to the target position;

[0073] S15. When it is a counterclockwise rotation path, control the rotation drive assembly and the lifting drive assembly to be in the on state at the same time, and make the lifting drive motor and the rotation drive motor rotate counterclockwise at equal speeds, so as to drive the threaded cylinder to rotate in reverse through the lifting transmission assembly, and drive the rotating cylinder to rotate in reverse through the rotation transmission assembly, and make the lifting cylinder rotate from the initial position along the counterclockwise rotation path to the target position.

[0074] In a third aspect, the present invention further provides another imaging probe movement control method. The imaging probe is detachably connected to the lifting cylinder included in the lifting and rotating mechanism provided in the first aspect; the lifting cylinder drives the imaging probe to have a lifting state or a rotating state; the imaging probe movement control method includes the following steps:

[0075] S10. Determine the initial position and the target position of the imaging probe;

[0076] S11. Determine the walking path of the imaging probe based on the initial position and the target position, where the walking path includes at least one of an ascending path, a descending path, a clockwise rotation path, and a counterclockwise rotation path;

[0077] S12. When it is an ascending path, control the rotation drive assembly to be in the off state, and at the same time control the lifting drive assembly to be in the on state, and reverse the lifting drive motor, so as to drive the threaded cylinder to reverse through the lifting transmission assembly, and make the lifting cylinder move from the initial position to the target position along the ascending path;

[0078] S13. When it is a descending path, control the rotation drive assembly to be in the off state, and at the same time control the lifting drive assembly to be in the on state, and rotate the lifting drive motor forward, so as to drive the threaded cylinder to rotate forward through the lifting transmission assembly, and make the lifting cylinder move from the initial position to the target position along the descending path;

[0079] S14. When it is a clockwise rotation path, control both the rotation drive assembly and the lifting drive assembly to be in the on state, and make the lifting drive motor and the rotation drive motor rotate counterclockwise at the same speed, so as to drive the threaded cylinder to reverse through the lifting transmission assembly, and drive the rotating cylinder to reverse through the rotation transmission assembly, and make the lifting cylinder rotate from the initial position to the target position along the clockwise rotation path;

[0080] S15. When it is a counterclockwise rotation path, control both the rotation drive assembly and the lifting drive assembly to be in the on state, and make the lifting drive motor and the rotation drive motor rotate clockwise at the same speed, so as to drive the threaded cylinder to rotate forward through the lifting transmission assembly, and drive the rotating cylinder to rotate forward through the rotation transmission assembly, and make the lifting cylinder rotate from the initial position to the target position along the counterclockwise rotation path.

[0081] Fourthly, the present invention also provides an ultrasonic treatment device, and the ultrasonic treatment device applies the lifting and rotating mechanism provided in the first aspect.

[0082] Although the present invention is described herein in connection with various embodiments, however, in the process of implementing the claimed invention, those skilled in the art can understand and realize other variations of the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "one" does not exclude a plurality. A single processor or other unit can implement several functions recited in the claims. Certain measures are recited in mutually different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0083] Although the present invention has been described in connection with specific features and their embodiments, it will be apparent that various modifications and combinations can be made without departing from the spirit and scope of the invention. Accordingly, the specification and drawings are merely exemplary illustrations of the invention defined by the appended claims and are considered to cover any and all modifications, variations, combinations or equivalents within the scope of the invention. Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these changes and modifications.

Claims

1. A lifting and rotating mechanism, characterized in that: The lifting and rotating mechanism is used to drive the imaging probe to lift or rotate; the lifting and rotating mechanism includes: A lifting cylinder, the imaging probe being detachably connected to the lifting cylinder; A lifting drive assembly, the lifting drive assembly having a threaded barrel and being threadedly connected to the lifting barrel; A rotary drive assembly having a rotary cylinder and keyed to the lifting cylinder; The lifting cylinder has a threaded section, a boss section and a key shaft section from bottom to top; in the assembled state, the threaded section is coaxially meshed with the threaded cylinder, the length of the threaded cylinder is smaller than the length of the threaded section, and the top end surface of the threaded cylinder is located below the boss section; the key shaft section is provided with a keyway, and the inner wall of the rotating cylinder is provided with a flat key that cooperates with the keyway, and the cooperation between the keyway and the flat key can limit the rotational freedom between the rotating cylinder and the lifting cylinder, but does not limit the axial movement of the two. The bottom end surface of the rotating cylinder extends to the bottom end surface close to the boss section; the boss section is provided with a sealing groove in the circumference, and an O-ring is provided in the sealing groove to achieve sealing between the rotating cylinder and the lifting cylinder; When the lifting cylinder needs to be lifted, the rotary drive assembly is not started, but the lifting drive assembly is started to rotate the threaded cylinder to drive the lifting cylinder to be lifted and lowered along the key of the rotating cylinder; When the lifting cylinder needs to rotate, the rotating drive assembly and the lifting drive assembly are started simultaneously, so that the rotating cylinder and the threaded cylinder rotate with the same direction and equal speed, thereby driving the lifting cylinder to rotate but not lift.

2. The lifting and rotating mechanism according to claim 1, characterized in that: The lifting drive assembly and the rotating drive assembly are independently arranged.

3. The lifting and rotating mechanism according to claim 1, characterized in that: A clamping hole A1 for clamping the imaging probe is formed downward from the top end of the lifting cylinder; a hole group is formed on both sides of the clamping hole A1 of the lifting cylinder, and each hole group includes a connecting hole B1 and a laser tube hole C1; The lifting and rotating mechanism also includes a protective sleeve, which is sleeved on the imaging probe and is coaxially detachably connected to the lifting cylinder; a clamping hole A2 is opened at a position of the protective sleeve corresponding to the clamping hole A1, and a connecting hole B2 is opened at a position of the protective sleeve corresponding to the connecting hole B1, and the detachable connection between the protective sleeve and the lifting cylinder is achieved by using a connecting piece that is simultaneously connected to the connecting hole B1 and the connecting hole B2; a laser tube hole C2 is opened at a position of the protective sleeve corresponding to the laser tube hole C1, and the laser tube is placed in a hole C formed by the laser tube hole C1 and the laser tube hole C2; ​​an O-ring for sealing the laser tube is also arranged in the hole C.

4. The lifting and rotating mechanism according to claim 1, characterized in that: The lifting drive assembly includes a lifting drive motor, a lifting transmission assembly, a lifting bearing pair and a threaded barrel; the threaded barrel is carried by the lifting bearing pair; the lifting drive motor power is connected to the lifting transmission assembly to transmit power to the threaded barrel.

5. The lifting and rotating mechanism according to claim 4, characterized in that: The rotary drive assembly comprises a rotary drive motor, a rotary transmission assembly, a rotary bearing pair and a rotary drum; the rotary drum is supported by the rotary bearing pair; the rotary drive motor is connected to the rotary transmission assembly to transmit power to the rotary drum.

6. The lifting and rotating mechanism according to claim 5, characterized in that: The lifting and rotating mechanism also includes a sleeve, which is coaxially and detachably sleeved on the periphery of the lifting cylinder; the sleeve is provided with through grooves corresponding to the positions of the lifting transmission assembly and the rotating transmission assembly to facilitate the connection between the lifting transmission assembly and the threaded cylinder, and the rotating transmission assembly and the rotating cylinder.

7. A method for controlling the motion of an imaging probe, characterized in that: The imaging probe is detachably connected to the lifting cylinder included in the lifting and rotating mechanism according to any one of claims 1 to 6; the lifting cylinder drives the imaging probe to have a lifting state or a rotating state; the imaging probe motion control method comprises the following steps: S10. Determining an initial position and a target position of the imaging probe; S11. Determining a walking path of the imaging probe based on the initial position and the target position, the walking path comprising at least one of an ascending path, a descending path, a clockwise rotating path, and a counterclockwise rotating path; S12. When the ascending path is in progress, the rotary drive assembly is controlled to be in a closed state, and the lifting drive assembly is controlled to be in an open state, and the lifting drive motor is rotated forward to drive the threaded cylinder forward through the lifting transmission assembly, so that the lifting cylinder moves from the initial position along the ascending path to the target position; S13. When the descending path is in progress, the rotary drive assembly is controlled to be in a closed state, and the lifting drive assembly is controlled to be in an open state, and the lifting drive motor is reversed to drive the threaded cylinder to reverse through the lifting transmission assembly, so that the lifting cylinder moves from the initial position along the descending path to the target position; S14. When the rotation path is clockwise, the rotary drive assembly and the lifting drive assembly are controlled to be in the on state at the same time, and the lifting drive motor and the rotary drive motor rotate clockwise at the same speed, so that the threaded cylinder is driven to rotate forward through the lifting transmission assembly, and the rotary transmission assembly drives the rotary cylinder to rotate forward, so that the lifting cylinder rotates from the initial position along the clockwise rotation path to the target position; S15. When the rotation path is counterclockwise, the rotation drive assembly and the lifting drive assembly are controlled to be in the on state at the same time, and the lifting drive motor and the rotation drive motor rotate counterclockwise at the same speed, so as to drive the threaded cylinder to reverse through the lifting transmission assembly, and the rotation transmission assembly drives the rotating cylinder to reverse, so that the lifting cylinder rotates from the initial position along the counterclockwise rotation path to the target position.

8. A method for controlling the motion of an imaging probe, characterized in that: The imaging probe is detachably connected to the lifting cylinder included in the lifting and rotating mechanism according to any one of claims 1 to 6; the lifting cylinder drives the imaging probe to have a lifting state or a rotating state; the imaging probe motion control method comprises the following steps: S10. Determining an initial position and a target position of the imaging probe; S11. Determining a walking path of the imaging probe based on the initial position and the target position, the walking path comprising at least one of an ascending path, a descending path, a clockwise rotating path, and a counterclockwise rotating path; S12. When the ascending path is in progress, the rotary drive assembly is controlled to be in a closed state, and the lifting drive assembly is controlled to be in an open state, and the lifting drive motor is reversed to drive the threaded cylinder to reverse through the lifting transmission assembly, so that the lifting cylinder moves from the initial position along the ascending path to the target position; S13. When the descending path is in progress, the rotary drive assembly is controlled to be in a closed state, and the lifting drive assembly is controlled to be in an open state, and the lifting drive motor is rotated forward to drive the threaded cylinder forward through the lifting transmission assembly, so that the lifting cylinder moves from the initial position to the target position along the descending path; S14. When the rotation path is clockwise, the rotary drive assembly and the lifting drive assembly are controlled to be in the on state at the same time, and the lifting drive motor and the rotary drive motor rotate counterclockwise at the same speed, so that the threaded cylinder is reversed through the lifting transmission assembly, and the rotary transmission assembly drives the rotary cylinder to reverse, so that the lifting cylinder rotates from the initial position along the clockwise rotation path to the target position; S15. When the rotation path is counterclockwise, the rotary drive assembly and the lifting drive assembly are controlled to be in the on state at the same time, and the lifting drive motor and the rotary drive motor are made to rotate clockwise at the same speed, so as to drive the threaded cylinder to rotate forward through the lifting transmission assembly, and the rotary transmission assembly drives the rotating cylinder to rotate forward, so that the lifting cylinder rotates from the initial position along the counterclockwise rotation path to the target position.

9. An ultrasonic treatment device, characterized in that: The ultrasonic treatment device applies the lifting and rotating mechanism described in any one of claims 1 to 6.

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