Medical ultrasonic detection device

Abstract

The invention relates to the technical field of medical apparatus and instruments, and discloses a medical ultrasonic detection device, which comprises a host machine as a power source of the whole device and used for providing power for a detection mechanism and processing returned information; the supporting mechanism communicates with the main machine through a cable and is used for supporting the mechanical arm; the mechanical arm is fixedly connected to one side of the outer wall of the supporting mechanism and used for regulating and controlling the conversion mechanism and the liquid supply mechanism; the conversion mechanism is fixedly connected to one side of the mechanical arm and used for converting the high-frequency electric pulse signals sent by the host; and the liquid supply mechanism is fixedly connected to one side of the outer wall of the conversion mechanism and is used for providing a coupling agent required during detection. Through the synergistic effect of the host, the supporting mechanism, the mechanical arm, the switching mechanism, the liquid supply mechanism and the mechanical arm operating system, automatic positioning and moving of the probe are achieved, the probe does not need to be held by hand, the detection efficiency and accuracy are improved, and the problem that the probe needs to be held by hand is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, in particular to a medical ultrasonic detection device. Background Art

[0002] In the field of medical diagnosis, ultrasonic testing is a very important method. It can provide doctors with detailed information about the patient's internal organs, helping them make accurate diagnoses and treatment plans. However, in actual application, traditional ultrasonic testing methods also have some shortcomings.

[0003] In the past, when performing ultrasonic testing, doctors needed to hold the probe and move it over the patient's body, which was inconvenient and could easily affect the test results due to unstable holding. At the same time, the use of coupling agents also had certain waste problems, which not only increased the cost of testing, but also may have a certain impact on the environment.

[0004] At present, most medical ultrasonic detection devices on the market adopt a relatively traditional design. Although they can achieve basic detection functions, they still have problems such as inconvenient operation and waste of coupling agent in some special cases. Moreover, the efficiency and accuracy of traditional detection devices need to be further improved. Summary of the invention

[0005] In view of the deficiencies of the prior art, the present invention provides a medical ultrasonic detection device, which solves the problem of needing a handheld probe and wasting coupling agent in the prior ultrasonic detection process.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: A medical ultrasonic detection device, comprising: a host, as a power source of the entire device, for providing power to the detection mechanism and processing the returned information;

[0007] A supporting mechanism, which is connected to the host through a cable and is used to support the robot arm;

[0008] A mechanical arm, which is fixedly connected to one side of the outer wall of the supporting mechanism and is used to adjust the conversion mechanism and the liquid supply mechanism;

[0009] A conversion mechanism, which is fixedly connected to one side of the mechanical arm and is used to convert the high-frequency electric pulse signal emitted by the host;

[0010] A liquid supply mechanism, which is fixedly connected to one side of the outer wall of the conversion mechanism and is used to provide coupling agent required for detection;

[0011] The robot arm operating system is set in the host and is used to control the robot arm.

[0012] Preferably, the host includes a shell, which is arranged on the outside of the supporting mechanism, a circuit board is fixedly connected to the inside of the shell, a connecting frame is fixedly connected to one side of the outer wall of the shell, a display is fixedly connected to one side of the outer wall of the connecting frame, an operation panel is fixedly connected to one side of the outer wall of the connecting frame, an operation lever is fixedly connected to one side of the outer wall of the operation panel, an operation button is fixedly connected to one side of the outer wall of the operation panel, and a pulley frame is fixedly connected to one side of the outer wall of the shell.

[0013] Preferably, the support mechanism includes a support shell, the support shell is arranged outside the host, a data processor is fixedly connected to the inside of the support shell, a memory is fixedly connected to the inside of the support shell, and a pulley frame is fixedly connected to one side of the outer wall of the support shell.

[0014] Preferably, the robotic arm includes a base, which is fixedly connected to one side of the outer wall of the supporting shell, one side of the outer wall of the base is rotatably connected to a transverse rotating axis one, one side of the inner wall of the transverse rotating axis one is rotatably connected to a transverse rotating axis two, one side of the inner wall of the transverse rotating axis two is rotatably connected to a longitudinal rotating axis, one side of the outer wall of the transverse rotating axis one is fixedly connected to a posture sensor, and one side of the outer wall of the longitudinal rotating axis is fixedly connected to a position sensor.

[0015] Preferably, the conversion mechanism includes a limiting shell, the limiting shell is fixedly connected to the side wall of the longitudinal rotating shaft, the interior of the limiting shell is fixedly connected with an ultrasonic probe, the ultrasonic probe includes an acoustic wrapping layer, the acoustic wrapping layer is fixedly connected to the interior of the limiting shell, the inner wall of the acoustic wrapping layer is fixedly connected with an acoustic insulating layer, the interior of the acoustic insulating layer is fixedly connected with a piezoelectric crystal, the piezoelectric crystal is fixedly connected with an electrode on one side of the outer wall, the interior of the electrode is connected with an electrode lead, the interior of the electrode is fixedly connected with a conductive rod, the outside of the conductive rod is provided with a padding sound-absorbing material, the inner wall of the acoustic wrapping layer is fixedly connected with a matching layer, and the outer wall of the limiting shell is fixedly connected with a convex groove on one side.

[0016] Preferably, the liquid supply mechanism includes a concave groove, which is slidably connected to the outside of the limiting shell, a liquid storage block is fixedly connected to one side of the outer wall of the concave groove, a limiting rod is fixedly connected to the inside of the liquid storage block, a spring sheet is slidably connected to the inside of the liquid storage block, and the spring sheet is fixedly connected to the side wall of the limiting rod, a sliding groove is provided on the side wall of the liquid storage block, a rubber ring is slidably connected to one side of the inner wall of the sliding groove, and the rubber ring is fixedly connected to the outer wall of the limiting rod, a liquid outlet is provided on one side of the outer wall of the liquid storage block, and a film is fixedly connected to the inner wall of the liquid outlet.

[0017] Preferably, the robotic arm operating system includes a motion control module for controlling the movement of the robotic arm, a sensor module for collecting various parameters of the robotic arm, an image feedback module for displaying the working screen of the robotic arm, and a communication module for transmitting data and instructions of the robotic arm.

[0018] Preferably, the motion control module includes a real-time position feedback unit for processing the acquired real-time position information of the robotic arm; a motion planning unit for generating a motion trajectory according to the target position and the real-time position information; and a drive control unit for controlling the movement of the robotic arm according to the motion trajectory.

[0019] Preferably, the sensor module includes a position sensor for acquiring real-time position information of the end of the robotic arm; and a posture sensor for acquiring real-time posture of the robotic arm.

[0020] Preferably, the image feedback module includes an image acquisition unit for acquiring images of the working area of ​​the robotic arm; an image processing unit for processing the acquired images; and an image display unit for displaying the processed images.

[0021] Working principle: When conducting medical ultrasonic testing, the device is first moved to the testing area, the host is started, the entire device is powered, and the information returned by the sensor is processed. Through the image feedback module and the display, the doctor is provided with intuitive information. Then the doctor can adjust the operating status of the device through the operation panel. The host is connected to each component through a cable to form a highly integrated system. The support mechanism is connected to the host through a cable to provide power for the robotic arm. The design of the support mechanism takes into account stability and flexibility, ensuring that the robotic arm can remain stable during operation, and can flexibly adjust its position to meet different testing needs. A data processor and a memory are provided inside the support mechanism to store and process data during the testing process, including the position information and posture information of the robotic arm. Under the control of the robotic arm operating system, the robotic arm adjusts the conversion mechanism and the liquid supply mechanism. The design of the robotic arm is highly flexible, and the base is fixedly connected to one side of the outer wall of the support shell, and multi-dimensional free movement is achieved through the transverse rotation axis 1, transverse rotation axis 2 and longitudinal rotation axis. The design of these rotation axes enables the robotic arm to be accurately positioned and adjusted during the testing process, ensuring that the ultrasound probe can cover all areas that the patient needs to detect. During detection, each module of the robot arm operating system plays a different role. The real-time position feedback unit and the motion planning unit in the motion control module work together to generate a motion trajectory based on the target position and real-time position information, and control the movement of the robot arm through the drive control unit. The position sensor and attitude sensor in the sensor module monitor the position and state of the robot arm in real time to ensure the accuracy of the operation. The conversion mechanism is fixedly connected to one side of the robot arm and is used to convert the high-frequency electrical pulse signal emitted by the host. The core component of the conversion mechanism is the ultrasonic probe, which includes an acoustic wrapping layer, an acoustic insulation layer, a piezoelectric crystal, an electrode, etc. The ultrasonic probe is fixed to the side wall of the longitudinal rotating shaft through a limiting shell. The piezoelectric crystal generates ultrasonic waves driven by the high-frequency electrical pulse signal, which are transmitted to the patient's body through the matching layer to realize the ultrasonic detection function. The liquid supply mechanism is fixedly connected to one side of the outer wall of the conversion mechanism, and is used to provide the coupling agent required for detection. In the natural state, the liquid storage block naturally hangs down, and under the action of the limit rod, it hangs down into an arc, and the coupling agent is blocked by the film. When working, the liquid storage block contacts the skin and is subjected to force. After being subjected to force, the liquid storage block slides in the sliding groove along the connection of the rubber ring. Since the spring sheet and the limit rod are fixed, the spring sheet squeezes the coupling agent downward and flows out of the liquid outlet. The coupling agent flow rate at the liquid outlet is adjusted by the limit rod, spring sheet, sliding groove and rubber ring to ensure a stable supply of coupling agent during the detection process, optimize the transmission effect of ultrasonic waves, and control the amount of coupling agent used, and stop when the contact is broken. During the entire detection process, the support mechanism, mechanical arm and other components play a role in supporting and stabilizing the entire device to ensure the smooth progress of the detection operation.The stability of the support mechanism and the flexibility of the robotic arm allow the ultrasound probe to be accurately positioned at the patient's test site. At the same time, the design of the liquid supply mechanism ensures the stable supply of coupling agent and the effective conduction of ultrasound. The robotic arm operating system achieves precise control and real-time feedback of the robotic arm through a highly integrated modular design, optimizing the efficiency and accuracy of the test process. When the test is completed, turn off the host, take out the test equipment, ensure that all parts are safely returned to their positions, and perform necessary cleaning and maintenance on the equipment in preparation for the next test.

[0022] The present invention provides a medical ultrasonic detection device having the following beneficial effects:

[0023] 1. The present invention realizes automatic positioning and movement of the probe through the coordinated action of the host, support mechanism, mechanical arm, conversion mechanism, liquid supply mechanism and mechanical arm operating system, without the need to hold the probe, thereby improving detection efficiency and accuracy and solving the problem of needing to hold the probe.

[0024] 2. The present invention ensures uniform distribution of the coupling agent and good coupling effect through the optimized design of the liquid supply mechanism, improves the quality of the detection image, and solves the problem of poor coupling effect. In addition, through the precise liquid supply of the liquid supply mechanism, the waste of coupling agent is effectively reduced, the detection cost is reduced, and it is also more environmentally friendly and solves the problem of coupling agent waste.

[0025] 3. The present invention realizes precise control of probe operation through the host, support mechanism, robotic arm and robotic arm operating system, improves the stability and reliability of detection, solves the problem of inconvenient operation, and allows doctors to perform detection in a more comfortable environment, reducing work intensity and solving the problem of doctor operation fatigue. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a three-dimensional diagram of the detection device of the present invention;

[0027] Figure 2 This is a display diagram of the detection device in the present invention;

[0028] Figure 3 is a schematic diagram of an ultrasonic probe in the present invention;

[0029] Figure 4 for Figure 3 A in the enlarged view;

[0030] Figure 5 is a cross-sectional view of the conversion mechanism in the present invention;

[0031] Figure 6 is a schematic diagram of the mechanical arm of the present invention;

[0032] Figure 7is a schematic diagram of a detection device in the present invention;

[0033] Figure 8 is a schematic diagram of a motion control module in the present invention;

[0034] Fig. 9 is a schematic diagram of a sensor module in the present invention;

[0035] Fig.10 is a schematic diagram of an image feedback module in the present invention;

[0036] Fig.11 is a schematic diagram of the robot arm operating system of the present invention;

[0037] Fig.12 It is a flow chart of the robot arm operating system in the present invention.

[0038] Among them, 1. host; 2. shell; 3. circuit board; 4. connecting frame; 5. display; 6. operation panel; 7. operating rod; 8. operation button; 9. pulley frame; 10. support shell; 11. data processor; 12. memory; 13. base; 14. horizontal rotation axis one; 15. horizontal rotation axis two; 16. longitudinal rotation axis; 17. posture sensor; 18. position sensor; 19. limit shell; 20. ultrasonic probe; 21. acoustic wrapping layer; 22. acoustic insulation layer; 23. piezoelectric crystal; 24. electrode; 25. electrode lead; 26. conductive rod; 27. padding sound absorbing material; 28. matching layer; 29. ​​convex groove; 30. concave groove; 31. liquid storage block; 32. limit rod; 33. spring sheet; 34. sliding groove; 35. rubber ring; 36. liquid outlet; 37. film; 38. robot arm; 39. cable. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of 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 of 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.

[0040] Please refer to the attached Figure 1 -Attached Fig.12 The embodiment of the present invention provides a medical ultrasonic detection device, comprising:

[0041] Host 1, as the power source of the whole device, is used to provide power to the detection mechanism and process the returned information;

[0042] A supporting mechanism, which is connected to the host 1 via a cable 39 and is used to support the robot arm 38;

[0043] A mechanical arm 38, which is fixedly connected to one side of the outer wall of the supporting mechanism and is used to adjust the conversion mechanism and the liquid supply mechanism;

[0044] A conversion mechanism, which is fixedly connected to one side of the mechanical arm 38 and is used to convert the high-frequency electrical pulse signal emitted by the host 1;

[0045] A liquid supply mechanism, which is fixedly connected to one side of the outer wall of the conversion mechanism and is used to provide coupling agent required for detection;

[0046] The robot arm operating system is disposed in the host 1 and is used to control the robot arm 38 .

[0047] The host 1 includes a shell 2, which is arranged on the outside of the supporting mechanism, a circuit board 3 is fixedly connected to the inside of the shell 2, a connecting frame 4 is fixedly connected to one side of the outer wall of the shell 2, a display 5 is fixedly connected to one side of the outer wall of the connecting frame 4, an operation panel 6 is fixedly connected to one side of the outer wall of the connecting frame 4, an operation lever 7 is fixedly connected to one side of the outer wall of the operation panel 6, an operation button 8 is fixedly connected to one side of the outer wall of the operation panel 6, and a pulley frame 9 is fixedly connected to one side of the outer wall of the shell 2.

[0048] Specifically, when performing medical ultrasonic testing, the device is first moved to the detection area, the host 1 is started, power is provided to the entire device, and the information returned by the sensor is processed, and intuitive information is provided to the doctor through the image feedback module and the display 5. The doctor can then adjust the operating status of the device through the operation panel 6. The host 1 is connected to each component through the cable 39 to form a highly integrated system.

[0049] The supporting mechanism includes a supporting shell 10, which is arranged outside the host 1, a data processor 11 is fixedly connected to the inside of the supporting shell 10, a memory 12 is fixedly connected to the inside of the supporting shell 10, and a pulley frame 9 is fixedly connected to one side of the outer wall of the supporting shell 10.

[0050] Specifically, the support mechanism is connected to the host 1 through a cable 39 to provide power for the robot 38. The design of the support mechanism takes into account stability and flexibility, ensuring that the robot 38 can remain stable during operation and can flexibly adjust its position to meet different detection requirements. A data processor 11 and a memory 12 are provided inside the support mechanism to store and process data during the detection process, including position information, posture information, etc. of the robot 38.

[0051] The robotic arm 38 includes a base 13, which is fixedly connected to one side of the outer wall of the supporting shell 10; one side of the outer wall of the base 13 is rotatably connected to a transverse rotating shaft 14; one side of the inner wall of the transverse rotating shaft 14 is rotatably connected to a transverse rotating shaft 2 15; one side of the inner wall of the transverse rotating shaft 2 15 is rotatably connected to a longitudinal rotating shaft 16; one side of the outer wall of the transverse rotating shaft 14 is fixedly connected to a posture sensor 17; and one side of the outer wall of the longitudinal rotating shaft 16 is fixedly connected to a position sensor 18.

[0052] The conversion mechanism includes a limiting shell 19, which is fixedly connected to the side wall of the longitudinal rotating shaft 16. An ultrasonic probe 20 is fixedly connected inside the limiting shell 19. The ultrasonic probe 20 includes an acoustic wrapping layer 21, which is fixedly connected to the inside of the limiting shell 19. The inner wall of the acoustic wrapping layer 21 is fixedly connected to an acoustic insulating layer 22. The inside of the acoustic insulating layer 22 is fixedly connected to a piezoelectric crystal 23. The piezoelectric crystal 23 is fixedly connected to an electrode 24 on one side of the outer wall. The inside of the electrode 24 is connected to an electrode lead 25. The inside of the electrode 24 is fixedly connected to a conductive rod 26. The outside of the conductive rod 26 is provided with a padding sound-absorbing material 27. The inner wall of the acoustic wrapping layer 21 is fixedly connected to a matching layer 28. A convex groove 29 is fixedly connected to one side of the outer wall of the limiting shell 19.

[0053] The liquid supply mechanism includes a concave groove 30, which is slidably connected to the outside of the limiting shell 19, a liquid storage block 31 is fixedly connected to one side of the outer wall of the concave groove 30, a limiting rod 32 is fixedly connected to the inside of the liquid storage block 31, a spring sheet 33 is slidably connected to the inside of the liquid storage block 31, the spring sheet 33 is fixedly connected to the side wall of the limiting rod 32, a sliding groove 34 is provided on the side wall of the liquid storage block 31, a rubber ring 35 is slidably connected to one side of the inner wall of the sliding groove 34, the rubber ring 35 is fixedly connected to the outer wall of the limiting rod 32, a liquid outlet 36 is provided on one side of the outer wall of the liquid storage block 31, and a film 37 is fixedly connected to the inner wall of the liquid outlet 36.

[0054] Specifically, the mechanical arm 38 adjusts the conversion mechanism and the liquid supply mechanism under the control of the mechanical arm operating system. The design of the mechanical arm 38 is highly flexible. The base 13 is fixedly connected to one side of the outer wall of the support shell 10, and multi-dimensional free movement is achieved through the transverse rotation axis 14, the transverse rotation axis 2 15 and the longitudinal rotation axis 16. The design of these rotation axes enables the mechanical arm 38 to be accurately positioned and adjusted during the detection process, ensuring that the ultrasonic probe 20 can cover all areas that the patient needs to detect. The conversion mechanism is fixedly connected to one side of the mechanical arm 38 and is used to convert the high-frequency electrical pulse signal emitted by the host 1. The core component of the conversion mechanism is the ultrasonic probe 20, which includes an acoustic wrapping layer 21, an acoustic insulation layer 22, a piezoelectric crystal 23, an electrode 24, etc. The ultrasonic probe 20 is fixed to the side wall of the longitudinal rotation axis 16 through a limiting shell 19. The piezoelectric crystal 23 generates ultrasonic waves driven by the high-frequency electrical pulse signal, which are transmitted to the patient's body through the matching layer 28 to realize the ultrasonic detection function. The liquid supply mechanism is fixedly connected to one side of the outer wall of the conversion mechanism, and is used to provide the coupling agent required for detection. In a natural state, the liquid storage block 31 naturally hangs down, and under the action of the limiting rod 32, it hangs down into an arc shape, and the coupling agent is blocked by the film 37. During operation, the liquid storage block 31 contacts the skin and is subjected to force. After being subjected to force, the liquid storage block 31 slides in the sliding groove 34 along the connection of the rubber ring 35. Since the spring sheet and the limiting rod 32 are fixed, the spring sheet squeezes the coupling agent downward and flows out from the liquid outlet 36. The coupling agent flow rate of the liquid outlet 36 is adjusted by the limiting rod 32, the spring sheet, the sliding groove 34 and the rubber ring 35 to ensure a stable supply of coupling agent during the detection process, optimize the conduction effect of the ultrasonic wave, and control the amount of coupling agent used, and stop when the contact is broken.

[0055] The robotic arm operating system includes a motion control module for controlling the movement of the robotic arm 38 , a sensor module for collecting various parameters of the robotic arm 38 , an image feedback module for displaying the working screen of the robotic arm 38 , and a communication module for transmitting data and instructions of the robotic arm 38 .

[0056] The motion control module includes a real-time position feedback unit for processing the acquired real-time position information of the robot arm 38; a motion planning unit for generating a motion trajectory according to the target position and the real-time position information; and a drive control unit for controlling the motion of the robot arm 38 according to the motion trajectory.

[0057] Specifically, the motion control module is mainly responsible for controlling the motion of the manipulator 38, obtaining real-time position information through the position sensor 18 and the posture sensor 17, planning the motion trajectory, and driving the manipulator 38 to move according to the set trajectory. First, the real-time position feedback unit obtains the current position information of the manipulator 38, which includes the end position of the manipulator 38 and the angle and posture of each joint. The real-time position feedback unit can ensure that the system can grasp the accurate position of the manipulator 38 at any time. After obtaining the real-time position information, the motion planning unit calculates the optimal motion trajectory of the manipulator 38 from the current position to the target position according to the set target position and the current position information. In this calculation process, it is necessary to consider the range of motion, speed and acceleration limits of the manipulator 38, as well as avoid possible obstacles. Once the motion trajectory is determined, the drive control unit sends control signals to each motor and actuator according to this trajectory, so that the manipulator 38 moves according to the predetermined trajectory. During the motion process, the motion control module will continuously monitor the actual motion of the manipulator 38, compare it with the predetermined trajectory, and adjust the motion control parameters in real time to ensure that the manipulator 38 can accurately complete the motion task. Through this closed-loop control mechanism, the motion control module can ensure the motion accuracy and stability of the robot arm 38 .

[0058] The sensor module includes a position sensor 18 for acquiring real-time position information of the end of the robotic arm 38 ; and a posture sensor 17 for acquiring real-time posture of the robotic arm 38 .

[0059] Specifically, the core function of the sensor module is to monitor the posture and position of the robot arm 38 in real time to ensure the accuracy of the operation during the entire detection process. The position sensor 18 is installed at the end of the robot arm 38 to measure the real-time position of the end of the robot arm 38. The position data is reflected in the form of three-dimensional coordinates, which can accurately record the position change of the robot arm 38 in space. In addition, the position sensor 18 can also monitor the distance between the end effector of the robot arm 38 and the detection target to ensure that the robot arm 38 is always within a reasonable operating range during the detection process. The posture sensor 17 is used to obtain the angle and posture information of the robot arm 38. Since the robot arm 38 has multiple degrees of freedom, the posture sensor 17 can measure the rotation angle of each joint of the robot arm 38, and combined with the data of the position sensor 18, provide the complete posture information of the robot arm 38 in three-dimensional space. These data are transmitted to the motion control module in real time through the sensor module, so that the system can grasp the status of the robot arm 38 at any time and make corresponding adjustments.

[0060] The image feedback module includes an image acquisition unit for acquiring images of the working area of ​​the robot arm 38; an image processing unit for processing the acquired images; and an image display unit for displaying the processed images.

[0061] Specifically, the image feedback module is used to monitor and display the working state of the robot arm 38. The image acquisition unit is composed of a plurality of cameras, which are installed at different parts of the robot arm 38 to collect the working images of the robot arm 38 in real time. These images include the motion state of the robot arm 38, the changes in the working environment, and the real-time images of the detection area. After receiving the original image data transmitted by the image acquisition unit, the image processing unit will process these data, including image denoising, contrast enhancement, brightness adjustment, and marking of the target area, etc., to ensure the clarity and accuracy of the image. The processed image can help the operator observe the working state of the robot arm 38 more clearly and find possible problems in time. The processed image will be displayed on the display 5 in real time through the image display unit. The doctor or operator can monitor the work of the robot arm 38 in real time by observing these images, and make necessary adjustments according to the information in the image. The image feedback module can also store the image in the system for subsequent analysis and evaluation.

[0062] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A medical ultrasonic detection device, characterized in that: include: The host (1) is the power source of the whole device, used to provide power to the detection mechanism and process the returned information; A supporting mechanism, which is connected to the host (1) via a cable (39) and is used to support the mechanical arm (38); A mechanical arm (38), which is fixedly connected to one side of the outer wall of the supporting mechanism and is used to adjust and control the conversion mechanism and the liquid supply mechanism; A conversion mechanism, which is fixedly connected to one side of the mechanical arm (38) and is used to convert the high-frequency electric pulse signal emitted by the host (1); A liquid supply mechanism, which is fixedly connected to one side of the outer wall of the conversion mechanism and is used to provide coupling agent required for detection; A robot arm operating system is arranged in a host (1) and is used to control the robot arm (38).

2. A medical ultrasonic detection device according to claim 1, characterized in that: The host (1) comprises a shell (2), the shell (2) being arranged outside the supporting mechanism, the inside of the shell (2) being fixedly connected with a circuit board (3), one side of the outer wall of the shell (2) being fixedly connected with a connecting frame (4), one side of the outer wall of the connecting frame (4) being fixedly connected with a display (5), one side of the outer wall of the connecting frame (4) being fixedly connected with an operating panel (6), one side of the outer wall of the operating panel (6) being fixedly connected with an operating rod (7), one side of the outer wall of the operating panel (6) being fixedly connected with an operating button (8), and one side of the outer wall of the shell (2) being fixedly connected with a pulley frame (9).

3. A medical ultrasonic detection device according to claim 1, characterized in that: The support mechanism comprises a support shell (10), the support shell (10) is arranged outside the host (1), a data processor (11) is fixedly connected inside the support shell (10), a memory (12) is fixedly connected inside the support shell (10), and a pulley frame (9) is fixedly connected to one side of the outer wall of the support shell (10).

4. A medical ultrasonic detection device according to claim 3, characterized in that: The mechanical arm (38) comprises a base (13), wherein the base (13) is fixedly connected to one side of an outer wall of a support shell (10), wherein one side of the outer wall of the base (13) is rotatably connected to a transverse rotation axis 1 (14), wherein one side of the inner wall of the transverse rotation axis 1 (14) is rotatably connected to a transverse rotation axis 2 (15), wherein one side of the inner wall of the transverse rotation axis 2 (15) is rotatably connected to a longitudinal rotation axis (16), wherein one side of the outer wall of the transverse rotation axis 1 (14) is fixedly connected to a posture sensor (17), and one side of the outer wall of the longitudinal rotation axis (16) is fixedly connected to a position sensor (18).

5. A medical ultrasonic detection device according to claim 4, characterized in that: The conversion mechanism comprises a limiting shell (19), the limiting shell (19) is fixedly connected to the side wall of the longitudinal rotating shaft (16), the interior of the limiting shell (19) is fixedly connected to an ultrasonic probe (20), the ultrasonic probe (20) comprises an acoustic wrapping layer (21), the acoustic wrapping layer (21) is fixedly connected to the interior of the limiting shell (19), the inner wall of the acoustic wrapping layer (21) is fixedly connected to an acoustic insulating layer (22), the interior of the acoustic insulating layer (22) is fixedly connected to A piezoelectric crystal (23) is connected, the piezoelectric crystal (23) is fixedly connected to an electrode (24) on one side of the outer wall, the electrode (24) is connected to an electrode lead (25), the electrode (24) is fixedly connected to a conductive rod (26) on the inside, and a padding sound-absorbing material (27) is arranged on the outside of the conductive rod (26), the inner wall of the acoustic wrapping layer (21) is fixedly connected to a matching layer (28), and the outer wall of the limiting shell (19) is fixedly connected to a convex groove (29) on one side.

6. A medical ultrasonic detection device according to claim 5, characterized in that: The liquid supply mechanism comprises a concave groove (30), the concave groove (30) is slidably connected to the outside of the limiting shell (19), a liquid storage block (31) is fixedly connected to one side of the outer wall of the concave groove (30), a limiting rod (32) is fixedly connected to the inside of the liquid storage block (31), a spring sheet (33) is slidably connected to the inside of the liquid storage block (31), the spring sheet (33) is fixedly connected to the side wall of the limiting rod (32), a sliding groove (34) is provided on the side wall of the liquid storage block (31), a rubber ring (35) is slidably connected to one side of the inner wall of the sliding groove (34), the rubber ring (35) is fixedly connected to the outer wall of the limiting rod (32), a liquid outlet (36) is provided on one side of the outer wall of the liquid storage block (31), and a film (37) is fixedly connected to the inner wall of the liquid outlet (36).

7. A medical ultrasonic detection device according to claim 1, characterized in that: The robot arm operating system comprises a motion control module for controlling the motion of the robot arm (38), a sensor module for collecting various parameters of the robot arm (38), and an image feedback module for displaying a working picture of the robot arm (38).

8. A medical ultrasonic detection device according to claim 7, characterized in that: The motion control module includes a real-time position feedback unit for processing the acquired real-time position information of the mechanical arm (38); a motion planning unit for generating a motion trajectory according to the target position and the real-time position information; A drive control unit is used to control the movement of the mechanical arm (38) according to the movement trajectory.

9. A medical ultrasonic detection device according to claim 7, characterized in that: The sensor module comprises a position sensor (18) for acquiring real-time position information of the end of the mechanical arm (38); and a posture sensor (17) for acquiring the real-time posture of the mechanical arm (38).

10. The medical ultrasonic detection device according to claim 7, characterized in that: The image feedback module comprises an image acquisition unit for acquiring images of a working area of ​​the robot arm (38); an image processing unit for processing the acquired images; and an image display unit for displaying the processed images.

Images