Auxiliary treatment mechanical arm

Abstract

The invention provides an auxiliary treatment mechanical arm, and relates to the technical field of auxiliary treatment equipment, the auxiliary treatment mechanical arm greatly relieves the workload of a doctor during ultrasonic treatment, a probe of an ultrasonic treatment instrument is driven by the mechanical arm to move, and the ultrasonic treatment efficiency is improved. A doctor does not need to hold the probe by hand for operation for a long time, and long-time repeated same actions are reduced, so that the fatigue feeling of arms and wrists is reduced, the morbidity of occupational diseases is reduced, and great significance is achieved for improving the working environment of the doctor, improving the medical quality and protecting the physical health of the doctor.

Description

Technical Field

[0001] The present invention relates to the technical field of auxiliary treatment equipment, and in particular to an auxiliary treatment mechanical arm. Background Art

[0002] In the medical field, ultrasound therapy has become an important means of diagnosis and treatment of various diseases with its unique advantages of being non-invasive, painless and radiation-free. Doctors use the probe of a handheld ultrasound therapy device to slowly move back and forth or in a circular motion at the treatment site to implement effective treatment. However, in actual operation, doctors face many challenges.

[0003] First, ultrasound therapy often requires long-term operation, and doctors need to maintain a high degree of concentration. This long-term, high-intensity operation can easily cause hand fatigue and muscle tension in doctors, which in turn affects the stability of the operation. Second, long-term hand-held operation will cause a greater burden on doctors' wrists and shoulders, increasing their workload and the risk of physical injury. Therefore, we have made improvements to this and proposed an auxiliary treatment robotic arm. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that doctors are prone to fatigue and have high work intensity when operating with hands for a long time.

[0005] In order to achieve the above-mentioned purpose of the invention, the present invention provides an auxiliary treatment robotic arm to improve the above-mentioned problem.

[0006] The specific application is as follows:

[0007] An auxiliary treatment mechanical arm, comprising:

[0008] A fourth support plate, wherein a first horizontal driving mechanism is disposed between the back side and the bottom of the fourth support plate, and the first horizontal driving mechanism is used to drive the fourth support plate to move horizontally;

[0009] A second horizontal driving mechanism installed on the front side of the fourth supporting plate, the second horizontal driving mechanism comprising a horizontal driving part connected to the fourth supporting plate, the horizontal driving part being connected to a sliding plate;

[0010] A lifting mechanism is installed on the sliding plate, and the lifting mechanism is connected to an electric clamp, which is used to clamp the probe of the therapeutic device. The electric clamp moves under the drive of the first horizontal driving mechanism, the second horizontal driving mechanism, the lifting mechanism and the fourth support plate to achieve auxiliary movement of the therapeutic device probe.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] In the scheme of this application:

[0013] The present invention provides an auxiliary treatment mechanical arm, which greatly reduces the workload of doctors during ultrasonic treatment. By driving the probe of the ultrasonic treatment device to move through the mechanical arm, doctors no longer need to personally hold the probe for a long time to operate, and reduce the long-term repetition of the same action, thereby reducing arm and wrist fatigue and reducing the incidence of occupational diseases. This is of great significance for improving the working environment of doctors, improving medical quality and protecting the physical health of doctors. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic diagram of the structure of the auxiliary therapy robotic arm provided for this application;

[0015] Figure 2 A rear view structural diagram of the auxiliary therapy robotic arm provided in this application;

[0016] Figure 3 A schematic diagram of the side view structure of the auxiliary treatment robotic arm provided in this application;

[0017] Figure 4 A schematic diagram of the structure of the front side of the fourth support plate of the auxiliary treatment robot arm provided in this application;

[0018] Figure 5 A schematic diagram of the structure of the lifting mechanism of the auxiliary treatment robot arm provided in this application;

[0019] Figure 6 A schematic diagram of the structure of the elastic parts of the auxiliary treatment robotic arm provided in this application.

[0020] Indicated in the figure:

[0021] 1. Support mechanism; 101. Bottom plate; 102. First support plate; 103. First reinforcement plate;

[0022] 2. First horizontal driving mechanism; 201. First guide rail; 202. First slide seat; 203. Second support plate; 204. First connecting plate; 205. Second connecting plate; 206. First bearing seat; 207. First lead screw; 208. First motor; 209. First transmission block;

[0023] 3. Second horizontal driving mechanism; 301. Second bearing seat; 302. Second screw rod; 303. Second motor; 304. Sliding plate; 305. Second slide seat; 306. Second slide rail;

[0024] 4. Lifting mechanism; 401. third slide seat; 402. third slide rail; 403. rack; 404. third motor; 405. gear; 406. connecting seat; 407. sliding sleeve; 408. elastic member; 409. stop sleeve;

[0025] 5. Electric gripper;

[0026] 6. Visual inspection camera;

[0027] 7. Carrying mechanism; 701. Third supporting plate; 702. Third screw rod; 703. Fourth motor; 704. Third transmission block; 705. Carrying plate; 706. Baffle;

[0028] 8. Protective cover;

[0029] 9. The fourth support plate. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of the present invention.

[0031] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.

[0032] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0033] Example 1, please refer to Figure 1-Figure 5 , an auxiliary treatment robotic arm, comprising:

[0034] The fourth support plate 9, a first horizontal driving mechanism 2 is arranged between the back and the bottom of the fourth support plate 9, and the first horizontal driving mechanism 2 is used to drive the fourth support plate 9 to move horizontally; specifically, Figure 2As shown, the first horizontal driving mechanism 2 includes a second support plate 203 located below the fourth support plate 9, a first guide rail 201 is installed on the top of the second support plate 203, a first slide seat 202 is slidably connected to the outer surface of the first guide rail 201, a first connecting plate 204 is installed on the top of the first slide seat 202, and the first connecting plate 204 is fixedly connected to the back of the fourth support plate 9, the first guide rail 201, the first slide seat 202, the second support plate 203 and the first connecting plate 204 can support the fourth support plate 9, and the cooperation of the first slide seat 202 and the first guide rail 201 makes it possible to adjust the horizontal position of the fourth support plate 9 while supporting the fourth support plate 9, which is conducive to accurately controlling the position of the components installed thereon, thereby meeting the diverse requirements for the position of the ultrasonic therapeutic instrument probe in different treatment scenarios and improving the flexibility of treatment;

[0035] Further, such as Figure 2 As shown, two first bearing seats 206 are installed on the top of the second support plate 203, and a first screw rod 207 is rotatably connected between the two first bearing seats 206 through a bearing, and a first transmission block 209 is threadedly connected to the outer surface of the first screw rod 207, and the first transmission block 209 is fixedly connected to the bottom of the second connecting plate 205. A first motor 208 is installed between the end of the first screw rod 207 and the top of the second support plate 203, and the first motor 208 can drive the second connecting plate 205 to move horizontally through the first screw rod 207 and the first transmission block 209, and the second connecting plate 205 can drive the fourth support plate 9 to move horizontally through the first connecting plate 204, so as to adjust the probe position of the ultrasonic therapeutic instrument;

[0036] A second horizontal driving mechanism 3 installed on the front side of the fourth supporting plate 9, the second horizontal driving mechanism 3 includes a horizontal driving part connected to the fourth supporting plate 9, and the horizontal driving part is connected to a sliding plate 304;

[0037] Further, such as Figure 4 and Figure 5 As shown, the horizontal driving part includes two second bearing seats 301 installed on the front side of the fourth support plate 9, a second screw rod 302 is rotatably connected between the two second bearing seats 301 through a bearing, a second transmission block is threadedly connected to the outer surface of the second screw rod 302, and the second transmission block is fixedly connected to the back side of the sliding plate 304, a second motor 303 is installed between the end of the second screw rod 302 and the front side of the fourth support plate 9, and the second motor 303 can drive the sliding plate 304 to move horizontally through the mutual cooperation of the second screw rod 302 and the second transmission block, and the direction of the horizontal movement of 304 is perpendicular to the direction of the horizontal movement of the fourth support plate 9;

[0038] Further, such as Figure 4 and Figure 5As shown, a second slide seat 305 is installed on one side of the sliding plate 304 close to the fourth supporting plate 9, and the second slide seat 305 is slidably connected to a second slide rail 306, which is installed on the front side of the fourth supporting plate 9. The second slide seat 305 and the second slide rail 306 cooperate with each other to support and limit the sliding plate 304, so as to improve the stability of the horizontal movement of the sliding plate 304;

[0039] A lifting mechanism 4 is installed on the sliding plate 304, and the lifting mechanism 4 is connected with an electric clamp 5, which is used to clamp the probe of the therapeutic instrument, and the electric clamp 5 moves under the drive of the first horizontal driving mechanism 2, the second horizontal driving mechanism 3, the lifting mechanism 4 and the fourth supporting plate 9 to achieve auxiliary movement of the therapeutic instrument probe. The lifting mechanism 4 can drive the electric clamp 5 to rise and fall. The lifting mechanism 4 is combined with the first horizontal driving mechanism 2 and the second horizontal driving mechanism 3 to achieve the movement of the probe in three-dimensional space, which can better adapt to the height differences and treatment requirements of different patient body parts;

[0040] Further, such as Figure 4 and Figure 5 As shown, the lifting mechanism 4 includes a third slide seat 401 installed on the side of the sliding plate 304, the inner wall of the third slide seat 401 is slidably connected to the third slide rail 402, the front of the third slide rail 402 is connected to the rack 403, the rack 403 is meshed with a gear 405, and a third motor 404 is installed between the gear 405 and the sliding plate 304. The third motor 404 can drive the third slide rail 402 to rise and fall through the gear 405 and the rack 403, and then drive the electric clamp 5 to rise and fall.

[0041] Further, such as Figure 5 and Figure 6 As shown, a stopper sleeve 409 is fixedly connected to the bottom end of the third slide rail 402, a slide sleeve 407 located above the stopper sleeve 409 is slidably connected to the outer surface of the third slide rail 402, a connecting seat 406 is connected to the front of the slide sleeve 407, the connecting seat 406 is connected to the electric clamp 5, an elastic member 408 is connected between the slide sleeve 407 and the stopper sleeve 409, a visual detection camera 6 is connected to the side of the connecting seat 406, the elastic member 408 can be made of elastic rubber or spring, and the buffering effect of the elastic member 408 can reduce the large impact force generated when the probe contacts the human body, protect the patient's body, and improve the patient's comfort during treatment; the visual detection camera 6 is connected to the existing visual detection control system, relying on the existing visual detection control system to realize the control of the first motor 208, the second motor 303, the third motor 404, the electric clamp 5 and the fourth motor 703, and then realize the control of the treatment trajectory of the probe of the ultrasonic therapeutic instrument, so as to realize the probe to move slowly back and forth or in a circular motion at the treatment site;

[0042] like Figure 1-Figure 4As shown, a supporting mechanism 1 is provided at the bottom of the second supporting plate 203, and the supporting mechanism 1 includes two first supporting plates 102 fixedly installed at the bottom of the second supporting plate 203, a bottom plate 101 is fixedly connected between the bottoms of the two first supporting plates 102, and a first reinforcing plate 103 is fixedly connected between the bottom plate 101 and the first supporting plate 102, and the bottom plate 101, the first supporting plate 102 and the first reinforcing plate 103 cooperate with each other to support the second supporting plate 203.

[0043] Further, such as Figure 1-Figure 4 As shown, a bearing mechanism 7 is arranged between the second support plate 203 and the base plate 101; the bearing mechanism 7 includes a third support plate 701 installed between the two first reinforcement plates 103, a third screw rod 702 is connected between the third support plate 701 and the second support plate 203 through a bearing, a fourth motor 703 is connected between the end of the third screw rod 702 and the base plate 101, a third transmission block 704 is threadedly connected to the outer surface of the third screw rod 702, one end of the third transmission block 704 passes through between the two first support plates 102 and is connected to a bearing plate 705, a baffle 706 is installed on the side of the top of the bearing plate 705, the fourth motor 703 can drive the third transmission block 704 and the bearing plate 705 to rise and fall through the third screw rod 702, and can adjust the position of the bearing plate 705, the bearing plate 705 can bear the patient's limbs during treatment, for example, bear the patient's legs during knee joint treatment, and the baffle 706 can assist in limiting the patient's limbs.

[0044] Further, such as Figure 1-Figure 3 As shown, a protective cover 8 is installed on the front side and between the two sides of the fourth support plate 9, and the second horizontal driving mechanism 3, the lifting mechanism 4, the electric clamp 5 and the visual inspection camera 6 are all located in the protective cover 8. A groove adapted to the baffle 706 is provided at the bottom of the protective cover 8. The protective cover 8 can protect the second horizontal driving mechanism 3, the lifting mechanism 4, the electric clamp 5 and the visual inspection camera 6 and other structures. During the transportation process of the present application, the supporting plate 705 rises so that the baffle 706 is plugged into the groove at the bottom of the protective cover 8. At this time, the supporting plate 705 and the protective cover 8 cooperate with each other to provide auxiliary protection for components such as the visual inspection camera 6.

[0045] The use process of the auxiliary treatment mechanical arm provided by the present invention is as follows:

[0046] Taking the treatment of the knee joint as an example, a seat for the patient is placed on the side of the supporting plate 705, and the patient sits on the seat. The fourth motor 703 drives the third transmission block 704 and the supporting plate 705 to rise and fall through the third screw rod 702. The position of the supporting plate 705 is adjusted according to the actual situation of the patient. The patient places his legs on the supporting plate 705, applies coupling agent on the treatment site, sets the parameters of the ultrasonic therapeutic device according to the treatment needs, clamps the probe with the electric clamp 5, and the fourth support plate 9 moves horizontally under the drive of the first horizontal driving mechanism 2, driving the electric clamp 5 to move horizontally. The lifting mechanism 4 drives the electric clamp 5 to move horizontally under the drive of the second horizontal driving mechanism 3. The lifting mechanism 4 drives the electric clamp 5 to move up and down, and then drives the probe to move, so that the probe performs slow back and forth, circular movements and other treatment actions at the treatment site.

[0047] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] Obviously, the embodiments described above are only some embodiments of the present invention, rather than all embodiments. The preferred embodiments of the present invention are given in the accompanying drawings, but they do not limit the patent scope of the present invention. The present invention can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive. Although the present invention has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific implementation methods, or to replace some of the technical features therein with equivalents. Any equivalent structure made using the contents of the specification and drawings of the present invention, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the present invention.

Claims

1. An auxiliary treatment robotic arm, characterized in that: include: A fourth supporting plate (9), wherein a first horizontal driving mechanism (2) is arranged between the back side and the bottom of the fourth supporting plate (9), and the first horizontal driving mechanism (2) is used to drive the fourth supporting plate (9) to move horizontally; a second horizontal driving mechanism (3) mounted on the front side of the fourth supporting plate (9), the second horizontal driving mechanism (3) comprising a horizontal driving portion connected to the fourth supporting plate (9), the horizontal driving portion being connected to a sliding plate (304); A lifting mechanism (4) is installed on the sliding plate (304), and the lifting mechanism (4) is connected to an electric clamp (5). The electric clamp (5) is used to clamp the probe of the therapeutic device, and the electric clamp (5) moves under the drive of the first horizontal driving mechanism (2), the second horizontal driving mechanism (3), the lifting mechanism (4) and the fourth supporting plate (9) to achieve auxiliary movement of the therapeutic device probe.

2. The auxiliary treatment robot arm according to claim 1, characterized in that: The first horizontal driving mechanism (2) comprises a second support plate (203) located below the fourth support plate (9); a first guide rail (201) is installed on the top of the second support plate (203); a first slide seat (202) is slidably connected to the outer surface of the first guide rail (201); a first connecting plate (204) is installed on the top of the first slide seat (202); and the first connecting plate (204) is fixedly connected to the back side of the fourth support plate (9).

3. The auxiliary treatment robot arm according to claim 2, characterized in that: Two first bearing seats (206) are installed on the top of the second support plate (203), and a first screw rod (207) is rotatably connected between the two first bearing seats (206) via a bearing. The outer surface of the first screw rod (207) is threadedly connected to a first transmission block (209), and the first transmission block (209) is fixedly connected to the bottom of the second connecting plate (205). A first motor (208) is installed between the end of the first screw rod (207) and the top of the second support plate (203).

4. The auxiliary treatment robot arm according to claim 1, characterized in that: The horizontal driving part comprises two second bearing seats (301) mounted on the front side of the fourth support plate (9); a second screw rod (302) is rotatably connected between the two second bearing seats (301) via a bearing; a second transmission block is threadedly connected to the outer surface of the second screw rod (302); the second transmission block is fixedly connected to the back side of the sliding plate (304); and a second motor (303) is mounted between the end of the second screw rod (302) and the front side of the fourth support plate (9).

5. The auxiliary treatment robot arm according to claim 1 or 4, characterized in that: A second slide seat (305) is installed on one side of the sliding plate (304) close to the fourth support plate (9); the second slide seat (305) is slidably connected to a second slide rail (306); and the second slide rail (306) is installed on the front side of the fourth support plate (9).

6. The auxiliary treatment robot arm according to claim 1, characterized in that: The lifting mechanism (4) comprises a third slide seat (401) installed on the side of the sliding plate (304); the inner wall of the third slide seat (401) is slidably connected to a third slide rail (402); the front side of the third slide rail (402) is connected to a rack (403); the rack (403) is meshed with a gear (405); and a third motor (404) is installed between the gear (405) and the sliding plate (304).

7. The auxiliary treatment robot arm according to claim 6, characterized in that: The bottom end of the third slide rail (402) is fixedly connected to a stop sleeve (409); the outer surface of the third slide rail (402) is slidably connected to a slide sleeve (407) located above the stop sleeve (409); the front of the slide sleeve (407) is connected to a connecting seat (406); the connecting seat (406) is connected to an electric clamp (5); an elastic member (408) is connected between the slide sleeve (407) and the stop sleeve (409); and the side of the connecting seat (406) is connected to a visual inspection camera (6).

8. The auxiliary treatment robot arm according to claim 2, characterized in that: A support mechanism (1) is provided at the bottom of the second support plate (203), and the support mechanism (1) comprises two first support plates (102) fixedly mounted on the bottom of the second support plate (203), a bottom plate (101) is fixedly connected between the bottoms of the two first support plates (102), and a first reinforcement plate (103) is fixedly connected between the bottom plate (101) and the first support plate (102).

9. The auxiliary treatment robot arm according to claim 8, characterized in that: A bearing mechanism (7) is arranged between the second supporting plate (203) and the bottom plate (101); the bearing mechanism (7) comprises a third supporting plate (701) installed between the two first reinforcing plates (103); a third screw rod (702) is connected between the third supporting plate (701) and the second supporting plate (203) via a bearing; a fourth motor (703) is connected between the end of the third screw rod (702) and the bottom plate (101); a third transmission block (704) is threadedly connected to the outer surface of the third screw rod (702); one end of the third transmission block (704) passes through between the two first supporting plates (102) and is connected to a bearing plate (705); a baffle (706) is installed on the side of the top of the bearing plate (705).

10. The auxiliary treatment robot arm according to claim 9, characterized in that: A protective cover (8) is installed on the front side and between the two sides of the fourth support plate (9); the second horizontal drive mechanism (3), the lifting mechanism (4), the electric clamp (5) and the visual inspection camera (6) are all located inside the protective cover (8); and a groove adapted to the baffle (706) is provided at the bottom of the protective cover (8).

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