Robot for fundus examination

Abstract

The invention relates to the technical field of medical equipment, in particular to a robot for fundus examination. Comprising a base assembly (9), a movement assembly fixedly connected to the base assembly (9), a clamp (2) fixedly connected to the movement assembly and a fundus camera (1) detachably connected to the clamp (2), and the movement assembly adjusts the positions of the fundus camera (1) in the x-axis direction, the y-axis direction and the z-axis direction in the mode that a ball screw is matched with a ball nut. The three-axis movement adopts the movement scheme of combining the ball screw, the guide rail and the sliding block, compared with a thread transmission mode or other transmission modes, the structure is more compact, and meanwhile, the movement precision is greatly improved through the high-precision ball screw, the guide rail and the sliding block.

Description

Technical Field

[0001] The invention relates to the technical field of medical equipment, and more particularly to a robot for fundus examination. Background Art

[0002] A fundus camera is a medical recording instrument that uses the principle of optical imaging to form images and is used for large-scale retinal magnified imaging of the fundus and retinal fluorescein vascular photography. In order to achieve the alignment of the fundus camera and the pupil, the fundus camera is usually used in conjunction with a fundus examination robot. In the prior art, fundus examination robots include desktop and handheld. Although the desktop fundus examination robot can be placed on a desktop for use, it is large in size and inconvenient to carry. Although the handheld fundus examination robot is easy to carry, it is not suitable for desktop use scenarios. There are still some problems with the current desktop fundus examination robots. For example, the overall size of the existing commonly used three-coordinate support platform is relatively large, which does not conform to the development trend of miniaturization and portability. In addition, when performing a fundus examination, the patient is required to keep his head still during a long test process. When the patient is tired, it is difficult to avoid head movement, which affects the inspection effect. Summary of the invention

[0003] The present invention provides a robot for fundus examination, aiming to solve the technical problems in the prior art that the fundus examination robot occupies a large space and has insufficient movement accuracy, while retaining a sufficient movement range.

[0004] The above purpose is achieved through the following technical solutions:

[0005] A robot for fundus examination comprises a base assembly, a motion assembly fixedly connected to the base assembly, a fixture fixedly connected to the motion assembly, and a fundus camera detachably connected to the fixture. The motion assembly uses a ball screw and a ball nut to adjust the position of the fundus camera in the x, y, and z axis directions.

[0006] The beneficial effects of the fundus examination robot of the present invention are:

[0007] 1. The three-axis motion of the present invention adopts a motion scheme combining a ball screw, a guide rail and a slider. Compared with thread transmission or other transmission methods, the structure is more compact. At the same time, the high-precision ball screw and guide rail slider greatly improve the motion accuracy.

[0008] 2. Compared with the traditional fundus examination robot, the present invention has a head fixing frame to assist the fundus camera in pupil positioning. The chin fixing frame is fixed with a locking pin, and the height can be adjusted according to different patients to improve the patient's comfort.

[0009] 3. The cover structure of the present invention covers the entire system without affecting the movement, avoiding the exposure of electronic components and high-precision guide rails and ball screws, achieving dust-proof function and greatly improving the service life.

[0010] 4. The present invention has a larger stroke and achieves a balance between volume and motion stroke. Each supporting component including the base plate X-axis fixing frame is hollowed out without affecting the strength, thereby reducing the overall mass to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 Outline diagram of the robot for fundus examination;

[0012] Figure 2 Schematic diagram of the cover plate structure and position;

[0013] Figure 3 It is a schematic diagram of the internal structure of the cover plate structure;

[0014] Figure 4 It is a schematic diagram of the Y-axis motion component;

[0015] Figure 5 It is a schematic diagram of the X-axis motion component;

[0016] Figure 6 This is a schematic diagram of the Z-axis motion assembly;

[0017] Figure 7 It is a schematic diagram of the partial structure of the Z-axis motion component.

[0018] In the figure: 1. Fundus camera; 2. Fixture; 3. Z-axis motion assembly housing; 4. Display screen; 5. Chin fixation frame; 6. Lock pin; 7. Head fixation frame; 8. Housing; 9. Base assembly; 10. Z-axis motion assembly; 11. Y-axis cover; 12. X-axis cover; 13. X-axis motion assembly; 14. Y-axis motion assembly; 15. ELMO driver; 16. Power supply; 17. Voltage regulator module; 18. Base; 19. Y-axis driven gear; 20. Y-axis drive motor; 21. Y-axis ball screw; 22. Y-axis guide rail; 23. Bearing; 24. Bearing End cover; 25, Y-axis ball screw nut; 26, Y-axis driving gear; 27, X-axis fixed frame; 28, X-axis micro switch; 29, X-axis slider; 30, X-axis ball screw nut; 31, Y-axis micro switch; 32, X-axis drive motor; 33, X-axis ball screw; 34, X-axis guide rail; 35, X-axis driven gear; 36, X-axis driving gear; 37, Z-axis moving rod; 38, Z-axis micro switch; 39, Z-axis guide rail; 40, Z-axis slider; 41, Z-axis fixed frame; 42, Z-axis ball screw nut; 43, Z-axis drive motor; 44, Z-axis ball screw. DETAILED DESCRIPTION

[0019] A robot for fundus examination, comprising a fundus camera 1, a fixture 2, a base assembly 9 and a motion assembly, wherein the fixture 2 is used to connect the fundus camera 1 and the motion assembly, the motion assembly is mounted on the base assembly 9, and the motion assembly is used to adjust the position of the fundus camera 1;

[0020] Among them, reference Figures 1 to 3 The base assembly 9 includes: a base 18, an elmo driver 15, a power supply 16 and a voltage stabilizing module 17 fixedly connected to the upper end of the base 18, a display screen 4 fixedly connected to the front end of the base 18, and a shell 8 fixedly connected to the base 18. After the internal parts of the shell 8 are installed, the shell 8 is connected to the base 18 by screws to cover the internal parts. Among them, the power supply 16 is used to supply power to the display screen 4 and each motor. The voltage stabilizing module 17 stabilizes the input voltage and outputs a stable voltage for the load. Preferably, the display interface of the display screen 4 is set forward, and the upper part of the display screen 4 is tilted backward for easy viewing by medical staff.

[0021] The base assembly 9 also includes a head fixing frame 7 fixedly connected to the rear end of the base 18, and a chin fixing frame 5 slidably connected to the head fixing frame 7. The head fixing frame 7 and the chin fixing frame 5 are fixed by a locking pin 6. The locking pin 6 passes through the longitudinal holes on the chin fixing frame 5 and the head fixing frame 7. The height of the chin fixing frame 5 can be adjusted by pulling out the locking pin 6 and then inserting the locking pin 6 to adapt to users of different heights.

[0022] The motion assembly includes a Z-axis motion assembly 10, a Y-axis motion assembly 14 and an X-axis motion assembly 13. The Y-axis motion assembly 14 is mounted on the base 18, the X-axis motion assembly 13 is mounted on the Y-axis motion assembly 14, and the Z-axis motion assembly 10 is mounted on the X-axis motion assembly 13;

[0023] Specifically, refer to Figure 4, wherein the Y-axis motion assembly 14 is used to control the fundus camera 1 to move forward and backward to approach or move away from the patient, and the Y-axis motion assembly also includes: two Y-axis guide rails 22 arranged on the left and right, the Y-axis guide rails 22 extend forward and backward, the two Y-axis guide rails 22 are fixed on the left and right side walls of the base 18 by screws, the two Y-axis guide rails 22 are slidably connected to the X-axis fixing frame 27 included in the X-axis motion assembly 13, the lower end of the X-axis fixing frame 27 is fixedly connected to two Y-axis ball screws 25, the Y-axis ball screw nut 25 is matched with the Y-axis ball screw 21 through balls, the front and rear ends of the Y-axis ball screw 21 are respectively fixedly connected to the inner ring of a bearing 23, the outer rings of the two bearings 23 are fixedly connected to the bearing end covers 24, the bearing end covers 24 are fixedly connected to the walls on the front and rear sides of the base 18, and the base 18 is fixedly connected to the Y-axis The driving motor 20 has a Y-axis driving gear 26 fixedly connected to the output shaft of the Y-axis driving motor 20, and a Y-axis driven gear 19 fixedly connected to the front side of the Y-axis ball screw 21. The Y-axis driving gear 26 and the Y-axis driven gear 19 are meshed for transmission. A Y-axis micro switch 26 is fixedly connected to the end of one of the Y-axis guide rails 22 to play a role in limiting the forward and backward stroke. When the fundus camera 1 needs to move forward and backward, the Y-axis driving motor 20 drives the Y-axis driving gear 26, and the Y-axis driving gear 26 drives the Y-axis driven gear 19 to rotate, and the Y-axis driven gear 19 drives the Y-axis ball screw 21 to rotate. The rotation of the Y-axis ball screw 21 drives the Y-axis ball nut 25 to move forward and backward, and the Y-axis ball nut 25 drives the X-axis fixing frame 27 and the parts installed thereon to move forward and backward along the Y-axis guide rail 22. In addition, in order to prevent dust from entering and damaging the moving components, three pairs of Y-axis cover plates 11 of different heights are installed on the Y-axis guide rail 22, which are unfolded or folded with the movement of the X-axis fixing frame 27 to avoid exposure of internal components.

[0024] Among them, the X-axis motion assembly 13 and the Y-axis motion assembly 14 have the same principle. The X-axis motion assembly 13 includes two X-axis guide rails 34, one in front and one in the back. The X-axis guide rails 34 extend in the left and right directions. An X-axis slider 29 is slidably connected to each of the two X-axis guide rails 34. The two X-axis sliders 29 are fixedly connected with the same X-axis ball screw nut 30. The X-axis ball screw nut 30 is matched with an X-axis ball screw 33 through a ball. The right end of the X-axis ball screw 33 is fixedly connected with an X-axis driven gear 35. The two X-axis guide rails 34 are respectively fixedly connected to the front and rear sides of the upper end of the X-axis fixed frame 27. The left and right ends of the X-axis ball screw 33 are respectively rotatably connected to the left and right sides of the X-axis fixed frame 27. The right side of the lower end of the X-axis fixed frame 27 is fixedly connected with an X-axis driving motor 32. The output shaft of the X-axis driving motor 32 is fixedly connected with an X-axis driving gear 36. The X-axis driving gear 36 is meshed with the X-axis driven gear 35 for transmission.

[0025] The two X-axis sliders 29 are fixedly connected to the Z-axis fixed bracket 41 included in the Z-axis motion assembly 10. The X-axis drive motor 32 is started to drive the Z-axis fixed bracket 41 to move left and right. Since the X-axis fixed bracket 27 can move forward and backward, the X-axis fixed bracket 27 can drive the Z-axis fixed bracket 41 to move forward and backward; the end of the X-axis guide rail 34 is fixedly connected to the X-axis micro switch 31, which plays a role in limiting protection during the left and right stroke; in order to prevent dust, three pairs of X-axis cover plates 12 of different heights are also installed on the X-axis guide rail 34, which are unfolded or folded with the movement of the Z-axis fixed bracket 41 to avoid exposure of internal components.

[0026] The Z-axis motion component 10 is used to control the lifting and lowering motion of the fundus camera 1. Figure 6 and 7 The Z-axis motion assembly 10 also includes: a Z-axis driving motor 43 is fixedly connected to the lower end of the Z-axis fixed bracket 41, the output shaft of the Z-axis driving motor 43 is arranged upward, a Z-axis ball screw 44 is fixedly connected to the output shaft of the Z-axis driving motor 43, a vertical Z-axis guide rail 39 is fixedly connected to the Z-axis fixed bracket 41, the Z-axis ball screw 44 is matched with a Z-axis ball nut 42 through a ball, a Z-axis slider 39 is fixedly connected to the Z-axis ball nut 42, the Z-axis slider 39 is slidably connected to the Z-axis guide rail 39, a hollow Z-axis moving rod 37 is sleeved on the Z-axis ball screw 44, the Z-axis moving rod 37 is fixedly connected to the Z-axis ball nut 42, the upper end of the Z-axis moving rod 37 is fixedly connected to the fixture 2, the fundus camera 1 is inserted and fixed in the fixture 2, and a Z-axis micro switch 38 is fixedly connected to the Z-axis fixed bracket 41, which plays a role of limit protection during the descending stroke;

[0027] The Z-axis driving motor 43 directly drives the Z-axis ball screw 44 to rotate, and the Z-axis ball screw 44 drives the Z-axis ball nut 42 to move up and down, and the Z-axis ball nut 42 drives the Z-axis moving rod 37 to move up and down, so as to drive the fundus camera 1 to move up and down. At the same time, the Z-axis fixed bracket 41 can also drive the fundus camera 1 to move forward, backward, left and right.

Claims

1. A robot for fundus examination, comprising a base assembly (9), characterized in that: A motion component fixedly connected to a base component (9), a fixture (2) fixedly connected to the motion component, and a fundus camera (1) detachably connected to the fixture (2), wherein the motion component uses a ball screw and a ball nut to cooperate to adjust the position of the fundus camera (1) in the x, y, and z axis directions.

2. According to the fundus examination robot of claim 1, the fundus camera (1) and the fixture (2) are detachably connected by plugging and pre-tightening using friction force.

3. The fundus examination robot according to claim 1, wherein the base assembly (9) comprises: A base (18), a power source (16) fixedly connected to the upper end of the base (18), and a housing (8) fixedly connected to the base (18), wherein the power source (16) is used to supply power to the moving component.

4. According to the fundus examination robot as described in claim 3, the base assembly (9) also includes an ELMO driver (15) fixedly connected to the base (18).

5. According to the fundus examination robot of claim 3, the base assembly (9) further comprises a voltage stabilizing module (17) fixedly connected to the base (18).

6. According to the fundus examination robot described in claim 3, the motion assembly includes a Z-axis motion assembly (10), a Y-axis motion assembly (14) and an X-axis motion assembly (13), the Y-axis motion assembly (14) is mounted on the base (18), the X-axis motion assembly (13) is mounted on the Y-axis motion assembly (14), and the Z-axis motion assembly (10) is mounted on the X-axis motion assembly (13).

7. According to the fundus examination robot of claim 6, the Y-axis motion assembly (14) comprises two Y-axis guide rails (22) arranged on the left and the right, the Y-axis guide rails (22) extending forward and backward, the two Y-axis guide rails (22) are fixed on the left and right side walls of the base (18), the two Y-axis guide rails (22) are slidably connected to the X-axis fixing frame (27) included in the X-axis motion assembly (13), and the Y-axis motion assembly (14) further comprises: Two Y-axis ball screw nuts (25) are fixedly connected to the lower end of the X-axis fixed frame (27). The Y-axis ball screw nuts (25) are matched with the Y-axis ball screw (21) through balls. The inner ring of a bearing (23) is fixedly connected to the front and rear ends of the Y-axis ball screw (21). The outer rings of the two bearings (23) are fixedly connected to bearing end covers (24). The bearing end covers (24) are fixedly connected to the wall surfaces on the front and rear sides of the base (18). A Y-axis driving motor (20) is fixedly connected inside the base (18). A Y-axis driving gear (26) is fixedly connected to the output shaft of the Y-axis driving motor (20). A Y-axis driven gear (19) is fixedly connected to the front side of the Y-axis ball screw (21). The Y-axis driving gear (26) and the Y-axis driven gear (19) are meshed and transmitted.

8. According to the fundus examination robot of claim 7, the X-axis motion assembly (13) further comprises two X-axis guide rails (34), one in front and one in the back, the X-axis guide rails (34) extending in the left-right direction, each of the two X-axis guide rails (34) being slidably connected to an X-axis slider (29), the two X-axis sliders (29) being fixedly connected to the same X-axis ball screw nut (30), the X-axis ball screw nut (30) being matched with an X-axis ball screw (33) through a ball, the right end of the X-axis ball screw (33) being fixedly connected to an X-axis driven gear (35), the two X-axis guide rails (34) are respectively fixedly connected to the front and rear sides of the upper end of the X-axis fixed frame (27), the left and right ends of the X-axis ball screw (33) are respectively rotatably connected to the left and right sides of the X-axis fixed frame (27), the right side of the lower end of the X-axis fixed frame (27) is fixedly connected to an X-axis driving motor (32), the output shaft of the X-axis driving motor (32) is fixedly connected to an X-axis driving gear (36), the X-axis driving gear (36) is meshed with the X-axis driven gear (35) for transmission, and the two X-axis sliders (29) are fixedly connected to a Z-axis fixed bracket (41) included in the Z-axis motion assembly (10).

9. The fundus examination robot according to claim 8, the Z-axis motion assembly (10) further comprises: A Z-axis driving motor (43) is fixedly connected to the lower end of the Z-axis fixed bracket (41), the output shaft of the Z-axis driving motor (43) is arranged upward, a Z-axis ball screw (44) is fixedly connected to the output shaft of the Z-axis driving motor (43), a vertical Z-axis guide rail (39) is fixedly connected to the Z-axis fixed bracket (41), the Z-axis ball screw (44) is matched with a Z-axis ball nut (42) through a ball, a Z-axis slider (39) is fixedly connected to the Z-axis ball nut (42), the Z-axis slider (39) is slidably connected to the Z-axis guide rail (39), a hollow Z-axis moving rod (37) is sleeved on the Z-axis ball screw (44), the Z-axis moving rod (37) is fixedly connected to the Z-axis ball nut (42), and the upper end of the Z-axis moving rod (37) is fixedly connected to the fixture (2).

10. According to the fundus examination robot described in claim 1, the base assembly (9) also includes a head fixing frame (7) fixedly connected to the rear end of the base (18), a chin fixing frame (5) slidably connected to the head fixing frame (7), and the head fixing frame (7) and the chin fixing frame (5) are fixed by a locking pin (6), and the locking pin (6) passes through longitudinal holes arranged on the chin fixing frame (5) and the head fixing frame (7).

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