Ultrasonic inspection robot assisted by mechanical arm

Abstract

The invention particularly discloses a mechanical arm assisted ultrasonic inspection robot. The mechanical arm assisted ultrasonic inspection robot comprises a mechanical arm rack, a mechanical arm assembly, a body position changing bed surface, a bed base translation mechanism, a bed base lifting mechanism and a bed base side turning mechanism. The bed seat lifting mechanism is arranged below the body position changing bed surface so as to control the body position changing bed surface to lift up and down according to lifting requirements; the left end and the right end of the bottom of the bed base lifting mechanism are each vertically provided with a bed base translation mechanism, so that the bed base lifting mechanism translates front and back through a bed base translation machine. A bed seat side turning mechanism is arranged at the top of the bed seat lifting mechanism and is movably connected with the body position changing bed surface so as to push the body position changing bed surface to perform body position side turning according to side turning requirements; the mechanical arm assembly is arranged on the mechanical arm rack and selectively grabs the body position changing bed surface to assist the body position changing bed surface in body position changing of front-back translation, up-down lifting and side turning. According to the invention, the convenience and safety of body position change can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical examination auxiliary equipment, and more specifically, to an ultrasonic examination robot assisted by a robotic arm. Background Art

[0002] With the increasing frequency of people's demand for ultrasonic examinations, however, the efficiency of ultrasonic examinations in medical institutions has not been substantially improved, resulting in an excessive number of people queuing up in the ultrasonic examination room. The main reasons are as follows: First, the number of items included in each ultrasonic examination of a single patient is relatively large, and the process of changing body positions for each examination is cumbersome and time-consuming; second, ultrasonic examinations require patients to cooperate in making a series of movements, but some patients are often unable to cooperate with the examination due to pain or reduced comprehension ability; third, physicians are prone to arm fatigue, damage, or even lesions after long-term assistance in changing patients' body positions. There are many types of existing body position changing beds, but they are not suitable for the flipping requirements of ultrasonic examinations. The main reason is that the number of body position changes required for ultrasonic examinations is relatively large, the changing angle is relatively large, especially the lateral flipping angle is almost vertical. Therefore, how to provide a motion mechanism that can achieve large-angle lateral flipping and improve safety and comfort while ensuring functional requirements is of great significance. Summary of the Invention

[0003] The present invention provides an ultrasonic examination robot assisted by a robotic arm, which solves the problems of low transformation efficiency and laboriousness in existing ultrasonic examinations that require multiple body position changes, can improve the convenience and safety of body position changes during ultrasonic examinations, and realizes the automation of body position changes during examinations.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] An ultrasonic examination robot assisted by a robotic arm, comprising: a robotic arm gantry, a robotic arm assembly 25, a body position changing bed surface 12, a bed base translation mechanism 111, a bed base lifting mechanism 112, and a bed base lateral flipping mechanism 113;

[0006] The bed base lifting mechanism 112 is disposed below the body position changing bed surface 12 to control the up and down lifting of the body position changing bed surface according to the lifting requirements;

[0007] At both left and right ends of the bottom of the bed base lifting mechanism 112, a bed base translation mechanism 111 is vertically provided, so that the bed base lifting mechanism 112 moves back and forth through the bed base translation mechanism 111;

[0008] The bed base lateral flipping mechanism 113 is disposed at the top of the bed base lifting mechanism 112, and the bed base lateral flipping mechanism 113 is movably connected to the body position changing bed surface 12 to push the body position changing bed surface 12 to perform body position lateral flipping according to the lateral flipping requirements;

[0009] The robotic arm assembly 25 is arranged on the robotic arm mount and can optionally grasp on the body position changing bed surface 12 to assist the body position changing bed surface 12 in performing body position changes such as front-back translation, up-down lifting, and side turning.

[0010] Preferably, the bed base translation mechanism includes: a first slide module 1111, a first Fukushima wheel 1112, a first heightening plate 1113, and a first connecting member 1114:

[0011] Two of the first Fukushima wheels 1112 are correspondingly arranged at both ends of the bottom of the first slide module 1111;

[0012] The first slide module 1111 is provided with two first sliders 11111. The two first sliders 11111 are arranged on a ball screw, and the ball screw is rotated by a driving motor to make the first sliders slide along the ball screw;

[0013] The first heightening plate 1113 is fixedly connected above the first slider 11111, and the first connecting member 1114 is fixedly connected above the first heightening plate 1113.

[0014] Preferably, the bed base lifting mechanism 112 includes: a lifting lower frame 1121, a lifting upper frame 1127, a scissor bracket, and a first electric push rod assembly 1126;

[0015] One scissor bracket is slidably connected to the front and rear sides of both the lifting lower frame 1121 and the lifting upper frame 1127;

[0016] One end of the first electric push rod assembly 1126 is arranged on the lifting lower frame 1121, and the other end of the first electric push rod assembly 1126 is drivingly connected to the scissor bracket. When the first electric push rod 11264 operates, it drives the scissor bracket to contract or expand, thereby causing the lifting upper frame 1127 to lift up and down.

[0017] Preferably, the scissor bracket includes: an inner fork arm 1123 and an outer fork arm 1125;

[0018] The middle parts of the inner fork arm 1123 and the outer fork arm 1125 are cross - arranged. The end parts on the same side of the inner fork arm 1123 and the outer fork arm 1125 are correspondingly arranged at the side frames of the lifting lower frame 1121 and the lifting upper frame 1127, and the other end parts of the inner fork arm 1123 and the outer fork arm 1125 are respectively slidably connected to the corresponding side frames of the lifting lower frame 1121 and the lifting upper frame 1127.

[0019] Preferably, the bed base lifting mechanism 112 further includes: a U-shaped track 1122, a first pulley 1124, a second connecting member 11261, a connecting arm 11262, and a first stepped shaft 11263;

[0020] The four U-shaped tracks 1122 are respectively arranged at the left ends of the front and rear side frames of the lower lifting frame 1121 and the upper lifting frame 1127. One end of each of the inner fork arms 1123 and the outer fork arms 1125 is provided with the first pulley 1124, and the first pulley is slidably connected to the U-shaped track 1122;

[0021] The middle upper part of the inner fork arm 1123 is fixedly connected to the connecting arm 11262 through the second connecting member 11261. One side of the first stepped shaft 11263 is rotatably connected to the connecting arm 11262 through a bearing, the other side of the first stepped shaft 11263 is rotatably connected to the head of the first electric push rod 11264, and the tail of the first electric push rod 11264 is rotatably connected to the middle part of the lower lifting frame 1121.

[0022] Preferably, the bed base side-turning mechanism 113 includes: a side-turning frame 1131, an I-beam 1132, a second heightening plate 1133, a side-turning bearing 1134, a second electric push rod 11351, a flange connecting member 11352, a side-turning slider 11353, and a U-shaped groove 1136;

[0023] The side-turning frame 1131 is fixedly connected above the upper lifting frame 1127. There are two I-beams 1132, which are respectively fixedly connected to the left and right parts of the side-turning frame 1131. The second heightening plate 1133 is fixedly connected above the I-beam 1132, the side-turning bearing 1134 is fixedly connected above the second heightening plate 1133. The two U-shaped grooves 1136 are both fixedly connected to the lower left part of the side-turning frame 1131. The tails of the two second electric push rods 11351 are fixedly connected to the bottom of the corresponding U-shaped groove 1136. The head of the second electric push rod 11351 is fixedly connected to the side-turning slider 11353 through the flange connecting member 11352, and the side-turning slider 11353 forms a translation pair with the body position changing bed surface.

[0024] Preferably, the body position changing bed surface 12 includes: a bed surface frame assembly 121, a backrest lifting mechanism 122, a backrest side plate mechanism 123, a seat lifting mechanism 124, a seat plate side plate mechanism 125, a leg lifting mechanism 126, and a leg plate side plate mechanism 127;

[0025] The bed surface frame assembly 121 is rotatably connected to the side-turning frame 1131 through the side-turning bearing 1134;

[0026] The back-lifting mechanism 122 drives the back plate 1222 in the bed frame assembly 121 to rotate around one end;

[0027] The back panel side panel mechanism 123 drives the back panel side panels 1232 on both sides to rotate in an embracing shape;

[0028] The seat lifting mechanism 124 drives the seat plate 1241 and the seat plate side plate 1252 to rotate to form a seat state;

[0029] The leg lifting mechanism 126 drives the leg board 1261 and the leg board side board 127 to rotate so as to lift the patient's legs for exercise.

[0030] Preferably, the bed frame assembly 121 includes: a bed frame 1211, a bed optical axis seat 1212, a bed optical axis 1213 and a bed side-turning slide rail 1214;

[0031] The bed surface optical axis seat 1212 is fixedly connected to the lower side of the bed surface frame 1211, the bed surface optical axis 1213 is fixedly connected to the bed surface optical axis seat 1212, and the bed surface optical axis 1213 is fixedly connected to the inner ring of the rollover bearing 1134. When the bed surface frame is turned over, it rotates around the bed surface optical axis 1212 through the rollover bearing 1134.

[0032] The bed surface side-turning slide rail 1214 is fixedly connected to the left side of the bed surface frame 1211 , and the bed surface side-turning slide rail 1214 and the side-turning slider 11353 form a translation pair.

[0033] Preferably, the mechanical arm stand comprises: a profile frame 21, a first translation mechanism 22 of the stand, a lifting mechanism 23 of the stand, a second translation mechanism 24 of the stand and a mechanical arm assembly 25;

[0034] The bottom of the profile frame 21 is provided with the first platform translation mechanism 22, the top of the profile frame 21 is provided with the platform lifting mechanism 23, the second platform translation mechanism 24 is escalably arranged on the platform lifting mechanism 23, and the mechanical arm assembly 25 is arranged on the second platform translation mechanism 24;

[0035] The first translation mechanism 22 of the platform drives the profile frame 21 to slide horizontally;

[0036] The second translation mechanism 24 of the platform drives the mechanical arm assembly 25 to move forward and backward, so that the mechanical arm 251 assists the body position change bed surface to change the body position.

[0037] Preferably, the profile frame 21 comprises: a profile frame 211, a lower connecting plate 212 and an upper connecting plate 213;

[0038] The profile frame 211 has a square frame structure. An upper connecting plate 213 is horizontally laid on the top of the profile frame, and a lower connecting plate 212 is horizontally laid on the bottom of the profile frame. A counterweight 214 is provided on the lower connecting plate 212, and a gantry lifting mechanism 23 is provided on the top surface of the upper connecting plate 213;

[0039] The gantry first translation mechanism 22 is arranged below the lower connecting plate 212 and includes a second slide module 221, a second Fukuma wheel 222 fixedly connected below the second slide module 221, and a third heightening plate 223 fixedly connected above the slider of the second slide module 221;

[0040] The gantry lifting mechanism 23 is arranged above the upper connecting plate 213 and includes a gantry lifting fixture 231 for fixing the third slide module 232, and a cantilever beam 233 fixedly connected to the slider of the third slide module 232 through a cantilever beam fixture 234;

[0041] The gantry second translation mechanism 24 is fixedly connected below the cantilever beam 233 and includes a fourth slide module 241 and a robotic arm base fixing plate 242 fixedly connected to the slider of the fourth slide module 241;

[0042] The robotic arm assembly 25 includes: a robotic arm 251 fixedly connected to the robotic arm base fixing plate 242, a fixture connecting piece 252 fixedly connected to the end of the robotic arm 251, a fixture 253 fixedly connected to the fixture connecting piece 252, and a probe tool 254 fixedly connected to the fixture 253.

[0043] The present invention provides a robotic arm-assisted ultrasonic examination robot. A bed base side-turning mechanism, a bed base lifting mechanism, and a bed base translation mechanism are arranged below the body position transformation bed surface to perform multiple body position transformations, and the robotic arm assembly is used to assist the body position transformation bed surface to perform body position transformations, solving the problems of low transformation efficiency and laboriousness in existing ultrasonic examinations that require multiple body position transformations, improving the convenience and safety of ultrasonic examination body position transformations, and realizing the automation of examination body position transformations. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the specific embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below.

[0045] Figure 1 is a schematic diagram of a robotic arm-assisted ultrasonic examination robot provided by the present invention.

[0046] Figure 2 is a schematic structural diagram of a body position transformation bed unit provided by an embodiment of the present invention.

[0047] Figure 3It is a schematic structural diagram of the robotic arm gantry unit provided by an embodiment of the present invention.

[0048] Figure 4 It is a schematic structural diagram of the bed base component provided by an embodiment of the present invention.

[0049] Figure 5 It is a schematic structural diagram of the bed base translation mechanism provided by an embodiment of the present invention.

[0050] Figure 6 It is a schematic structural diagram of the bed base lifting mechanism provided by an embodiment of the present invention.

[0051] Figure 7 It is a schematic structural diagram of the bed base tipping mechanism provided by an embodiment of the present invention.

[0052] Figure 8 It is a schematic structural diagram of the bed surface component provided by an embodiment of the present invention.

[0053] Figure 9 It is a schematic structural diagram of the bed surface frame assembly provided by an embodiment of the present invention.

[0054] Figure 10 It is a schematic structural diagram of the backrest lifting mechanism provided by an embodiment of the present invention.

[0055] Figure 11 It is a schematic structural diagram of the back panel and side panel mechanism provided by an embodiment of the present invention.

[0056] Figure 12 It is a schematic structural diagram of the seat lifting mechanism and the seat plate and side panel mechanism provided by an embodiment of the present invention.

[0057] Figure 13 It is a schematic structural diagram of the leg lifting mechanism and the leg plate and side panel mechanism provided by an embodiment of the present invention.

[0058] Figure 14 It is a schematic structural diagram of the upper part of the robotic arm gantry unit provided by an embodiment of the present invention.

[0059] Figure 15 It is a schematic diagram of the sitting posture provided by an embodiment of the present invention.

[0060] Figure 16 It is a schematic diagram of the lying posture provided by an embodiment of the present invention.

[0061] Figure 17 It is a schematic diagram of the left lateral lying posture provided by an embodiment of the present invention.

[0062] Figure 18 It is a schematic diagram of the right lateral lying posture provided by an embodiment of the present invention. Detailed implementation manners

[0063] To enable those skilled in the art to better understand the solutions of the embodiments of the present invention, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0064] Aiming at the problems of low transformation efficiency and laboriousness during various body position transformations in current ultrasonic examinations, the present invention proposes a robotic ultrasonic examination assisted by a robotic arm, as Figures 1 to 3 shown, which includes a body position transformation bed unit and a robotic arm gantry unit. The body position transformation bed unit includes a bed base component 11 and a body position transformation bed surface 12, and the bed base component 11 is arranged below the body position transformation bed surface 12; the robotic arm gantry unit mainly includes a profile frame 21 and a robotic arm assembly 25.

[0065] As Figure 4 shown, the bed base component 11 includes a bed base translation mechanism 111, a bed base lifting mechanism 112, a bed base side-turning mechanism 113, and a first electric control box 114. There are two bed base translation mechanisms 111, which are arranged below the bed base lifting mechanism 112, the bed base side-turning mechanism 113 is arranged above the bed base lifting mechanism 112, and the first electric control box 114 is fixedly connected to the right part of the bed base side-turning mechanism 113.

[0066] As Figure 5 shown, the bed base translation mechanism 111 includes a first sliding table module 1111, a first Fuma wheel 1112, a first heightening plate 1113, and a first connecting piece 1114. There are two first Fuma wheels 1112 arranged below the first sliding table module 1111. The first sliding table module 1111 includes two first sliders 11111. The first heightening plate 1113 is fixedly connected above the first sliders 11111, and the first connecting piece 1114 is fixedly connected above the first heightening plate 1113.

[0067] In practical applications, two first sliding table modules 1111 are arranged in parallel. During operation, first, the four first Fuma wheels 1112 are manually adjusted to a fixed state, then the motor converts the received control signal into mechanical rotational motion, and finally the ball screw converts the rotational motion into linear motion to achieve the sliding control of the first sliders 11111.

[0068] As Figure 6As shown, the bed base lifting mechanism 112 includes a lower lifting frame 1121, a U-shaped track 1122, an inner fork arm 1123, a first pulley 1124, an outer fork arm 1125, a first electric push rod assembly 1126, a second connecting piece 11261, a connecting arm 11262, a first stepped shaft 11263, a first electric push rod 11264 and an upper lifting frame 1127. The lower lifting frame 1121 is fixedly connected to the bed base translation mechanism 111 through the first connecting piece 1114. There are four U-shaped tracks 1122, two of which are fixedly connected to the left part of the lower lifting frame 1121, and the other two are fixedly connected to the left part of the upper lifting frame 1127. The left end of the outer fork arm 1125 is in rolling connection with the U-shaped track 1122 on the left part of the lower lifting frame 1121 through the first pulley 1124, forming a translation and rotation pair. The right end of the outer fork arm 1125 is rotationally connected to the right part of the upper lifting frame 1127 through a pin shaft. The middle part of the outer fork arm 1125 is rotationally connected to the middle part of the inner fork arm 1123. The left end of the inner fork arm 1123 is in rolling connection with the U-shaped track 1122 on the left part of the upper lifting frame 1127 through the first pulley 1124, forming a translation and rotation pair. The right end of the inner fork arm 1123 is rotationally connected to the right part of the lower lifting frame 1121 through a pin shaft. The first electric push rod assembly 1126 is arranged between the middle part of the lower lifting frame 1121 and the upper middle part of the inner fork arm 1123. The upper middle part of the inner fork arm 1123 is fixedly connected to the connecting arm 11262 through the second connecting piece 11261. One side of the first stepped shaft 11263 is rotationally connected to the connecting arm 11262 through a bearing. The other side of the first stepped shaft 11263 is rotationally connected to the head of the first electric push rod 11264. The tail of the first electric push rod 11264 is rotationally connected to the middle part of the lower lifting frame 1121.

[0069] In practical applications, when the first electric push rod 11264 extends, the lower lifting frame 1121 remains stationary, the right end of the inner fork arm 1123 rotates around the pin shaft, the first pulley 1124 at the left end of the inner fork arm 1123 slides to the right along the U-shaped track 1122, and the right end of the outer fork arm 1125 rotates relative to the upper lifting frame 1127 around the pin shaft. The first pulley 1124 at the left end of the outer fork arm 1125 slides to the right along the U-shaped track 1122, thereby driving the upper lifting frame 1127 to move upward. When the first electric push rod 11264 shortens, the action process is opposite, driving the upper lifting frame 1127 to move downward.

[0070] As Figure 7As shown, the bed base tipping mechanism 113 includes a tipping frame 1131, an I-beam 1132, a second heightening plate 1133, a tipping bearing 1134, a second electric push rod assembly 1135, a second electric push rod 11351, a flange connecting piece 11352, a tipping slider 11353, and a U-shaped groove 1136. The tipping frame 1131 is fixedly connected above the lifting upper frame 1127. There are two I-beams 1132, which are respectively fixedly connected to the left and right parts of the tipping frame 1131. A second heightening plate 1133 is fixedly connected above the I-beam 1132, and the tipping bearing 1134 is fixedly connected above the second heightening plate 1133. There are two U-shaped grooves 1136, both of which are fixedly connected to the lower left part of the tipping frame 1131. The tail of the second electric push rod 11351 is fixedly connected to the bottom of the U-shaped groove 1136, and the head of the second electric push rod 11351 is fixedly connected to the tipping slider 11353 through the flange connecting piece 11352.

[0071] In practical applications, there are two second electric push rods 11351, and the moving directions of the two second electric push rods 11351 are opposite. When the second electric push rod 11351 on the left side of the patient extends, the second electric push rod 11351 on the right side of the patient shortens, thereby driving the two tipping sliders 11353 to slide along the bed surface tipping slide rail 1214, causing the bed surface frame 1211 to rotate towards the right side of the patient. Similarly, when the second electric push rod 11351 on the left side of the patient shortens and the second electric push rod 11351 on the right side of the patient extends, the bed surface frame 1211 can be rotated towards the left side of the patient.

[0072] As Figure 8 shown, the position-changing bed surface 12 includes a bed surface frame assembly 121, a backrest raising mechanism 122, a backrest side plate mechanism 123, a seat raising mechanism 124, a seat plate side plate mechanism 125, a leg raising mechanism 126, and a leg plate side plate mechanism 127. The bed surface frame assembly 121 is rotationally connected to the tipping frame 1131 through the tipping bearing 1134.

[0073] As Figure 9 shown, the bed surface frame assembly 121 includes a bed surface frame 1211, a bed surface optical axis seat 1212, a bed surface optical axis 1213, and a bed surface tipping slide rail 1214. The bed surface optical axis seat 1212 is fixedly connected below the bed surface frame 1211. The bed surface optical axis 1213 is fixedly connected to the bed surface optical axis seat 1212, and the bed surface optical axis 1213 is fixedly connected to the inner ring of the tipping bearing 1134. The bed surface tipping slide rail 1214 is fixedly connected to the left side of the bed surface frame 1211, and the bed surface tipping slide rail 1214 and the tipping slider 11353 form a translation pair.

[0074] AsFigure 10 As shown, the backrest mechanism 122 includes a third electric push rod assembly 1221, a third electric push rod 12211, a backrest connecting rod 12212, a second pulley 12213, a back plate 1222, and a head plate 1223. The tail end of the third electric push rod 12211 is rotatably connected to the right part of the bed surface frame 1211, the head end of the third electric push rod 12211 is rotatably connected to the right end of the backrest connecting rod 12212, the middle part of the backrest connecting rod 12212 is rotatably connected to the middle part of the bed surface frame 1211, the left end of the backrest connecting rod 12212 is rotatably connected with the second pulley 12213, the second pulley 12213 is in rolling connection with the back plate 1222, the right end of the back plate 1222 is rotatably connected to the middle part of the bed surface frame 1211, and the right end of the back plate 1222 is fixedly connected to the head plate 1223.

[0075] When the third electric push rod 12211 extends, it drives the backrest connecting rod 12212 to rotate relative to the bed surface frame 1211, thereby driving the back plate 1222 to complete the backrest action. When the third electric push rod 12211 shortens, it can drive the back plate 1222 to return to the flat position.

[0076] As Figure 11 shown, the back plate side plate mechanism 123 includes a fourth electric push rod assembly 1231, a fourth electric push rod 12311, a push rod support plate 12312, a push rod fixator 12313, a push rod small connecting rod 12314, back plate side plates 1232, side plate supports 1233, and side plate support shafts 1234. There are two sets of the fourth electric push rod assemblies 1231. The tail end of the fourth electric push rod 12311 is fixedly connected to the side of the back plate 1222 through the push rod support plate 12312, the middle part of the fourth electric push rod 12311 is fixedly connected to the middle part of the back plate 1222 through the push rod fixator 12313, a nut is fixedly connected to the push rod fixator 12313, the head end of the fourth electric push rod 12311 is rotatably connected to one end of the push rod small connecting rod 12314, the other end of the push rod small connecting rod 12314 is rotatably connected to the middle part of the side plate support shaft 1234, both ends of the side plate support shaft 1234 are rotatably connected to the side plate supports 1233, the side plate supports 1233 are fixedly connected to the back plate side plates 1232. There are two back plate side plates 1232, each driven separately by a set of the fourth electric push rod assemblies 1231, and they are rotatably connected to both sides of the back plate 1222. The back plate side plates 1232 are in a curved shape that fits the human body surface. In the extended state of the fourth electric push rod 12311, the two back plate side plates 1232 are in an embracing shape. The side plate design that fits the human body surface forms an embracing protection for the patient during the movement process, improving the comfort and safety of the whole process.

[0077] When the fourth electric push rod 12311 extends, the driving force is transmitted to the side plate support 1233 through the push rod connecting rod 12314 and the side plate support shaft 1234, and then drives the back plate side plate 1232 fixedly connected to the side plate support 1233 to achieve the surrounding control. When the fourth electric push rod 12311 shortens, it can drive the back plate side plate 1232 to achieve the opening control.

[0078] As Figure 12 shown, the seat lifting mechanism 124 includes a seat plate 1241 and a fifth electric push rod 1242. The left end of the seat plate 1241 is rotatably connected to the middle of the bed surface frame 1211. The tail end of the fifth electric push rod 1242 is rotatably connected to the middle of the bed surface frame 1211. The head end of the fifth electric push rod 1242 is rotatably connected to the middle of the seat plate 1241. The seat plate side plate mechanism 125 is mainly driven by a sixth electric push rod 1251 to drive the seat plate side plates 1252, and the two seat plate side plates 1252 are both driven separately.

[0079] When the fifth electric push rod 1242 extends, it drives the seat plate 1241 to rotate around the middle of the bed surface frame 1211, and then realizes the seat lifting control. When the fifth electric push rod 1242 shortens, the seat plate 1241 can return to the flat position.

[0080] As Figure 13 shown, the leg lifting mechanism 126 includes a leg plate 1261 and a seventh electric push rod 1262. The left end of the leg plate 1261 is rotatably connected to the right end of the seat plate 1241. The tail end of the seventh electric push rod 1262 is rotatably connected to the right part of the seat plate 1241. The head end of the seventh electric push rod 1262 is rotatably connected to the middle of the leg plate 1261. The leg plate side plate mechanism 127 is mainly driven by an eighth electric push rod 1271 to drive the leg plate side plates 1272, and the two leg plate side plates 1272 are both driven separately.

[0081] When the seventh electric push rod 1262 extends, it drives the leg plate 1261 to rotate around the right end of the seat plate 1241, and then realizes the leg lifting control. When the seventh electric push rod 1262 shortens, it can drive the leg plate 1261 to realize the leg bending control.

[0082] As Figure 3 and Figure 14As shown in the figure, the robotic arm gantry unit 2 includes a profile frame 21, a first gantry translation mechanism 22, a gantry lifting mechanism 23, a second gantry translation mechanism 24, a robotic arm assembly 25, and a second electric control box 26. The profile frame 21 includes a profile rack 211, a lower connecting plate 212 of the rack fixedly connected below the profile rack 211, a counterweight 214 fixedly connected to the lower part of the profile rack 211, and an upper connecting plate 213 of the rack fixedly connected above the profile rack 211. The first gantry translation mechanism 22 is arranged below the lower connecting plate 212 of the rack and includes a second slide module 221, a second Fuma wheel 222 fixedly connected below the second slide module 221, and a third heightening plate 223 fixedly connected above the slider of the second slide module 221. The gantry lifting mechanism 23 is arranged above the upper connecting plate 213 of the rack and includes a gantry lifting fixture 231 for fixedly connecting a third slide module 232, and a cantilever beam 233 fixedly connected to the slider of the third slide module 232 through a cantilever beam fixture 234. The second gantry translation mechanism 24 is fixedly connected below the cantilever beam 233 and includes a fourth slide module 241 and a robotic arm base fixing plate 242 fixedly connected to its slider. The robotic arm assembly 25 includes a robotic arm 251 fixedly connected to the robotic arm base fixing plate 242, a fixture connecting piece 252 fixedly connected to the end of the robotic arm 251, a fixture 253 fixedly connected to the fixture connecting piece 252, and a probe tool 254 fixedly connected to the fixture 253. The second electric control box 26 is fixedly connected to the profile rack 211. By flexibly adjusting the position of the robotic arm base through the robotic arm gantry unit, the requirements for the degrees of freedom and working space of the robotic arm are reduced, thereby reducing the cost of the robotic arm body and the control cost. At the same time, through the cooperation of multiple degrees of freedom, it assists the patient to flexibly perform various body position movements during the ultrasound examination, and both the movement smoothness and the movement accuracy are relatively high. Through the coordinated movement of the body position transformation bed unit and the robotic arm gantry unit, the feasibility of automatically executing the entire process of ultrasound examination is explored.

[0083] There are two second slide modules 221 arranged in parallel. During operation, first, all four second Fuma wheels 222 are manually adjusted to a fixed state, then the motor converts the received control signal into mechanical rotational motion, and finally the ball screw converts the rotational motion into linear motion to achieve the sliding control of the lower connecting plate 212 of the rack.

[0084] There is one third slide module 232 arranged vertically. During operation, the motor converts the received control signal into mechanical rotational motion, and then the ball screw converts the rotational motion into linear motion to achieve the sliding control of the cantilever beam fixture 234.

[0085] In practical applications, the controller is respectively signal-connected to the electric control units corresponding to the bed base translation mechanism 111, the bed base lifting mechanism 112, the bed base tilting mechanism 113, the robotic arm assembly, and the robotic arm gantry unit for coordinated control.

[0086] It can be seen that the present invention provides an ultrasonic examination robot assisted by a robotic arm. A bed base tilting mechanism, a bed base lifting mechanism, and a bed base translation mechanism are provided under the body position changing bed surface to perform multiple body position changes. The robotic arm assembly is used to assist the body position changing bed surface to perform body position changes, which can assist patients to flexibly achieve various body position movements during ultrasonic examination, improve the smoothness and accuracy of movements, can assist the elderly or disabled with difficult movements to perform body position changes, save the workload and time of physicians assisting patients with movements, improve the efficiency of ultrasonic examination, solve the problems of low transformation efficiency and laboriousness in existing ultrasonic examinations that require multiple body position changes, can improve the convenience and safety of body position changes during ultrasonic examination, and realize the automation of examination body position changes.

[0087] The above are only the preferred embodiments of the present invention, and do not impose any form of limitation on the present invention. Any person skilled in the art can smoothly implement the present invention according to the illustrations in the specification and the above description. However, any equivalent changes such as slight modifications, decorations, and evolutions made by those skilled in the art without departing from the technical solution of the present invention by using the technical content disclosed above are equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications, and evolutions made to the above embodiments based on the essence of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. A robot-assisted ultrasonic inspection robot, characterized in that: include: A mechanical arm stand, a mechanical arm assembly (25), a body position changing bed surface (12), a bed base translation mechanism (111), a bed base lifting mechanism (112) and a bed base side-turning mechanism (113); The bed base lifting mechanism (112) is arranged below the body position changing bed surface (12) to control the body position changing bed surface to move up and down according to lifting requirements; A bed base translation mechanism (111) is vertically disposed at both left and right ends of the bottom of the bed base lifting mechanism (112), so that the bed base lifting mechanism (112) can be translated forward and backward through the bed base translation mechanism (111); The bed base side-turning mechanism (113) is provided on the top of the bed base lifting mechanism (112), and the bed base side-turning mechanism (113) is movably connected to the body position changing bed surface (12) to push the body position changing bed surface (12) to perform a side-turning according to a side-turning requirement; The mechanical arm assembly (25) is arranged on the mechanical arm stand and can be selectively grasped on the body position change bed surface (12) to assist the body position change bed surface (12) in performing body position changes such as forward and backward translation, upward and downward lifting, and sideways turning.

2. The robot-assisted ultrasonic inspection robot according to claim 1, characterized in that: The bed base translation mechanism comprises: a first slide module (1111), a first Formosa wheel (1112), a first height-increasing plate (1113) and a first connecting member (1114): Two first Formosa wheels (1112) are correspondingly arranged at two ends of the bottom of the first slide module (1111); The first slide module (1111) is provided with two first sliders (11111), the two first sliders (11111) are arranged on a ball screw, and the ball screw is driven to rotate by a driving motor so that the first sliders slide along the ball screw; The first height-increasing plate (1113) is fixedly connected above the first sliding block (11111), and the first connecting member (1114) is fixedly connected above the first height-increasing plate (1113).

3. The robot-assisted ultrasonic inspection robot according to claim 2, characterized in that: The bed base lifting mechanism (112) comprises: a lifting lower frame (1121), a lifting upper frame (1127), a scissor fork bracket, and a first electric push rod assembly (1126); The front and rear sides of the lower lifting frame (1121) and the upper lifting frame (1127) are both slidably connected to a scissor fork bracket; One end of the first electric push rod assembly (1126) is arranged on the lower lifting frame (1121), and the other end of the first electric push rod assembly (1126) is drivingly connected to the scissors fork bracket. When the first electric push rod (11264) is in operation, the scissors fork bracket is driven to contract or open, thereby causing the upper lifting frame (1127) to move up and down.

4. The robot-assisted ultrasonic inspection robot according to claim 3, characterized in that: The scissor fork bracket comprises: an inner fork arm (1123) and an outer fork arm (1125); The inner fork arm (1123) and the outer fork arm (1125) are cross-arranged in the middle, and the ends on the same side of the inner fork arm (1123) and the outer fork arm (1125) are correspondingly arranged at the side frames of the lower lifting frame (1121) and the upper lifting frame (1127), and the other ends on the inner fork arm (1123) and the outer fork arm (1125) are respectively slidably connected to the side frames corresponding to the lower lifting frame (1121) and the upper lifting frame (1127).

5. The robot-assisted ultrasonic inspection robot according to claim 4, characterized in that: The bed base lifting mechanism (112) further comprises: a U-shaped track (1122), a first pulley (1124), a second connecting member (11261), a connecting arm (11262) and a first stepped shaft (11263); The four U-shaped rails (1122) are respectively arranged at the left ends of the front and rear side frames of the lifting lower frame (1121) and the lifting upper frame (1127); one end of the inner fork arm (1123) and the outer fork arm (1125) are both provided with the first pulley (1124), and the first pulley is slidably connected to the U-shaped rails (1122); The upper middle portion of the inner fork arm (1123) is fixedly connected to the connecting arm (11262) via the second connecting member (11261); one side of the first stepped shaft (11263) is rotatably connected to the connecting arm (11262) via a bearing; the other side of the first stepped shaft (11263) is rotatably connected to the head of the first electric push rod (11264); and the tail of the first electric push rod (11264) is rotatably connected to the middle portion of the lower lifting frame (1121).

6. The robot-assisted ultrasonic inspection robot according to claim 5, characterized in that: The bed base rollover mechanism (113) comprises: a rollover frame (1131), an I-beam (1132), a second height-enhancing plate (1133), a rollover bearing (1134), a second electric push rod (11351), a flange connector (11352), a rollover slider (11353) and a U-shaped groove (1136); The rollover frame (1131) is fixedly connected to the top of the lifting upper frame (1127); two I-beams (1132) are provided, which are respectively fixedly connected to the left and right parts of the rollover frame (1131); a second height-increasing plate (1133) is fixedly connected to the top of the I-beam (1132); the rollover bearing (1134) is fixedly connected to the top of the second height-increasing plate (1133); the two U-shaped grooves (1136) are fixedly connected to the lower left part of the rollover frame (1131); the tails of the two second electric push rods (11351) are fixedly connected to the bottoms of the corresponding U-shaped grooves (1136); the heads of the second electric push rods (11351) are fixedly connected to the rollover slider (11353) via the flange connector (11352); and the rollover slider (11353) forms a translation pair with the position-changing bed surface.

7. The robot-assisted ultrasonic inspection robot according to claim 6, characterized in that: The body position changing bed surface (12) comprises: a bed surface frame assembly (121), a back lifting mechanism (122), a back board side board mechanism (123), a seat lifting mechanism (124), a seat board side board mechanism (125), a leg lifting mechanism (126) and a leg board side board mechanism (127); The bed frame assembly (121) is rotatably connected to the rollover frame (1131) via the rollover bearing (1134); The back-lifting mechanism (122) drives the back plate (1222) in the bed surface frame assembly (121) to rotate around one end; The back panel side panel mechanism (123) drives the back panel side panels (1232) on both sides to rotate in an embracing shape; The seat lifting mechanism (124) drives the seat plate (1241) and the seat plate side plates (1252) to rotate to form a seat state; The leg-lifting mechanism (126) drives the leg board (1261) and the leg board side boards (127) to rotate, so as to lift the patient's legs for movement.

8. The robot-assisted ultrasonic inspection robot according to claim 7, characterized in that: The bed surface frame assembly (121) comprises: a bed surface frame (1211), a bed surface optical axis seat (1212), a bed surface optical axis (1213) and a bed surface side-turning slide rail (1214); The bed surface optical axis seat (1212) is fixedly connected below the bed surface frame (1211), the bed surface optical axis (1213) is fixedly connected to the bed surface optical axis seat (1212), and the bed surface optical axis (1213) is fixedly connected to the inner ring of the rollover bearing (1134); when the bed surface frame is turned over, it rotates around the bed surface optical axis (1212) via the rollover bearing (1134); The bed surface side-turning slide rail (1214) is fixedly connected to the left side of the bed surface frame (1211), and the bed surface side-turning slide rail (1214) and the side-turning slider (11353) form a translation pair.

9. The robot-assisted ultrasonic inspection robot according to claim 8, characterized in that: The mechanical arm stand comprises: a profile frame (21), a first stand translation mechanism (22), a stand lifting mechanism (23), a second stand translation mechanism (24) and a mechanical arm assembly (25); The bottom of the profile frame (21) is provided with the first platform translation mechanism (22), the top of the profile frame (21) is provided with the platform lifting mechanism (23), the second platform translation mechanism (24) is escalably arranged on the platform lifting mechanism (23), and the mechanical arm assembly (25) is arranged on the second platform translation mechanism (24); The first translation mechanism (22) of the platform drives the profile frame (21) to slide horizontally; The second translation mechanism (24) of the platform drives the mechanical arm assembly (25) to move forward and backward, so that the mechanical arm (251) assists the body position change bed surface in body position change.

10. The robot-assisted ultrasonic inspection robot according to claim 9, characterized in that: The profile frame (21) comprises: a profile frame (211), a lower connecting plate (212) and an upper connecting plate (213); The profile frame (211) is a square frame structure, an upper connecting plate (213) is horizontally laid on the top of the profile frame, a lower connecting plate (212) is horizontally laid on the bottom of the profile frame, a counterweight (214) is provided on the lower connecting plate (212), and a platform lifting mechanism (23) is provided on the top surface of the upper connecting plate (213); The first translation mechanism (22) of the platform is arranged below the lower connecting plate (212), and comprises a second slide module (221), a second Forma wheel (222) fixedly connected below the second slide module (221), and a third height-increasing plate (223) fixedly connected above a slider of the second slide module (221); The platform lifting mechanism (23) is arranged above the upper connecting plate (213), and comprises a platform lifting fixing member (231) for fixing the third sliding platform module (232), and a cantilever beam (233) fixed to a slider of the third sliding platform module (232) via a cantilever beam fixing member (234); The second translation mechanism (24) of the platform is fixedly connected below the cantilever beam (233), and comprises a fourth slide module (241) and a mechanical arm base fixing plate (242) fixedly connected to a slider of the fourth slide module (241); The mechanical arm assembly (25) comprises: a mechanical arm (251) fixedly connected to the mechanical arm base fixing plate (242), a clamp connecting piece (252) fixedly connected to the end of the mechanical arm (251), a clamp (253) fixedly connected to the clamp connecting piece (252), and a probe tool (254) fixedly connected to the clamp (253).

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