Support mechanism for orientation of liver instantaneous elastography probe

Abstract

The invention relates to a stent mechanism for orienting a liver instantaneous elastography probe. The mechanical arm comprises a base, a first angle control mechanism, a first mechanical arm body, a second angle control mechanism, a second mechanical arm body, a third angle control mechanism, a third mechanical arm body, a position fine adjustment mechanism and a grabbing and clamping mechanism, the first angle control mechanism, the second angle control mechanism and the third angle control mechanism are worm and gear control mechanisms driven by motors respectively. The position fine adjustment mechanism is a manual universal angle adjustment structure; the grabbing and clamping mechanism comprises a driving shell, a lifting motor, a grabbing and clamping rotating motor, a grabbing and clamping driving motor, a grabbing and clamping mounting base, a fixed claw, a first movable claw and a second movable claw; the upper part of the fixed claw is fixed on the grabbing clamp mounting base; the upper part of the first movable claw and the upper part of the second movable claw are respectively hinged with the grabbing clamp mounting base; the fixing claw is provided with a probe placing clamping groove, and the lower end of the fixing claw is provided with a pressure sensor.

Description

Technical Field

[0001] The invention relates to a probe bracket, and in particular discloses a bracket mechanism for orienting a liver transient elasticity imaging probe. Background Art

[0002] During the measurement of liver transient elastography, doctors use manual movement of the probe, which has many inconveniences. For example, it is impossible to fix the probe and keep it stable during the test, it is impossible to determine the downward pressure of the probe, and the probe needs to be held with both hands, which is inconvenient. The above problems also lead to a low pass rate of test results, and multiple tests may produce inconsistent results.

[0003] There are also probe holders in the prior art that can adjust the direction at multiple angles. For example, the utility model patent with application number 201920078821.5 discloses a multi-dimensional adjustable medical probe holder, which mainly achieves angle adjustment through a flexible metal support that can be bent. On the one hand, manual control of the angle adjustment is required, and on the other hand, the flexible metal support has a large degree of freedom in angle, so it is impossible to achieve very precise adjustment in angle control. It can only be used in scenarios with low precision requirements and is not suitable for the measurement of liver transient elasticity imaging. Summary of the Invention

[0004] The purpose of the present invention is to overcome the defects existing in the prior art and provide a bracket mechanism for orienting a liver transient elastography probe, which can fix the probe while conveniently completing relative swinging and positioning in various directions, so that the probe remains stable when measuring in various directions, thereby improving the accuracy of data measurement.

[0005] The present invention is achieved as follows: a support mechanism for orienting a liver transient elastography probe comprises a base, a first angle control mechanism, a first mechanical arm, a second angle control mechanism, a second mechanical arm, a third angle control mechanism, a third mechanical arm, a position fine-tuning mechanism, and a clamping mechanism connected in sequence; The first angle control mechanism, the second angle control mechanism and the third angle control mechanism are respectively worm gear control mechanisms driven by motors; the position fine-tuning mechanism is a manual universal angle adjustment structure; The clamping mechanism includes a driving housing, a lifting motor, a clamping rotating motor, a clamping driving motor, a clamping mounting base, a fixed claw, a first movable claw and a second movable claw; The upper portion of the fixed claw is fixed to the gripper mounting base, and the upper portion of the first movable claw and the upper portion of the second movable claw are hinged to the gripper mounting base respectively; The lifting motor is fixed in the driving housing; the lifting motor is connected to the gripping rotating motor, and the lifting motor drives the gripping rotating motor as a whole to perform lifting and lowering motion; the output end of the gripping rotating motor is connected or indirectly connected to the gripping driving motor, and the gripping rotating motor drives the gripping driving motor as a whole to perform rotational motion; the gripping driving motor is connected to the gripping mounting base, and the gripping driving motor drives the first movable claw and the second movable claw to open or close respectively through a worm gear; The fixing claw is provided with a probe placement slot, and the lower end of the fixing claw is provided with a pressure sensor.

[0006] The first angle control mechanism includes a first motor, a first worm, a first worm gear and a first fixed shaft; a robotic arm fixing bracket is provided on the base; the output end of the first motor is connected to the first worm, the first worm is engaged with the first worm gear, and the first worm gear is fixed on the first fixed shaft; the first worm gear is located in the first mounting groove at the lower end of the first robotic arm; the two ends of the first fixed shaft are respectively connected to the two sides of the first mounting groove of the first robotic arm and the robotic arm fixing bracket, so that the lower end of the first robotic arm is hinged to the robotic arm fixing bracket through the first fixed shaft.

[0007] The second angle control mechanism includes a second motor, a second worm, a second worm gear and a second fixed shaft; the second motor is fixed to the second mounting slot at the upper end of the first robotic arm, the output end of the second motor is connected to the second worm, the second worm is meshed with the second worm gear, the second worm gear is fixed to the second fixed shaft, the second worm gear is located in the third mounting slot of the second robotic arm, and the two ends of the second fixed shaft are respectively connected to the two sides of the second mounting slot of the first robotic arm and the two sides of the third mounting slot of the second robotic arm.

[0008] The third angle control mechanism includes a third motor with a fixed housing, a third worm, a third worm wheel, a fixed block, a first connecting rod, a second connecting rod, a fourth motor, a third connecting rod, a fourth connecting rod and a third fixed shaft; the upper end of the second robotic arm is provided with a fourth mounting slot for accommodating the third worm, the output end of the third motor penetrates into the fourth mounting slot from a side outside the fourth mounting slot and is connected to one end of the third worm, the other end of the third worm is connected to the fixed block provided on the other side outside the fourth mounting slot; the third worm is meshed with the third worm wheel; The lower end of the third mechanical arm is provided with a fifth mounting slot for placing the third worm gear, the third fixed shaft passes through the upper and lower sides of the fifth mounting slot, the third worm gear is sleeved on the third fixed shaft, one end of the first connecting rod is fixed above the fixed housing of the third motor, the other end of the first connecting rod and one end of the third connecting rod are jointly connected to one end of the third fixed shaft, and the other end of the third connecting rod is fixed above the fixed block; one end of the second connecting rod is fixed below the fixed housing of the third motor, the other end of the second connecting rod and one end of the fourth connecting rod are jointly connected to the other end of the third fixed shaft, and the other end of the fourth connecting rod is fixed below the fixed block; The fourth motor is fixed to the second robotic arm through a fixing frame, the output shaft of the fourth motor is connected to the third motor, the output shaft of the fourth motor and the output shaft of the third motor are on the same axis, and the fourth motor drives the third motor to rotate as a whole.

[0009] The position fine-tuning mechanism includes a first support, a second support, a first spherical shaft, a second spherical shaft, a first adjusting screw and an adjusting handle; the first support and the second support are symmetrically arranged, one end of the first adjusting screw is fixed to the center of the first support, and the other end of the first adjusting screw passes through the center of the second support and is connected to the adjusting handle; the ball head end of the first spherical shaft is connected between one side of the first support and the second support, and the other end of the first spherical shaft is connected to the upper end of the third robotic arm; the ball head end of the second spherical shaft is connected between the other side of the first support and the second support, and the other end of the second spherical shaft is connected to the clamping mechanism.

[0010] The clamping mechanism further includes a fourth worm gear, a fifth worm gear, a fourth worm, a fourth fixed shaft, and a fifth fixed shaft; the output end of the clamping drive motor extends downwardly from the center of the clamping mounting base and is connected to the fourth worm, and the fourth worm gear and the fifth worm gear are respectively engaged with the fourth worm; The gripper mounting base is provided with a first support for connecting the first movable claw and a second support for connecting the second movable claw; The fourth worm gear is located in the middle of the upper end of the first movable claw, and the upper ends of the fourth worm gear and the first movable claw are connected to the first support through a fourth fixed shaft; the fifth worm gear is located in the middle of the upper end of the second movable claw, and the upper ends of the fifth worm gear and the second movable claw are connected to the second support through a fifth fixed shaft.

[0011] The lifting motor includes a rack, a gear and a coupling. The rack is vertically fixed in the driving housing, and the gear is engaged with the rack. The output end of the lifting motor is connected to the gear through the coupling.

[0012] The main body of the lifting motor and the main body of the gripping rotation motor are arranged vertically and fixed in the lifting housing, and the coupling and the gear are located on one side outside the lifting housing; the upper part of the lifting housing is confined within the drive housing; the lower end of the lifting housing extends out of the lower end of the drive housing, and the lifting housing can slide up and down along the drive housing; The output end of the gripping rotating motor is connected to the upper end of the rotating shell; the gripping driving motor is fixed in the rotating shell; and the output end of the gripping driving motor extends out of the lower end of the rotating shell.

[0013] The length of the first robotic arm is 20 to 30 cm; the length of the second robotic arm is 12 to 16 cm; the length of the first robotic arm = the length of the second robotic arm + the length of the third robotic arm.

[0014] The base includes a top plate, a bottom plate parallel to the top plate, a second adjusting screw, a baffle and a rotary handle; the top plate is connected to one side of the bottom plate through a vertical plate; one end of the second adjusting screw passes through the bottom plate from bottom to top and is connected to the baffle, the second adjusting screw is connected to the bottom plate through a thread, and the other end of the second adjusting screw is connected to the rotary handle.

[0015] The beneficial effects of the present invention are as follows: the liver transient elasticity imaging probe is fixed by the fixed claw, the first movable claw and the second movable claw, the first mechanical arm is controlled by the first angle control mechanism, the second mechanical arm is controlled by the second angle control mechanism, the third mechanical arm is controlled by the third angle control mechanism, and the angle is manually fine-tuned by the position fine-tuning mechanism, so as to realize multi-degree-of-freedom movement and rotation adjustment of the first mechanical arm, the second mechanical arm, the third mechanical arm and the grasping mechanism, and the pressure sensor at the lower end of the fixed claw displays the size of the downward pressure of the probe, thereby realizing the convenience and stability of the detection process, thereby improving the qualified rate of the detection results. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a side structural schematic diagram of the present invention.

[0017] Figure 2 It is a schematic diagram of the shaft side structure of the present invention.

[0018] Figure 3 It is a schematic diagram of the structure of the present invention when viewed from an upward angle.

[0019] Figure 4 It is a structural schematic diagram of the tilt angle of the present invention.

[0020] Figure 5 It is a schematic diagram of the structure of the present invention from a top view angle.

[0021] Figure 6 It is a structural schematic diagram of the driving part of the clamping mechanism of the present invention.

[0022] Figure 7 It is a schematic diagram of the internal structural connection relationship of the driving part of the clamping mechanism of the present invention.

[0023] Figure 8 It is a structural schematic diagram of the clamping mechanism of the present invention.

[0024] Wherein: 1. Base; 101. Robot arm fixing bracket; 102. Top plate; 103. Bottom plate; 104. Second adjustment screw; 105. Baffle; 106. Rotary handle; 107. Vertical plate; 2. First angle control mechanism; 201. First motor; 202. First worm; 203. First worm gear; 204. First fixed shaft; 3. First robotic arm; 301. First mounting slot; 302. Second mounting slot; 4. Second angle control mechanism; 401. Second motor; 402. Second worm; 403. Second worm gear; 404. Second fixed shaft; 5. Second robotic arm; 501. Third mounting slot; 502. Fourth mounting slot; 6. Third angle control mechanism; 601. Third motor; 602. Third worm; 603. Third worm gear; 604. Fixed block; 605. First connecting rod; 606. Fourth motor; 607. Third fixed shaft; 608. Fixed bracket; 609. Third connecting rod; 610. Fourth connecting rod; 611. Second connecting rod; 7. Third robotic arm; 701. Fifth mounting slot; 8. Position fine-adjustment mechanism; 801. First support; 802. Second support; 803. First spherical shaft; 804. Second spherical shaft; 805. First adjusting screw; 806. Adjustment handle; 9. Clamping mechanism; 901. Drive housing; 902. Lifting motor; 903. Clamping rotation motor; 904. Clamping drive motor; 905. Clamping mounting base; 906. Fixed claw; 907. First movable claw; 908. Second movable claw; 909. Fourth worm gear; 910. Fifth worm gear; 911. Fourth worm; 912. Probe placement slot; 913. Pressure sensor; 914. Fourth fixed shaft; 915. First support; 916. Second support; 917. Fifth fixed shaft; 9021. Rack; 9022. Gear; 9023. Coupling; 9024. Lifting housing; 9025. Rotating housing. DETAILED DESCRIPTION

[0025] according to Figures 1 to 8The present invention provides a support mechanism for orienting a liver transient elastography probe, comprising a base 1, a first angle control mechanism 2, a first robotic arm 3, a second angle control mechanism 4, a second robotic arm 5, a third angle control mechanism 6, a third robotic arm 7, a position fine-tuning mechanism 8, and a clamping mechanism 9, all connected in sequence. The first angle control mechanism 2, the second angle control mechanism 4, and the third angle control mechanism 6 are each motor-driven worm gear control mechanisms; the position fine-tuning mechanism 8 is a manual universal angle adjustment structure.

[0026] The gripping mechanism 9 includes a drive housing 901, a lifting motor 902, a gripping rotation motor 903, a gripping drive motor 904, a gripping mounting base 905, a fixed claw 906, a first movable claw 907, a second movable claw 908, a fourth worm gear 909, a fifth worm gear 910, a fourth worm 911, a fourth fixed shaft 914 and a fifth fixed shaft 917.

[0027] The upper portion of the fixed claw 906 is fixed to the gripper mounting base 905, and the upper portions of the first movable claw 907 and the second movable claw 908 are respectively hinged to the gripper mounting base 905. The output end of the gripper drive motor 904 extends downward from the center of the gripper mounting base 905 and is connected to the fourth worm 911. The fourth worm gear 909 and the fifth worm gear 910 are respectively engaged with the fourth worm 911.

[0028] The gripper mounting base 905 is provided with a first support 915 for connecting the first movable claw 907 and a second support 916 for connecting the second movable claw 908. The fourth worm gear 909 is located in the middle of the upper end of the first movable claw 907. The fourth worm gear 909 and the upper end of the first movable claw 907 are connected to the first support 915 via a fourth fixed shaft 914. The fifth worm gear 910 is located in the middle of the upper end of the second movable claw 908. The fifth worm gear 910 and the upper end of the second movable claw 908 are connected to the second support 916 via a fifth fixed shaft 917.

[0029] The lifting motor 902 is fixed within the drive housing 901. The lifting motor 902 is connected to the clamping rotation motor 903, and the lifting motor 902 drives the clamping rotation motor 903 to lift and lower the clamping rotation motor 903 as a whole. The output end of the clamping rotation motor 903 is connected or indirectly connected to the clamping drive motor 904, and the clamping rotation motor 903 drives the clamping drive motor 904 to rotate as a whole. The clamping drive motor 904 is connected to the clamping mounting base 905 via the rotating housing 9025. The clamping drive motor 904 drives the first movable claw 907 and the second movable claw 908 to open or close respectively via a worm gear. The lifting motor 902, the clamping rotation motor 903, and the clamping drive motor 904 constitute the main drive components of the clamping mechanism 9.

[0030] The fixed claw 906 is provided with a probe placement slot 912, and the lower end of the fixed claw 906 is provided with a pressure sensor 913. The pressure sensor 913 is fixed to the bottom of the raised portion of the bottom of the fixed claw 906. During actual testing, it can be parallel to the top of the probe, thereby accurately measuring the magnitude of the applied force.

[0031] Specifically, the lifting motor 902 includes a rack 9021, a gear 9022 and a coupling 9023. The rack 9021 is vertically fixed in the drive housing 901, and the gear 9022 is engaged with the rack 9021. The output end of the lifting motor 902 is connected to the gear 9022 through the coupling 9023.

[0032] The main body of the lifting motor 902 and the main body of the gripping rotation motor 903 are arranged vertically and fixed in a lifting housing 9024. The coupling 9023 and the gear 9022 are located on one side outside the lifting housing 9024. The upper portion of the lifting housing 9024 is confined within the drive housing 901. The lower end of the lifting housing 9024 extends out of the lower end of the drive housing 901 and can slide up and down along the drive housing 901. The output end of the gripper rotation motor 903 is connected to the upper end of the rotating housing 9025; the gripper drive motor 904 is fixed within the rotating housing 9025; the output end of the gripper rotation motor 903 is indirectly connected to the gripper drive motor 904 through the rotating housing 9025. The output end of the gripper drive motor 904 extends beyond the lower end of the rotating housing 9025 and is connected to the fourth worm gear 911. The gripper mounting base 905 of the gripper mechanism 9 is fixed to the rotating housing 9025, and the fourth worm gear 911 is located below the center of the gripper mounting base 905.

[0033] In terms of relative position, the output shaft axis of the lifting motor 902 and the output shaft axis of the clamping rotating motor 903 are perpendicular to each other in the same plane; preferably, a distance is provided between the lifting motor 902 and the clamping rotating motor 903, and the two are relatively independent; the lifting motor 902 drives the gear 9022 to rotate through the coupling 9023, and the gear 9022 drives the lifting motor 902, the clamping rotating motor 903 and the lifting shell 9024 to move up and down as a whole with the cooperation of the rack 9021; the output end of the clamping drive motor 904 and the output end of the clamping rotating motor 903 are on the same vertical axis and in the same direction.

[0034] The first angle control mechanism 2 includes a first motor 201, a first worm 202, a first worm gear 203, and a first fixed shaft 204. A robotic arm fixing bracket 101 is provided on the base 1. The output end of the first motor 201 is connected to the first worm 202, which meshes with the first worm gear 203, which is fixed to the first fixed shaft 204. The first worm gear 203 is located in a first mounting slot 301 at the lower end of the first robotic arm 3. The ends of the first fixed shaft 204 are respectively connected to the first mounting slot 301 of the first robotic arm 3 and to the robotic arm fixing bracket 101, so that the lower end of the first robotic arm 3 is hinged to the robotic arm fixing bracket 101 via the first fixed shaft 204. The first robotic arm 3 can rotate along the first fixed shaft 204 along with the first worm gear 203.

[0035] The second angle control mechanism 4 includes a second motor 401, a second worm 402, a second worm gear 403, and a second fixed shaft 404. The second motor 401 is fixed to the second mounting slot 302 at the upper end of the first robotic arm 3. The output end of the second motor 401 is connected to the second worm 402, which meshes with the second worm gear 403. The second worm gear 403 is fixed to the second fixed shaft 404. The second worm gear 403 is located in the third mounting slot 501 of the second robotic arm 5. The two ends of the second fixed shaft 404 are respectively connected to the second mounting slot 302 of the first robotic arm 3 and the third mounting slot 501 of the second robotic arm 5. The second robotic arm 5 can rotate along the second fixed shaft 404 along with the second worm gear 403.

[0036] The third angle control mechanism 6 includes a third motor 601 with a fixed housing, a third worm 602, a third worm wheel 603, a fixed block 604, a first connecting rod 605, a second connecting rod 611, a fourth motor 606, a third connecting rod 609, a fourth connecting rod 610 and a third fixed shaft 607; the upper end of the second robotic arm 5 is provided with a fourth mounting groove 502 for placing the third worm 602, the output end of the third motor 601 penetrates into the fourth mounting groove 502 from the side outside the fourth mounting groove 502 and is connected to one end of the third worm 602, and the other end of the third worm 602 is connected to the fixed block 604 arranged on the other side outside the fourth mounting groove 502; the third worm 602 is meshed with the third worm wheel 603.

[0037] A fifth mounting slot 701 for accommodating the third worm gear 603 is provided at the lower end of the third robotic arm 7. The third fixed shaft 607 extends through the upper and lower sides of the fifth mounting slot 701. The third worm gear 603 is sleeved onto the third fixed shaft 607. One end of the first connecting rod 605 is fixed above the fixed housing of the third motor 601. The other end of the first connecting rod 605 and one end of the third connecting rod 609 are connected to one end of the third fixed shaft 607. The other end of the third connecting rod 609 is fixed above the fixed block 604. One end of the second connecting rod 611 is fixed below the fixed housing of the third motor 601. The other end of the second connecting rod 611 and one end of the fourth connecting rod 610 are connected to the other end of the third fixed shaft 607. The other end of the fourth connecting rod 610 is fixed below the fixed block 604. The third robotic arm 7 can rotate along the third fixed shaft 607 along with the third worm gear 603. Driven by the fourth motor 606, the third motor 601, third worm 602, fixed block 604, first connecting rod 605, second connecting rod 611, third connecting rod 609, and fourth connecting rod 610 rotate as a whole along the output shaft of the fourth motor 606, indirectly driving the third robotic arm 7 to rotate together. The third angle control mechanism 6 enables the third robotic arm 7 to achieve angular adjustment in the vertical and front-to-back directions.

[0038] The fourth motor 606 is fixed to the second robotic arm 5 through a fixing bracket 608. The output shaft of the fourth motor 606 is connected to the third motor 601. The output shaft of the fourth motor 606 and the output shaft of the third motor 601 are on the same axis. The fourth motor 606 drives the third motor 601 to rotate as a whole, and the third motor 601 controls the rotation of the third worm 602.

[0039] The position fine-tuning mechanism 8 includes a first support 801, a second support 802, a first spherical shaft 803, a second spherical shaft 804, a first adjusting screw 805 and an adjusting handle 806; the first support 801 and the second support 802 are symmetrically arranged, one end of the first adjusting screw 805 is fixed to the center of the first support 801, and the other end of the first adjusting screw 805 passes through the center of the second support 802 and is connected to the adjusting handle 806; the ball head end of the first spherical shaft 803 is connected between one side of the first support 801 and the second support 802, and the other end of the first spherical shaft 803 is connected to the upper end of the third robotic arm 7; the ball head end of the second spherical shaft 804 is connected between the other side of the first support 801 and the second support 802, and the other end of the second spherical shaft 804 is connected to the clamping mechanism 9.

[0040] The length of the first robotic arm 3 is 20 to 30 cm, preferably 23.15 cm; the length of the second robotic arm 5 is 12 to 16 cm, preferably 14 cm; the length of the first robotic arm 3 = the length of the second robotic arm 5 + the length of the third robotic arm 7 .

[0041] The base 1 includes a top plate 102, a bottom plate 103 parallel to the top plate 102, a second adjustment screw 104, a baffle 105, and a handle 106. The top plate 102 is connected to one side of the bottom plate 103 via a vertical plate 107. One end of the second adjustment screw 104 passes through the bottom plate 103 from bottom to top and is connected to the baffle 105. The second adjustment screw 104 is connected to the bottom plate 103 via a thread, and the other end of the second adjustment screw 104 is connected to the handle 106. The base 1 can be used to conveniently secure the present invention to a desktop, bed railing, support table, or other equipment.

[0042] The present invention is based on the technical application of motor remote control and pressure sensor remote communication. The motor control and sensor communication methods in the present invention can adopt existing remote control technology, which is a mature existing technology. The present invention does not elaborate on its control principle and communication principle. For example, the pressure sensor 913 can adopt the TruStability™ TSC series pressure sensor produced by Honeywell. The pressure sensor has a pressure range of ±6 kPa to ±1 MPa and is characterized by a piezoresistive silicon pressure sensor that provides a proportional analog output for reading pressure within a specified full-scale pressure range and temperature range. It is suitable for medical and industrial applications.

[0043] Regarding the overall data transmission method of a pressure sensor, when pressure acts on the MEMS piezoresistor within the sensor, its resistance change is converted into a differential voltage signal, typically in the millivolt range, via a Wheatstone bridge circuit. The signal is then amplified by an instrumentation amplifier to a standard range, such as 0-5V, and low-pass filtered to eliminate high-frequency noise. Simultaneously, an integrated temperature sensor collects real-time ambient temperature data, and temperature drift compensation is performed using a lookup table or polynomial fitting algorithm to ensure stability. The amplified analog signal is digitized by a high-precision analog-to-digital converter (ADC), such as one with 16-24-bit resolution, and then transmitted to a microcontroller or processor via a standard digital interface, such as I2C, SPI, or UART. The microcontroller then performs algorithmic corrections based on factory-calibrated linearization parameters, such as zero offset and sensitivity coefficients. The final data is then encapsulated in a protocol format such as JSON or Modbus RTU and transmitted via a wired (RS-485) or wireless (BLE) link to a cloud or local display terminal for real-time monitoring and visualization.

[0044] The technology for remote motor control achieves precise remote control based on a collaborative architecture that integrates user-side command acquisition, communication network transmission, and control-side driver execution. Its core principle is to convert physical keystroke signals into digital commands, which are then used to drive the motor through a reliable communication link, creating a closed-loop feedback loop. Specifically, user-side keystrokes, such as start and stop, are encoded by an anti-shake circuit and an STM32 / PLC microcontroller. These signals are then encapsulated into data frames containing address codes, command words, and checksums according to standard communication protocols such as Modbus, CAN, or MQTT. These frames are then transmitted to the control side via a wired RS-485 or wireless LoRa network. After parsing the commands, the control side generates drive signals using PWM speed control for DC motors, variable frequency control for AC motors, or pulse drive for stepper motors. The control side also uses sensors to monitor real-time current (ACS712), temperature (DS18B20), and encoder speed to implement overcurrent protection, soft start, and emergency stop functions. CRC checksums and AES encryption ensure communication reliability. Operating status data is then transmitted back to the user side for visualization via an LCD screen, LED indicators, or cloud interfaces such as mobile apps, forming a complete closed-loop control system. Relying on mature control standards and communication protocols, this technology has been widely used in fields such as smart manufacturing and smart home, and has both high reliability and practicality.

Claims

1. A support mechanism for orienting a liver transient elastography probe, characterized by: It comprises a base (1), a first angle control mechanism (2), a first mechanical arm (3), a second angle control mechanism (4), a second mechanical arm (5), a third angle control mechanism (6), a third mechanical arm (7), a position fine-tuning mechanism (8) and a clamping mechanism (9) which are connected in sequence; The first angle control mechanism (2), the second angle control mechanism (4) and the third angle control mechanism (6) are respectively worm gear control mechanisms driven by motors; the position fine-tuning mechanism (8) is a manual universal angle adjustment structure; The gripping mechanism (9) comprises a drive housing (901), a lifting motor (902), a gripping rotation motor (903), a gripping drive motor (904), a gripping mounting base (905), a fixed claw (906), a first movable claw (907), and a second movable claw (908); The upper portion of the fixed claw (906) is fixed to the gripping mounting base (905), and the upper portion of the first movable claw (907) and the upper portion of the second movable claw (908) are respectively hinged to the gripping mounting base (905); The lifting motor (902) is fixed in the driving housing (901); the lifting motor (902) is connected to the gripping rotating motor (903), and the lifting motor (902) drives the gripping rotating motor (903) to perform lifting motion as a whole; the output end of the gripping rotating motor (903) is connected or indirectly connected to the gripping driving motor (904), and the gripping rotating motor (903) drives the gripping driving motor (904) to perform rotational motion as a whole; the gripping driving motor (904) is connected to the gripping mounting base (905), and the gripping driving motor (904) drives the first movable claw (907) and the second movable claw (908) to perform opening or closing motion respectively through a worm gear; The fixed claw (906) is provided with a probe placement slot (912), and the lower end of the fixed claw (906) is provided with a pressure sensor (913).

2. The support mechanism for orienting a liver transient elastography probe according to claim 1, characterized in that: The first angle control mechanism (2) comprises a first motor (201), a first worm (202), a first worm wheel (203) and a first fixed shaft (204); a mechanical arm fixing bracket (101) is provided on the base (1); the output end of the first motor (201) is connected to the first worm (202), the first worm (202) is meshed with the first worm wheel (203), and the first worm wheel (203) is fixed on the first fixed shaft (204); the first worm wheel (203) is located in a first mounting groove (301) at the lower end of the first mechanical arm (3); the two ends of the first fixed shaft (204) are respectively connected to the two sides of the first mounting groove (301) of the first mechanical arm (3) and the mechanical arm fixing bracket (101), so that the lower end of the first mechanical arm (3) is hinged to the mechanical arm fixing bracket (101) through the first fixed shaft (204).

3. The support mechanism for orienting a liver transient elastography probe according to claim 1, characterized in that: The second angle control mechanism (4) comprises a second motor (401), a second worm (402), a second worm gear (403) and a second fixed shaft (404); the second motor (401) is fixed to the second mounting slot (302) at the upper end of the first robotic arm (3); the output end of the second motor (401) is connected to the second worm (402); the second worm (402) is meshed with the second worm gear (403); the second worm gear (403) is fixed to the second fixed shaft (404); the second worm gear (403) is located in the third mounting slot (501) of the second robotic arm (5); and two ends of the second fixed shaft (404) are respectively connected to two sides of the second mounting slot (302) of the first robotic arm (3) and two sides of the third mounting slot (501) of the second robotic arm (5).

4. The support mechanism for orienting a liver transient elastography probe according to claim 1, characterized in that: The third angle control mechanism (6) includes a third motor (601) with a fixed housing, a third worm (602), a third worm wheel (603), a fixed block (604), a first connecting rod (605), a second connecting rod (611), a fourth motor (606), a third connecting rod (609), a fourth connecting rod (610) and a third fixed shaft (607); the upper end of the second mechanical arm (5) is provided with a fourth mounting groove (502) for accommodating the third worm (602); the output end of the third motor (601) penetrates into the fourth mounting groove (502) from one side outside the fourth mounting groove (502) and is connected to one end of the third worm (602); the other end of the third worm (602) is connected to the fixed block (604) provided on the other side outside the fourth mounting groove (502); the third worm (602) is meshed with the third worm wheel (603); The lower end of the third robotic arm (7) is provided with a fifth mounting groove (701) for placing the third worm gear (603), the third fixed shaft (607) passes through the upper and lower sides of the fifth mounting groove (701), the third worm gear (603) is sleeved on the third fixed shaft (607), one end of the first connecting rod (605) is fixed above the fixed housing of the third motor (601), the other end of the first connecting rod (605) and one end of the third connecting rod (609) are connected to one end of the third fixed shaft (607), and the other end of the third connecting rod (609) is fixed above the fixed block (604); one end of the second connecting rod (611) is fixed below the fixed housing of the third motor (601), the other end of the second connecting rod (611) and one end of the fourth connecting rod (610) are connected to the other end of the third fixed shaft (607), and the other end of the fourth connecting rod (610) is fixed below the fixed block (604); The fourth motor (606) is fixed to the second robotic arm (5) via a fixing frame (608), and the output shaft of the fourth motor (606) is connected to the third motor (601). The output shaft of the fourth motor (606) and the output shaft of the third motor (601) are on the same axis, and the fourth motor (606) drives the third motor (601) to rotate as a whole.

5. The support mechanism for orienting a liver transient elastography probe according to claim 1, characterized in that: The position fine-tuning mechanism (8) comprises a first support (801), a second support (802), a first spherical shaft (803), a second spherical shaft (804), a first adjusting screw (805) and an adjusting handle (806); the first support (801) and the second support (802) are symmetrically arranged, one end of the first adjusting screw (805) is fixed to the center of the first support (801), and the other end of the first adjusting screw (805) passes through the center of the second support (802) and is fixed to the center of the second support (806). The adjusting handle (806) is connected; the ball end of the first spherical shaft (803) is connected between the first support (801) and one side of the second support (802), and the other end of the first spherical shaft (803) is connected to the upper end of the third mechanical arm (7); the ball end of the second spherical shaft (804) is connected between the first support (801) and the other side of the second support (802), and the other end of the second spherical shaft (804) is connected to the clamping mechanism (9).

6. The support mechanism for orienting a liver transient elastography probe according to claim 1, characterized in that: The gripping mechanism (9) further comprises a fourth worm gear (909), a fifth worm gear (910), a fourth worm (911), a fourth fixed shaft (914) and a fifth fixed shaft (917); the output end of the gripping drive motor (904) extends downward from the center of the gripping mounting base (905) and is connected to the fourth worm (911), and the fourth worm gear (909) and the fifth worm gear (910) are respectively engaged with the fourth worm (911); The gripping mounting base (905) is provided with a first support (915) for connecting the first movable claw (907) and a second support (916) for connecting the second movable claw (908); The fourth worm gear (909) is located in the middle of the upper end of the first movable claw (907), and the upper ends of the fourth worm gear (909) and the first movable claw (907) are connected to the first support (915) through a fourth fixed shaft (914); the fifth worm gear (910) is located in the middle of the upper end of the second movable claw (908), and the upper ends of the fifth worm gear (910) and the second movable claw (908) are connected to the second support (916) through a fifth fixed shaft (917).

7. The support mechanism for orienting a liver transient elastography probe according to claim 1, characterized in that: The lifting motor (902) comprises a rack (9021), a gear (9022) and a coupling (9023); the rack (9021) is vertically fixed in the drive housing (901); the gear (9022) is meshed with the rack (9021); and the output end of the lifting motor (902) is connected to the gear (9022) via the coupling (9023).

8. The support mechanism for orienting a liver transient elastography probe according to claim 7, characterized in that: The main body of the lifting motor (902) and the main body of the gripping rotation motor (903) are arranged vertically and fixed in the lifting shell (9024); the coupling (9023) and the gear (9022) are located on one side outside the lifting shell (9024); the upper part of the lifting shell (9024) is confined within the drive shell (901); the lower end of the lifting shell (9024) extends out of the lower end of the drive shell (901), and the lifting shell (9024) can slide up and down along the drive shell (901); The output end of the gripping rotating motor (903) is connected to the upper end of the rotating shell (9025); the gripping driving motor (904) is fixed in the rotating shell (9025); and the output end of the gripping driving motor (904) extends out of the lower end of the rotating shell (9025).

9. The support mechanism for orienting a liver transient elastography probe according to claim 1, characterized in that: The length of the first robotic arm (3) is 20 to 30 cm; the length of the second robotic arm (5) is 12 to 16 cm; the length of the first robotic arm (3) = the length of the second robotic arm (5) + the length of the third robotic arm (7).

10. The support mechanism for orienting a liver transient elastography probe according to claim 1, characterized in that: The base (1) comprises a top plate (102), a bottom plate (103) parallel to the top plate (102), a second adjusting screw (104), a baffle (105) and a rotary handle (106); the top plate (102) is connected to one side of the bottom plate (103) via a vertical plate (107); one end of the second adjusting screw (104) passes through the bottom plate (103) from bottom to top and is connected to the baffle (105); the second adjusting screw (104) is connected to the bottom plate (103) via a thread; and the other end of the second adjusting screw (104) is connected to the rotary handle (106).

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