Ultrasonic robot

Abstract

The invention provides an ultrasonic robot, and relates to the technical field of medical robots, the ultrasonic robot comprises a line driving device, an end effector and an ultrasonic probe; the end effector comprises a supporting seat and a degree-of-freedom mechanism, at least part of the degree-of-freedom mechanism is located in the supporting seat, and the degree-of-freedom mechanism is connected with the supporting seat in a matched mode; the linear driving device is connected with the degree-of-freedom mechanism through a cable, and the ultrasonic probe is fixed on the scanning side of the degree-of-freedom mechanism; and the wire driving device is used for controlling the freedom degree mechanism to move through a receiving and transmitting cable, the detection position of the ultrasonic probe is adjusted, and the cost of the robot ultrasonic imaging system can be reduced.

Description

Technical Field

[0001] This invention relates to the field of medical robot technology, and more particularly to an ultrasound robot. Background Technology

[0002] Existing ultrasound robots typically rely on high-precision sensors and complex mechanical components to achieve precise control over the probe's position and orientation. While this hardware configuration improves system performance, it significantly increases the production cost of the ultrasound robot, as well as the operating costs, including equipment procurement and subsequent maintenance. The high cost of ultrasound robots makes them difficult to promote in small and medium-sized medical institutions or primary clinics, and also limits their application in education, training, and research. Reducing the cost of robotic ultrasound imaging systems, expanding the practical application range of ultrasound robots, and broadening their application in education, training, and research are crucial issues that the industry urgently needs to address. Summary of the Invention

[0003] To address the problems existing in the prior art, the present invention provides an ultrasonic robot.

[0004] This invention provides an ultrasonic robot, comprising: a wire drive device, an end effector, and an ultrasonic probe; The end effector includes a support base and a degree-of-freedom mechanism, wherein the degree-of-freedom mechanism is at least partially located inside the support base and is connected to the support base in a cooperative manner; The line drive device is connected to the degree-of-freedom mechanism via a cable, and the ultrasonic probe is fixed to the scanning side of the degree-of-freedom mechanism; the line drive device is used to control the movement of the degree-of-freedom mechanism and adjust the detection position of the ultrasonic probe via a transceiver cable.

[0005] According to the present invention, an ultrasonic robot is provided, wherein the degree-of-freedom mechanism includes a planar degree-of-freedom component and a rotational degree-of-freedom component, the wire drive device is connected to the planar degree-of-freedom component and the rotational degree-of-freedom component respectively via cables, and the planar degree-of-freedom component is connected to the support base in cooperation. The planar degree-of-freedom component includes a slider, the rotational degree-of-freedom component is mounted on the slider, and the ultrasonic probe is fixed to the scanning side of the rotational degree-of-freedom component.

[0006] According to an ultrasonic robot provided by the present invention, the planar degree-of-freedom component further includes a circular guide rail and a linear slide rail, wherein the circular guide rail is connected to the support base. The circular guide rail has symmetrical mounting holes at its center. The linear slide rail is mounted on the circular guide rail through the mounting holes, and the slider is mounted on the linear slide rail.

[0007] According to an ultrasonic robot provided by the present invention, the rotational degree-of-freedom component includes a first balance ring, a second balance ring, and a third balance ring, and the ultrasonic probe is fixed to the scanning side of the third balance ring; The inner wall of the first balance ring is at least partially mounted on the slider, the second balance ring is mounted on the inner wall of the first balance ring, and the third balance ring is mounted on the inner wall of the second balance ring; wherein the rotation axis of the second balance ring is perpendicular to the rotation axis of the first balance ring, and the rotation axis of the third balance ring is perpendicular to the rotation axis of the second balance ring.

[0008] According to an ultrasonic robot provided by the present invention, at least two support portions are provided on the edge of the first balance ring extending axially toward the first balance ring, and a guide tube is provided on the support portion, and a cable is provided inside the guide tube; The second balance ring has at least two support portions extending axially toward the first balance ring from its edge. The support portions are connected to guide tubes, and cables are installed inside the guide tubes. The edge of the third balance ring extends axially toward the first balance ring and is provided with at least two support portions. The support portions are connected to a guide tube, and a cable is provided inside the guide tube.

[0009] According to an ultrasonic robot provided by the present invention, the scanning side of the third balancing ring is provided with a first clamping part, a second clamping part and a connecting rod, the first clamping part and the second clamping part are connected by the connecting rod, and the ultrasonic probe is fixed between the first clamping part and the second clamping part.

[0010] According to an ultrasonic robot provided by the present invention, the inner wall of the first balance ring is further provided with a first bearing, the axial direction of the first bearing being perpendicular to the axial direction of the first balance ring; the end of the second balance ring is mounted on the first bearing, and the end of the second balance ring and the inner ring of the first bearing are provided with a compression elastic element at an angle. The inner wall of the second balance ring is provided with a second bearing, and the axial direction of the second bearing is perpendicular to the axial direction of the second balance ring; the end of the third balance ring is mounted on the second bearing, and the end of the third balance ring and the inner ring of the second bearing are provided with a compression elastic element at an angle.

[0011] An ultrasonic robot according to the present invention further includes a tensioning device and a force sensor, wherein the tensioning device is pressed above one side of the cable and the force sensor is connected in series on the other side of the cable.

[0012] According to an ultrasonic robot provided by the present invention, the force sensor includes a first pulley, a second pulley, a third pulley, and a fourth pulley arranged along the direction of the line drive device toward the degree-of-freedom mechanism; The cable is disposed at the bottom of the first pulley and the bottom of the second pulley, wound around the top of the third pulley, and wound around the bottom of the fourth pulley.

[0013] According to an ultrasound robot provided by the present invention, the ultrasound robot further includes adjustable straps and an attachment structure, the attachment structure being disposed on the patient-facing side of the degree-of-freedom mechanism, and the adjustable straps comprising at least two straps being equally distributed and installed along the edge of the attachment structure in the circumferential direction.

[0014] Compared to relying on high-precision sensors and complex mechanical components to adjust the detection position and attitude of an ultrasonic probe, the ultrasonic robot provided in this embodiment of the invention, by mounting the ultrasonic probe on the degree-of-freedom mechanism of the end effector and connecting the wire drive device and the degree-of-freedom mechanism of the end effector through a cable, can control the movement of the degree-of-freedom mechanism through the transmission and reception of the wire drive device, thereby adjusting the detection position and attitude of the ultrasonic probe, thereby reducing the cost of the ultrasonic robot, expanding the practical application range of the ultrasonic robot, and its application range in education, training or scientific research fields, etc. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is one of the structural schematic diagrams of the ultrasonic robot provided by the present invention.

[0017] Figure 2 This is the second structural schematic diagram of the ultrasonic robot provided by the present invention.

[0018] Figure 3 This is the third structural schematic diagram of the ultrasonic robot provided by the present invention.

[0019] Figure 4 This is the fourth structural schematic diagram of the ultrasonic robot provided by the present invention.

[0020] Figure 5 This is the fifth structural schematic diagram of the ultrasonic robot provided by the present invention.

[0021] Figure 6 This is the sixth structural schematic diagram of the ultrasonic robot provided by the present invention.

[0022] Figure 7 This is the seventh structural schematic diagram of the ultrasonic robot provided by the present invention.

[0023] Figure 8 This is the eighth structural schematic diagram of the ultrasonic robot provided by the present invention.

[0024] Figure 9 This is the ninth structural schematic diagram of the ultrasonic robot provided by the present invention.

[0025] Figure 10 This is the tenth structural schematic diagram of the ultrasonic robot provided by the present invention.

[0026] Figure 11 This is the eleventh schematic diagram of the ultrasonic robot provided by the present invention.

[0027] Figure 12 This is the twelfth schematic diagram of the ultrasonic robot provided by the present invention.

[0028] Figure 13 This is the thirteenth structural schematic diagram of the ultrasonic robot provided by the present invention.

[0029] Figure 14 This is the fourteenth structural schematic diagram of the ultrasonic robot provided by the present invention.

[0030] Figure 15 This is the fifteenth structural schematic diagram of the ultrasonic robot provided by the present invention.

[0031] Figure 16 This is the sixteenth structural schematic diagram of the ultrasonic robot provided by the present invention.

[0032] Figure label: 100: Wire drive device; 110: Drive motor; 120: Spiral take-up and unwind device; 121: Support component; 122: Wire restraint device; 123: Bearing positioning sleeve; 124: Bearing; 125: 20-tooth synchronous gear; 126: 80-tooth synchronous gear; 127: Synchronous belt; 200: End effector; 300: Ultrasonic probe; 400: Cable; 500: Support base; 611: First thin-walled bearing; 612: Linear guide rail; 613: Inner ring support of thin-walled bearing; 614: Outer ring support of thin-walled bearing; 615: Rotary guide rail bracket ring; 621: First balance ring; 622: Second balance ring. Ring; 623: Thin-walled bearing between the first balance ring and the slider; 624: Support part; 625: Second bearing; 626: Inner ring support of the thin-walled bearing; 627: Outer ring support of the thin-walled bearing; 630: Slider; 700: Clamping assembly; 710: First clamping part; 720: Second clamping part; 730: Connecting rod; 810: First connecting flange; 820: Six-axis force sensor; 830: Second connecting flange; 900: Force sensor; 910: First pulley; 920: Second pulley; 930: Third pulley; 940: Fourth pulley; 1000: Tensioning device; 1100: Attached structure. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0034] The following is combined with Figures 1-16 The ultrasonic robot of the present invention is described.

[0035] Figure 1 This is one of the structural schematic diagrams of the ultrasonic robot provided by the present invention, such as... Figure 1 As shown, the ultrasonic robot includes: a wire drive device 100, an end effector 200, and an ultrasonic probe 300.

[0036] The wire drive device 100 refers to a mechanical device that converts electrical signals into mechanical motion of the connected cable 400, thereby driving the end effector 200 to move. The end effector 200 refers to a mechanical device used to adjust the position of the ultrasonic probe 300 under the control of the wire drive device 100.

[0037] In this embodiment, the ultrasonic probe 300 can be an existing commercial ultrasonic probe 300.

[0038] It is understood that the components involved in the embodiments of the present invention are preferably medical components.

[0039] In one embodiment, the end effector 200 includes a support 500 and a degree-of-freedom mechanism, the degree-of-freedom mechanism being at least partially located inside the support 500 and cooperating with the support 500; The line drive device 100 is connected to the degree-of-freedom mechanism via a cable 400, and the ultrasonic probe 300 is fixed to the scanning side of the degree-of-freedom mechanism. The line drive device 100 is used to control the movement of the degree-of-freedom mechanism via the transceiver cable 400 and adjust the detection position of the ultrasonic probe 300.

[0040] The support base 500, also known as the support base or bottom support 500, is used to support the degree-of-freedom mechanism and the ultrasonic probe 300 mounted on the mechanism. The degree-of-freedom mechanism allows the ultrasonic robot to have multiple degrees of freedom, such as 3, 5, or 6 degrees of freedom. The degree-of-freedom mechanism can be entirely located inside the support base 500, or a portion near the bottom of the mechanism can be located inside the support base 500, or a portion near the top of the mechanism can be located inside the support base 500, etc.

[0041] The mating connection between the degree-of-freedom mechanism and the support base 500 can also be referred to as a flexible connection, a flexible connection, or a bendable connection. For example, the mating connection between the degree-of-freedom mechanism and the support base 500 allows the degree-of-freedom mechanism and the support base 500 to produce a certain amount of displacement or bending along the vertical axis.

[0042] Cable 400 refers to a type of wire that has a certain degree of flexibility and tensile strength, allowing it to be stretched, but with minimal change in length after stretching. Cable 400 can be made of steel wire, polyethylene polymer wire, etc.

[0043] For example, the wire drive device 100 may include a stepper motor, which can be connected to a control terminal for serial communication. The control terminal can send electrical signals to the stepper motor based on received commands to control the stepper motor to rotate, thereby controlling the wire drive device 100 to tighten and release the connected polyethylene polymer wire, driving the degree-of-freedom mechanism to move, and controlling the ultrasonic probe 300 to move or rotate in a predetermined direction, thereby changing the pose of the ultrasonic probe 300 and adjusting its detection position. The control terminal may be a local computer, and the commands received by the local computer may be commands sent by a pre-running program or commands input by the user.

[0044] Compared to relying on high-precision sensors and complex mechanical components to adjust the detection position and attitude of the ultrasonic probe 300, the ultrasonic robot provided in this embodiment of the invention, by mounting the ultrasonic probe 300 on the degree-of-freedom mechanism of the end effector 200 and connecting the line drive device 100 and the degree-of-freedom mechanism of the end effector 200 through the cable 400, can control the movement of the degree-of-freedom mechanism through the transmission and reception of the cable 400 of the line drive device 100, and adjust the detection position and attitude of the ultrasonic probe 300, thereby reducing the cost of the ultrasonic robot, expanding the practical application range of the ultrasonic robot, and its application range in education, training or scientific research fields, etc.

[0045] Furthermore, in this embodiment, the ultrasonic robot adopts a line-driven mode based on polyethylene polymer lines, which can greatly reduce the weight of the end effector 200 and improve the portability of the ultrasonic robot.

[0046] Based on the above embodiments, the degree-of-freedom mechanism includes a planar degree-of-freedom component and a rotational degree-of-freedom component. The wire drive device 100 is connected to the planar degree-of-freedom component and the rotational degree-of-freedom component respectively via a cable 400. The planar degree-of-freedom component is connected to the support base 500. The planar degree-of-freedom component includes a slider 630, the rotational degree-of-freedom component is mounted on the slider 630, and the ultrasonic probe 300 is fixed to the scanning side of the rotational degree-of-freedom component.

[0047] The planar degree-of-freedom component refers to the component that works with the wire drive device 100 to adjust the position of the ultrasonic probe 300, and the rotational degree-of-freedom component refers to the component that works with the wire drive device 100 to adjust the angle of the ultrasonic probe 300. The slider 630 refers to a moving part that can slide on the planar degree-of-freedom component.

[0048] For example, the wire drive device 100 can be connected to the slider 630 via the cable 400. By controlling the wire drive device 100 to tighten and release the connected polyethylene polymer wire, the slider 630 can be moved. By adjusting the position of the slider 630, the position of the rotational degree of freedom component can be adjusted, thereby adjusting the position of the ultrasonic probe 300. By controlling the wire drive device 100 to tighten and release the connected polyethylene polymer wire, the rotational degree of freedom component can be rotated, thereby adjusting the angle of the ultrasonic probe 300, so as to change the pose of the ultrasonic probe 300 and adjust the detection position of the ultrasonic probe 300.

[0049] In this embodiment, the rotational degree-of-freedom component is mounted on the slider 630 of the planar degree-of-freedom component, making the overall structure of the ultrasonic robot simple and compact. At the same time, the rotational degree-of-freedom component adjusts the angle of the ultrasonic probe 300 based on the planar degree-of-freedom component adjusting the position of the ultrasonic probe 300. This separate degree-of-freedom adjustment structure avoids complex multi-axis linkage and can be applied to scenarios where the ultrasonic probe 300 needs to scan multiple directions or complex curved surfaces, such as joints, abdomens, or irregular surfaces.

[0050] In addition, in this embodiment, the position can be coarsely adjusted by the planar degree of freedom component, and then the angle can be finely adjusted by the rotational degree of freedom component, thereby reducing the accumulation of adjustment error and improving the overall positioning accuracy of the ultrasonic probe 300.

[0051] In one embodiment, the wire drive device 100 is a bidirectional spiral wire drive device 100. The bidirectional spiral wire drive device 100 may include a drive motor 110 and a spiral take-up and release device 120. The cable 400 can be simultaneously tightened and released by simply driving the spiral take-up and release device 120 to rotate via the drive motor 110. Furthermore, the ultrasonic robot can have wire grooves or channels corresponding to the path of the cable 400, so that each position of the cable 400 is in an independent wire groove or channel, avoiding the cable 400 from wrapping around other cables 400 and reducing the risk of gaps and errors.

[0052] Each degree of freedom is controlled by a linear drive device, which is actually implemented in this invention as follows: Figure 5 The array of line drive devices shown drives the motion of the degree-of-freedom mechanism. It is understood that the six line drive devices are basically designed with the same specifications and interface; therefore, the following explanation of the ultrasonic robot provided by this invention will primarily focus on the schematic diagram of a single line drive device.

[0053] Among them, the line drive array can be serially expanded in a "plug and play" manner to fully cover the end-effector rotation, translation and pressure control requirements, while retaining dimensional redundancy for further expansion.

[0054] Based on any of the above embodiments, the planar degree-of-freedom component further includes a circular guide rail and a linear slide rail 612, wherein the circular guide rail is connected to the support base 500. The circular guide rail has symmetrical mounting holes at its center. The linear slide rail 612 is mounted on the circular guide rail through the mounting holes, and the slider 630 is mounted on the linear slide rail 612.

[0055] A circular guide rail refers to a guide rail with a circular shape. A guide rail can also be called a guide rail pair, referring to a guiding device that includes a moving part and a supporting guide part. A linear slide rail 612 refers to a track with a straight line shape. A slider 630 is mounted on the linear slide rail 612, and the slider 630 can move linearly along the linear slide rail 612.

[0056] For example, the circular guide rail can be a thin-walled bearing 611. A thin-walled bearing outer ring support 614 and a thin-walled bearing inner ring support 613 are provided on the support base 500. A rotary guide rail bracket ring 615 can be provided on the thin-walled bearing inner ring support 613. The outer ring of the thin-walled bearing 611 can mate with the shoulder of the thin-walled bearing outer ring support 614, and the inner ring of the thin-walled bearing 611 can mate with the shoulder of the thin-walled bearing inner ring support 613. The outer ring of the thin-walled bearing 611 can be considered as a bearing component, and the rotary guide rail bracket ring 615, the thin-walled bearing inner ring support 613, and the inner ring of the thin-walled bearing 611 as a whole can be considered as moving parts.

[0057] Two pairs of mounting holes can be centrally symmetrically designed in the rotary guide rail bracket ring 615, respectively for mounting the stainless steel slide rail as a linear slide rail 612 in the same direction. The slider 630 can be inserted on the two stainless steel slide rails. The diameter of the mounting holes is 5-6mm, preferably 5.3mm. To reduce the overall weight of the rotary guide rail bracket ring 615, the stainless steel slide rail is preferably a hollow tube.

[0058] The thin-walled bearing 611 can be a KA075XPO type with an inner diameter of 190.5mm, an outer diameter of 203.2mm, and a height of 6.35mm. The stainless steel slide rail can have a diameter of 5mm and a length of 171mm. With the linear slide rail 612 having a sliding length of 171mm, the ultrasonic probe 300 can reach any position within a circular plane with a diameter of 171mm through the cooperation of the linear slide rail 612 and the circular slide rail.

[0059] In this embodiment, the slider 630 can be displaced along the linear slide rail 612 in the slide rail direction. By setting the linear slide rail 612 on the circular guide rail, the direction of the linear slide rail 612 can be changed by the circular guide rail, allowing the planar degree-of-freedom component to rotate 360° around the axis of the circular guide rail. Through the cooperation of the circular guide rail and the linear slide rail 612, the slider 630 can reach any position in the circular plane corresponding to the circular guide rail. This allows the rotational degree-of-freedom component set on the slider 630 to reach any position in the circular plane corresponding to the circular guide rail, and consequently, the ultrasonic probe 300 set on the rotational degree-of-freedom component can reach any position in the circular plane corresponding to the circular guide rail. The slider 630 can generate a maximum displacement of 24mm along the linear slide rail 612 in the slide rail direction.

[0060] Furthermore, in this embodiment, the structure of the linear slide rail 612 set on the circular guide rail not only allows access to any position in the circular plane corresponding to the circular guide rail, but also reduces the space occupied by planar degree-of-freedom components, making the layout of the ultrasonic robot more compact and enhancing its portability.

[0061] In this embodiment, the circular guide rail increases the directional adjustment granularity of the slider 630, and the linear guide rail 612 increases the displacement adjustment granularity of the slider 630. The cooperation between the circular guide rail and the linear guide rail 612 can increase the positioning accuracy of the slider 630, thereby improving the positioning accuracy of the ultrasonic probe 300.

[0062] Based on any of the above embodiments, the rotational degree-of-freedom component includes a first balance ring 621, a second balance ring 622, and a third balance ring, and the ultrasonic probe 300 is fixed to the scanning side of the third balance ring; The inner wall of the first balance ring 621 is at least partially mounted on the slider 630, the second balance ring 622 is mounted on the inner wall of the first balance ring 621, and the third balance ring is mounted on the inner wall of the second balance ring 622; wherein the rotation axis of the second balance ring 622 is perpendicular to the rotation axis of the first balance ring 621, and the rotation axis of the third balance ring is perpendicular to the rotation axis of the second balance ring 622.

[0063] For example, the axial direction of the circular guide rail can be the Z-axis direction, the axial direction of the first balance ring 621 can be the Z-axis direction, the axial direction of the second balance ring 622 can be the X-axis direction, and the axial direction of the third balance ring can be the Y-axis direction. In this embodiment, at least a portion of the slider 630 and the mounting portion of the second balance ring 622 are mounted on the inner wall of the first balance ring 621.

[0064] For example, the theoretical range of motion for rotation along the X-axis can be limited to -25° to +25°, the range of motion for rotation along the Y-axis can be limited to -30° to +30°, and the range of motion for rotation along the Z-axis can be limited to -180° to +180°.

[0065] It is understood that, based on the above-mentioned rotation range, and combined with the ultrasound probe 300 reaching any position in a circular plane with a diameter of 171 mm, the ultrasound robot provided by this invention is sufficient to cover the typical cross-sectional imaging requirements of the liver.

[0066] In this embodiment, a remotely mounted wire drive device is used, which, along with the power-computing unit, can be integrated into a backpack or bedside support. A flexible transmission is formed via PEEK tubing and polyethylene polymer wire, and the weight of the end module is kept below 500g. This combination of lightweight design and complete degrees of freedom allows the ultrasound robot to fully replicate the scanning movements of a clinician's wrist.

[0067] Understandably, due to the draw wire structure and PEEK tube, some rotational degrees of freedom are limited, and it may not be able to reach the theoretical motion limit.

[0068] The first balance ring 621 and the slider 630 can be connected by a thin-walled bearing 623. The thin-walled bearing 623 can be arranged coaxially with the first balance ring 621, the shoulder at the end of the first balance ring 621 can mate with the outer ring of the thin-walled bearing 623, and the inner ring of the thin-walled bearing 623 can mate with the slider 630.

[0069] In one embodiment, the inner wall of the first balance ring 621 is further provided with a first bearing, the axial direction of the first bearing being perpendicular to the axial direction of the first balance ring 621; the end of the second balance ring 622 is mounted on the first bearing, and the end of the second balance ring 622 and the inner ring of the first bearing are provided with a compression elastic element at an angle. The inner wall of the second balance ring 622 is provided with a second bearing 625, and the axial direction of the second bearing 625 is perpendicular to the axial direction of the second balance ring 622; the end of the third balance ring is mounted on the second bearing 625, and the end of the third balance ring and the inner ring of the second bearing 625 are provided with a compression elastic element.

[0070] In this embodiment, during assembly, the end of the balance ring to be installed and the compression elastic element can be simultaneously placed obliquely into the inner ring of the corresponding bearing. Then, the spring is released, and the spring's return automatically presses against the inner ring of the bearing and the end of the balance ring to be installed, limiting the displacement of the inner balance ring, thus completing the assembly of the balance ring quickly and easily. At this time, the outer ring of the bearing is in normal fit, and the inner ring of the bearing and the spring are in mutual compression fit. The spring can be a medical nickel-titanium compression spring.

[0071] Both the second bearing 625 and the third bearing can be miniature bearings. For example, a bearing groove can be provided on the inner wall of the first balance ring 621, and the shoulder of the bearing groove can mate with the outer ring of the miniature bearing. The end of the second balance ring 622 can be a connecting shaft, and the shoulder of the connecting shaft at the end of the second balance ring 622 can mate with the inner ring of the miniature bearing. In this embodiment, the inner and outer rings of the second bearing 625 and the third bearing respectively mate with the shoulders of corresponding structures, enabling them to withstand a certain axial force to maintain structural stability.

[0072] Specifically, the thin-walled bearing between the first balance ring 621 and the slider 630 can be a KA025XPO type thin-walled bearing with an inner diameter of 88.9 mm, an outer diameter of 101.6 mm, and a height of 6.35 mm. The miniature bearing can be a miniature bearing with an inner diameter of 3 mm, an outer diameter of 6 mm, and a height of 2.5 mm. Furthermore, in this embodiment, the thin-walled bearing 614 between the first balance ring 621 and the slider 630 and the thin-walled bearing 623 provided on the aforementioned support base 500 can withstand a certain axial load, serving as the main load-bearing components for two larger rotational movements.

[0073] In this embodiment, the third balance ring rotates relative to the second balance ring 622, and the second balance ring 622 rotates relative to the first balance ring 621. Therefore, each balance ring rotates around its axis, which can synchronously drive the ultrasonic probe 300 to rotate around the corresponding axis.

[0074] Furthermore, each balance ring has an axis perpendicular to its corresponding rotation axis within its plane. This axis generates the maximum displacement relative to the previous balance ring; for example, the third balance ring generates the maximum displacement relative to the second balance ring 622 along this axis. Therefore, guide tubes are symmetrically designed on the first, second, and third balance rings 621, 622, and 622 to control the rotation angle of the ultrasonic probe 300 by controlling the length of the cable 400. For example, the corresponding movement can be achieved by pulling the outer shells of the first, second, and third balance rings 621, 622, and 622, and the aforementioned circular guide rail moving component via the cable 400.

[0075] Furthermore, in this embodiment, when the balance rings are connected by bearings, the rotational freedom and low friction performance of each balance ring can be ensured.

[0076] Within the plane of each balance ring, there exists an axis perpendicular to the corresponding rotation axis. This axis generates the maximum displacement relative to the previous ring. Therefore, a peek tube leading from the corresponding position of the previous balance ring is symmetrically designed on each gyroscope-like balance ring structure. The angle of the ultrasonic probe is controlled by adjusting the length of the polyethylene polymer thread. The x, y, and z axes of the gyroscope-like balance ring structure intersect at the same point to mimic the shape of a human wrist, facilitating motion transfer and related mathematical calculations.

[0077] In another embodiment, for assembly scenarios where the outer ring of a bearing needs to be inserted into a housing with a shoulder, a portion of the shoulder can be removed based on the working conditions, allowing the outer ring of the bearing to be inserted obliquely into the housing. After being aligned, it is secured within the housing, thus restricting the displacement of the outer ring of the bearing through the shoulder. For example, when inserting a thin-walled bearing between the first balance ring 621 and the slider 630 into the first balance ring 621 with a shoulder, a portion of the shoulder at the end of the first balance ring 621 can be removed based on the specific working conditions, allowing the outer ring of the bearing to be inserted obliquely into the first balance ring 621. After being aligned, it is secured within the first balance ring 621, thus restricting the displacement of the outer ring of the bearing through the shoulder.

[0078] Based on any of the above embodiments, at least two support portions 624 are provided on the edge of the first balance ring 621 extending axially toward the first balance ring 621, and a guide tube is provided on the support portion 624, and a cable 400 is provided inside the guide tube. The second balance ring 622 has at least two support portions 624 extending axially toward the first balance ring 621 from its edge. Each support portion 624 is connected to a guide tube, and a cable 400 is provided inside the guide tube. The edge of the third balance ring extends axially toward the first balance ring 621 and is provided with at least two support portions 624. The support portions 624 are connected to a guide tube, and a cable 400 is provided inside the guide tube.

[0079] The length of the guide tube can be determined by specific measurements based on the installation location to ensure that the guide tube maintains a moderate bend within the movement range of the ultrasonic robot, control the routing direction of the cable 400, and reduce the friction between the guide tube and the cable 400 inside the guide tube.

[0080] For example, the support portion 624 provided on each balance ring can be a support groove. The preferred number is 6, but it can also be 3 or 4, etc. In this embodiment, there is no specific limit to the number, and it can be set according to the actual working size of the balance ring.

[0081] With six support slots on each balancing ring, they can be divided into pairs. The area between the two support slots in the middle pair is the region for the exchange of polyethylene polymer lines, thus precisely limiting the flow of the polyethylene polymer lines from the PEek tube to the rotary guide support ring. Each support slot can be designed with a 2 / 3 circular hole to facilitate the clamping of the PEek tube. Peek-specific adhesive can be applied inside the circular hole to increase the stability of the connection between the PEek tube and the circular hole.

[0082] The guide tube is made of a material with a surface friction coefficient lower than a set threshold. The specific friction coefficient threshold can be set according to actual needs. For example, the preferred material for the guide tube is polyetheretherketone (PEEK) tube (1mm inner diameter, 1.6mm outer diameter, 1.2m single length). This material has low friction, is self-lubricating, and has a compressive modulus of 3.4GPa, which can significantly reduce the frictional power consumption between the inner core and the tube wall and suppress axial compression. Of course, Teflon tubes, polytetrafluoroethylene tubes, etc., can also be used; this invention does not limit the choice. As mentioned above, the cable 400 is preferably a polyethylene polymer wire with an ultimate tensile strength (σ(uts)) of approximately 2.0GPa and a working strain of 0.5–1.0% (not exceeding 30% of the ultimate load), possessing both extremely high tensile strength and extremely low elongation characteristics. Of course, it can also be steel wire, steel wire rope, or cable, etc.; this invention does not limit the choice.

[0083] A 0.5mm diameter polyethylene polymer thread can be inserted into a Peek tube with an inner diameter of 1mm and an outer diameter of 2mm, thereby reducing the friction between the polyethylene polymer thread and the Peek tube wall. Specifically, the two ends of the polyether ether ketone tube can be connected to the guide seat of the line drive device 100 and the degree of freedom mechanism, respectively, to ensure that the pipeline is relatively fixed.

[0084] Observations have determined that the main problem with cable transmission is the friction and gap between the cable and the wall of the guide tube.

[0085] To reduce friction between the cable and the guide tube wall, segmented optimization can be implemented based on the motion characteristics of each degree of freedom. For paths with a turning angle ≤90°, PEEK pipes are laid in a straight line; when the turning angle >90°, anodized aluminum alloy is used for a smooth transition, eliminating lateral pressure friction between the polyethylene polymer cable and the guide tube wall at sharp bends. Simultaneously, the fixed-end anchor point of the attitude angle channel can be selected at the geometric position of maximum lever arm through mechanical analysis, reducing the driving tension requirement and improving control sensitivity from the source. This eliminates the need for additional pumps, valves, or complex flexible shaft structures; efficient traction transmission can be achieved in a compact space using only the combination of PEEK pipes and polyethylene polymer cables, even when the polyethylene polymer cable is bent at nearly 180°.

[0086] In this embodiment, by setting guide tubes at the first balance ring 621, the second balance ring 622 and the third balance ring, the loss in the complex angle change area when tightening and releasing the cable 400 can be reduced. It can also be combined with the design of the linear slide rail 612 and the circular guide rail to optimize the path of the cable 400, thereby increasing the accuracy of the cable 400 control degree of freedom mechanism.

[0087] Furthermore, in this embodiment, a groove can be provided at the maximum displacement of the third balancing ring relative to the second balancing ring 622 for connection with the cable 400. A guide tube for passing through the cable 400 in the third balancing ring can be provided on the second balancing ring 622. A groove can be provided at the maximum displacement of the second balancing ring 622 for connection with the cable 400. A guide tube for passing through the cable 400 in the second balancing ring 622 can be provided on the first balancing ring 621, so as to accurately control the angle of each balancing ring by pulling the cable 400.

[0088] In one embodiment, when the rotational degree-of-freedom component is in its initial state, the end face of the guide tube on the support portion 624 of the first balance ring 621 is opposite to the end face of the guide tube on the support portion 624 of the second balance ring 622, and the end face of the guide tube on the support portion 624 of the first balance ring 621 is in the same direction as the end face of the guide tube on the support portion 624 of the third balance ring. For example, when the rotational degree-of-freedom component is in its initial state, a guide tube is provided on a section of the support portion 624 of the first balance ring 621 facing the positive Z-axis, a guide tube is provided on a section of the support portion 624 of the second balance ring 622 facing the negative Z-axis, and a guide tube is provided on a section of the support portion 624 of the third balance ring facing the positive Z-axis.

[0089] In one embodiment, at least two support portions 624 are provided on the thin-walled bearing outer ring support of the planar degree of freedom component, extending axially toward the thin-walled bearing outer ring. The support portions 624 are provided with guide tubes, and the guide tubes are provided with cables 400.

[0090] In one embodiment, 1mm square grooves are provided on the rotary guide rail bracket ring 615 and the guide bearing frame respectively for fixing polyethylene polymer wires.

[0091] The guide bearing frame may include an upper sub-frame and a lower sub-frame, which are detachably connected, for example, by screws or pins. The upper sub-frame is made of thermoplastic polymer, while the lower sub-frame, which includes the wire structure for controlling rotation around the x-axis, is made of aluminum alloy. This design reduces the weight of the guide bearing frame and increases control stability while maintaining control accuracy.

[0092] Based on any of the above embodiments, the scanning side of the third balance ring is provided with a first clamping part 710, a second clamping part 720 and a connecting rod 730. The first clamping part 710 and the second clamping part 720 are connected by the connecting rod 730, and the ultrasonic probe 300 is fixed between the first clamping part 710 and the second clamping part 720.

[0093] The first clamping portion 710 can also be referred to as the left clamping portion, and the second clamping portion 720 can also be referred to as the right clamping portion. The first clamping portion 710 and the second clamping portion 720 can be designed symmetrically from left to right. For example, a flexible layer can be provided on the side of the first clamping portion 710 and the second clamping portion 720 that contacts the ultrasonic probe 300, so that the first clamping portion 710 and the second clamping portion 720 can better fit the ultrasonic probe 300 with different surface shapes.

[0094] For example, after the first clamping part 710 and the second clamping part 720 are connected by a connecting rod 730 and the ultrasonic probe 300 is fixed between the first clamping part 710 and the second clamping part 720, the relative movement between the first clamping part 710, the second clamping part 720 and the connecting rod 730 can be restricted by screws. The connecting rod 730 can be a telescopic rod, and the surface of the connecting rod 730 can be a smooth rod. Specifically, the connecting rod 730 can be located between the first clamping part 710 and the second clamping part 720, and the top can be secured with six M2 set screws to press the ultrasonic probe 300.

[0095] In this embodiment, the first clamping part 710 and the second clamping part 720 for clamping the ultrasonic probe 300 are designed separately, which can clamp ultrasonic probes 300 with different surface shapes. The first clamping part 710 and the second clamping part 720 are connected by the connecting rod 730, which can increase the ease of assembly of the first clamping part 710 and the second clamping part 720 when clamping the ultrasonic probe 300.

[0096] The first clamping part 710, the second clamping part 720 and the connecting rod 730 can be referred to as the clamping assembly 700. In one embodiment, a six-axis force sensor 820 can be fixedly provided between the third balance ring and the clamping assembly 700.

[0097] For example, the second balancing ring can be fixedly connected to the six-axis force sensor 820 via the first connecting flange 810, and the clamping assembly 700 can be fixedly connected to the six-axis force sensor 820 via the second connecting flange 830. Specifically, it can be fixed with M4 screws.

[0098] When the lower subframe of the guide bearing frame is made of aluminum alloy, the second balance ring and the first connecting flange 810 can also be made of aluminum alloy to increase strength.

[0099] As mentioned above, the line drive device 100 can be controlled by a local computer or other control terminal. In this embodiment, the six-axis force sensor 820 can calculate the force and torque generated by the ultrasonic probe 300 on the clamping assembly 700 contacting the skin, joints and other surfaces, and feed the corresponding signals back to the control terminal, so that the line drive device 100 can perform feedback adjustment and increase the accuracy of the ultrasonic robot's control of the ultrasonic probe 300.

[0100] Based on any of the above embodiments, it further includes a tensioning device and a force sensor 900, wherein the tensioning device is pressed above one side of the cable and the force sensor is connected in series on the other side of the cable.

[0101] The tensioning device can be an optical shaft, which drives the cable on one side of the linear drive device to generate a constant clamping force, ensuring that the cable maintains basic tension throughout its entire stroke. The optical shaft can be made of steel, and its diameter can be 10mm. The value of the constant clamping force can be set according to actual needs; this embodiment does not impose any limitations on it.

[0102] The tensioning device can be fixed to the miniature linear bearing via the end flange. The miniature linear bearing can be slidably installed on the column guide rail on one side of the online drive device 100, allowing the tensioning device to move freely in the vertical direction.

[0103] Among them, the force sensor can measure the tension on the other side of the cable. By pre-setting the tension threshold on the other side of the cable, it is possible to make the cumulative displacement only start when the tension value measured by the force sensor rises to the tension threshold when the drive direction is reversed. This suppresses the idle stroke at the moment of direction switching and can significantly reduce the positioning error caused by the lag in tension recovery.

[0104] Performance evaluation showed that during the 0–120 mm•s⁻¹ reciprocating scan, the reverse idle distance of the degrees of freedom using this scheme was suppressed to within 0.02 mm, and the repeatability error was reduced by approximately 85% compared to the uncompensated condition. Even under test conditions with varying take-up / release ratios and complex paths, the line length resolution remained consistently below 0.05 mm, verifying the broad adaptability and excellent accuracy of this general-purpose wire drawing scheme for varying degrees of freedom.

[0105] Based on any of the above embodiments, the force sensor 900 includes a first pulley 910, a second pulley 920, a third pulley 930, and a fourth pulley 940 arranged along the direction of the line drive device 100 toward the degree-of-freedom mechanism; The cable 400 is disposed at the bottom of the first pulley 910 and the bottom of the second pulley 920, wrapped around the top of the third pulley 930, and wrapped around the bottom of the fourth pulley 940.

[0106] Understandably, after entering the force sensor 900, the cable 400 passes through the first pulley 910, the second pulley 920, the third pulley 930, and the fourth pulley 940 in sequence, and then leaves the force sensor 900.

[0107] The first pulley 910 is used to correct the orientation of the polyethylene polymer wire, allowing the cable 400 to enter from the bottom of the second pulley 920, pass over the top of the third pulley 930, and exit from the bottom of the fourth pulley 940. When tension is applied to the cable 400, it compresses the third pulley 930 and downwards the force sensor 900. The force sensor 900 body 950 can be a Spartacus SBT674-5kg one-dimensional force sensor 900.

[0108] For example, the force sensor 900 body 950 may be disposed below the third pulley 930, and a support member 121960 may be disposed between the force sensor 900 body 950 and the third pulley 930.

[0109] The first pulley 910, the second pulley 920, the third pulley 930 and the fourth pulley 940 can be mounted on the inner wall of the force sensor 900 via miniature bearings 970.

[0110] The tensile force on cable 400 can be calculated using the following formula: in, The tensile force on cable 400. The readings of the force sensor 900, which is equipped with a first pulley 910, a second pulley 920, a third pulley 930, and a fourth pulley 940, are for reference. The height difference between the second pulley 920 and the third pulley 930. The horizontal distance between the second pulley 920 and the third pulley 930.

[0111] In some applications, the measured tensile force has been verified to be between 0 and 4.96 kg, with a measurement accuracy of 0.005 kg.

[0112] In this embodiment, a force sensor 900 is installed next to the online drive device 100, which can accurately measure the tension on the cable 400 through the pulley height difference, so as to calibrate the tightening and releasing direction of the cable 400 and make the cable 400 move in a fixed direction. Furthermore, in this embodiment, the mechanical structure of the first pulley 910, the second pulley 920, the third pulley 930, the fourth pulley 940, and the path around which the cable 400 is wound can increase the stability and accuracy of measuring the tension of the cable 400.

[0113] In some embodiments, the axis of the high-position guide pulley among the first pulley 910, second pulley 920, third pulley 930, and fourth pulley 940 is coaxial with the force-measuring axis of the sensor. A low-position guide pulley is disposed on each of the bases on both sides of the sensor, with its axis height 8mm lower than that of the high-position guide pulley.

[0114] To ensure a constant cable entry angle, a fourth guide pulley is added when the cable enters the SBT to constrain the cable direction.

[0115] When the steel wire is subjected to a tension T, the two tension components passing through the high-position guide pulley generate a resultant force Fz≈2Tsin(α / 2) in the vertical direction, where α is the wrap angle of the steel wire at the high-position guide pulley (design value 15°). This resultant force acts completely downward along the force measuring axis of the sensor, thus obtaining the real-time tension through sensor numerical inversion.

[0116] The force sensor 900 has dimensions of 28mm × 18mm × 22mm. The cable of the swivel reel first passes through a tensioning device before passing through the force sensor 900. Both components utilize miniature bearings and CNC-machined aluminum alloy. Calibration experiments show that the tension measurement error is less than ±0.05 N within the 0–5 N range, meeting the resolution and linearity requirements of adaptive line tension management and closed-loop control.

[0117] Based on any of the above embodiments, a displacement elastic element is pressed between the circular guide rail and the support base 500. Exemplarily, the wire drive device 100 can control the circular guide rail to compress or stretch the displacement elastic element via the cable 400, achieving movement in the Z-axis direction. This drives the rotational freedom component connected to the circular guide rail to move in the Z-axis direction, thereby driving the ultrasound probe 300 on the rotational freedom component to move in the Z-axis direction. The displacement elastic element can be a medical compression spring or a medical elastic band, etc. The movement range of the displacement elastic element can be controlled within 0~20mm to ensure the stability of the contact pressure of the ultrasound probe 300.

[0118] Based on any of the above embodiments, such as Figure 13 As shown, the ultrasound robot also includes adjustable straps and an attachment structure 1100, the attachment structure 1100 being disposed on the patient-facing side of the degree-of-freedom mechanism, and the adjustable straps comprising at least two straps, the at least two adjustable straps being equally distributed along the circumferential direction and mounted on the edge of the attachment structure 1100.

[0119] Understandably, the adjustable straps and the attachment structure 1100 allow the end effector to be quickly fixed to curved surfaces such as the abdominal wall. The end effector can move synchronously with breathing and body posture, thereby significantly suppressing ultrasound artifacts caused by respiratory movements.

[0120] The attached structure 1100 is an axial pressure-controlled structure. A short-stroke compression mechanism is integrated between the attached structure and the end effector to provide axial floating of dz∈[0,20]mm to maintain a contact force of 0–2 N and absorb abdominal wall deformation when fixed to curved surfaces such as the abdominal wall.

[0121] In one embodiment, the edge of the adhesive structure 1100 is divided circumferentially and extends toward the patient side to provide a strap mounting portion, the strap mounting portion having an outward curvature.

[0122] The strap mounting part is provided with a through hole, and the fixed end of the adjustable strap can pass through the through hole and be fixedly connected to the strap mounting part.

[0123] To illustrate the end effector provided in this embodiment, such as Figure 13 As shown, a specific example is provided below.

[0124] The end effector 200 includes a support base 500, a degree-of-freedom mechanism, and an attachment structure 1100. The degree-of-freedom mechanism includes planar degree-of-freedom components and rotational degree-of-freedom components. Through the planar degree-of-freedom components and rotational degree-of-freedom components, the end effector 200 can generate six independent degrees of freedom within a single-layer thin structure.

[0125] Among them, the planar degree-of-freedom component corresponds to the single plane RP, the rotational degree-of-freedom component corresponds to the 3P attitude, and the attached structure 1100 corresponds to the axial direction P.

[0126] Among them, R of the single-plane RP joint is a large-sized main surrounding support z. b The shaft rotates (angle γ∈[-π / 2,+π / 2)), and a radial slide rail is arranged on the first balancing ring. The slider translates along the rail (radial amount ρ∈[-24,+24] mm) to form joint P. Steel wires are pulled and released in pairs to achieve independent control of γ and ρ; the combination of the two quantities can accurately position the centroid of the ultrasound probe in a circular scanning plane with a diameter of approximately 171 mm.

[0127] The rotational freedom components of the three-ring gyroscope provide rotation along three axes in sequence: the first balance orbit z... b The first y′ axis rotation angle ψ (-90–+90 continuously), the second balancing loop updates the y′ axis rotation angle θ (±30°), and the third balancing loop updates the x′ axis rotation angle φ (±36°). This “ZYX” Euler sequence, while maintaining computational simplicity, can completely reproduce the pitch, roll, and yaw movements of the clinician's wrist during scanning.

[0128] To achieve rapid prototyping, the overall shell frame can be 3D printed using a resin printer. This results in a shell frame with high hardness, strength, precision, toughness, dimensional stability, and reliable biosafety and mechanical stability.

[0129] To reduce friction during wire drawing and to precisely control the attitude angle with a high-strength structure, the rotational degree-of-freedom components can be individually machined using a five-axis computer numerical control (CNC) system. Miniature bearings (MR63ZZ, outer diameter: 6mm; inner diameter: 3mm) support the second and third balance rings within the rotational degree-of-freedom components.

[0130] To reduce weight, the larger first and second balance rings can be supported by glass bearings with custom POM housings (outer diameter: 210.5 / 108.9mm; inner diameter: 190.5 / 88.9mm).

[0131] Furthermore, the end effector is non-ferromagnetic, making it suitable for surface fixation and MRI-compatible applications.

[0132] To illustrate the function of the ultrasonic robot provided in this embodiment, a specific example is provided below.

[0133] It can be determined that the wire drive device 100 can generate a wire pull force of 20N, a wire take-up length of 565.35mm, and a wire release length of 565.35mm when winding up and releasing the cable 400, to meet the motion requirements of the end effector 200, which has a maximum wire pull force of 20N and a wire take-up / release length of 502.4mm. Based on the specific needs of the complex movements of the ultrasound probe 300 for medical imaging requiring precise positioning and stable adjustment, the theoretical angle control accuracy can be determined to reach 0.02°, and the theoretical control accuracy for the polyethylene polymer wire length can reach 0.01mm. Verification shows that the average RMS position error of the end effector can be controlled within 0.5mm, and the attitude error can be controlled within 0.2°.

[0134] Specifically, the wire drive device 100, also known as a finned drive module, may include a bidirectional spiral take-up / reel 120 and a 42-stepper motor. The bidirectional spiral take-up / reel 120 and the 42-stepper motor can be connected by a synchronous belt 127 and a gear on the synchronous belt 127. The synchronous gear is fixed to the shafts of the 42-stepper motor and the bidirectional spiral take-up / reel 120 respectively with set screws. The center distance of the synchronous belt 127 can be designed to be 65mm. The bidirectional spiral take-up / reel 120 may also be referred to as a finned winding device.

[0135] The spiral fin reel can be made of aluminum alloy and can be cylindrical, with specific dimensions such as a diameter of 60mm and a height of 24.9mm. In one embodiment, the outer circumference of the spiral fin reel is engraved with three equidistant left-hand and three right-hand spiral grooves, with a pitch of 1.645mm. Two Ø0.4mm polyethylene polymer threads fall into the two spiral grooves respectively, and the other end of the thread is clamped by a set screw, forming a closed-loop traction pair of "reeling in and releasing". The spiral fin reel, in conjunction with a 42-stepper motor and a 1:4 synchronous belt reducer, can achieve a theoretical linear resolution of 0.01mm for each channel and a maximum stroke of 565mm on one side, thus avoiding the "layer skipping" cumulative error caused by the traditional traction thread being directly wound on the cylindrical surface. At the same time, its axial dimension is only about 4% of that of a linear guide wire driver with the same stroke, achieving the combined advantages of the compact volume of a cylindrical drum and the positioning accuracy of a linear guide.

[0136] The bidirectional spiral take-up and unwinder 120 may include a support member 121; a line constraint device 122; a connecting shaft with bearing positioning sleeves 123 at both ends; an 80mm synchronous belt 127; a gear rod portion and a threaded portion; wherein the connecting shaft has a diameter of 7.5mm and a length of 7mm; the gear rod portion has a diameter of 20mm and a length of 20mm; the threaded portion includes two symmetrical threads, with a 5mm long buffer zone provided in the middle and at both ends of the threads; the helix angle of the middle thread is [missing information]. ,diameter Then the perimeter The elevation gain for each revolution is The length of the line corresponding to each loop is If a symmetrical thread is set with 3 turns on one side, the length of the threaded portion on one side is 4.95mm, and the total length of the threaded portion is 9.9mm.

[0137] Maximum diameter of end effector 200 , It can meet the motion requirements of the end effector 200 for the length of the take-up and untake-up lines.

[0138] The 42 stepper motor can be a "Zhang Datou 42•48mm body length stepper motor", which can provide a torque M of 0.6 N•m, and the maximum tensile force that the polyethylene polymer thread can generate. Where R is the radius of the bidirectional spiral take-up and take-up device.

[0139] Based on the conservation of torque, the tension can be calculated using the above formula. The 42-step motor drives the bidirectional spiral take-up and unwinder, and the rotation of the bidirectional spiral take-up and unwinder generates tension on the polyethylene polymer thread.

[0140] Based on accuracy calculations, the minimum step angle of the stepper motor for the 42.48mm body length of the Zhang Datou machine is 0.08°. The synchronous gears are designed as 20-tooth synchronous gears 125 and 125 and 80-tooth synchronous gears 126 and 126 respectively, with a transmission ratio of 1:4. Therefore, the minimum step angle of the bidirectional spiral take-up and unwinder 120 is... Theoretical control accuracy of polyethylene polymer line length .in, This refers to the step angle of the stepper motor. The step angle is the minimum controllable number of degrees per step. For example, with a transmission ratio of 1:4, the minimum step angle... It can be obtained by dividing the step angle of the stepper motor by 4.

[0141] The two ends of the bidirectional spiral take-up and unwinder 120 are connected to the bearing positioning sleeve 123. The bearing positioning sleeve 123 is matched with the bearing 124, which has an inner diameter of 10mm, an outer diameter of 19mm, and a height of 5mm. The shoulder of the bearing positioning sleeve 123 is matched with the inner ring of the bearing, and the outer ring is matched with the shoulder of the support member 121 of the bidirectional spiral take-up and unwinder 120.

[0142] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An ultrasonic robot, characterized in that, include: Wire drive unit, end effector, and ultrasonic probe; The end effector includes a support base and a degree-of-freedom mechanism, wherein the degree-of-freedom mechanism is at least partially located inside the support base and is connected to the support base in a cooperative manner; The line drive device is connected to the degree-of-freedom mechanism via a cable, and the ultrasonic probe is fixed to the scanning side of the degree-of-freedom mechanism; the line drive device is used to control the movement of the degree-of-freedom mechanism and adjust the detection position of the ultrasonic probe via a transceiver cable.

2. The ultrasonic robot according to claim 1, characterized in that, The degree-of-freedom mechanism includes a planar degree-of-freedom component and a rotational degree-of-freedom component. The wire drive device is connected to the planar degree-of-freedom component and the rotational degree-of-freedom component respectively via cables. The planar degree-of-freedom component is connected to the support base. The planar degree-of-freedom component includes a slider, the rotational degree-of-freedom component is mounted on the slider, and the ultrasonic probe is fixed to the scanning side of the rotational degree-of-freedom component.

3. The ultrasonic robot according to claim 2, characterized in that, The planar degree-of-freedom component also includes a circular guide rail and a linear slide rail, wherein the circular guide rail is connected to the support base. The circular guide rail has symmetrical mounting holes at its center. The linear slide rail is mounted on the circular guide rail through the mounting holes, and the slider is mounted on the linear slide rail.

4. The ultrasonic robot according to claim 2, characterized in that, The rotational degree-of-freedom component includes a first balance ring, a second balance ring, and a third balance ring, with the ultrasonic probe fixed to the scanning side of the third balance ring; The inner wall of the first balance ring is at least partially mounted on the slider, the second balance ring is mounted on the inner wall of the first balance ring, and the third balance ring is mounted on the inner wall of the second balance ring; wherein the rotation axis of the second balance ring is perpendicular to the rotation axis of the first balance ring, and the rotation axis of the third balance ring is perpendicular to the rotation axis of the second balance ring.

5. The ultrasonic robot according to claim 4, characterized in that, At least two support portions are provided on the edge of the first balance ring extending axially toward the first balance ring, and a guide tube is provided on the support portion, and a cable is provided inside the guide tube; The second balance ring has at least two support portions extending axially toward the first balance ring from its edge. The support portions are connected to guide tubes, and cables are installed inside the guide tubes. The edge of the third balance ring extends axially toward the first balance ring and is provided with at least two support portions. The support portions are connected to a guide tube, and a cable is provided inside the guide tube.

6. The ultrasonic robot according to claim 4, characterized in that, The scanning side of the third balancing ring is provided with a first clamping part, a second clamping part, and a connecting rod. The first clamping part and the second clamping part are connected by the connecting rod, and the ultrasound probe is fixed between the first clamping part and the second clamping part.

7. The ultrasonic robot according to claim 4, characterized in that, The inner wall of the first balance ring is also provided with a first bearing, the axial direction of the first bearing is perpendicular to the axial direction of the first balance ring; the end of the second balance ring is mounted on the first bearing, and the end of the second balance ring and the inner ring of the first bearing are provided with a compression elastic element at an angle. The inner wall of the second balance ring is provided with a second bearing, and the axial direction of the second bearing is perpendicular to the axial direction of the second balance ring; the end of the third balance ring is mounted on the second bearing, and the end of the third balance ring and the inner ring of the second bearing are provided with a compression elastic element at an angle.

8. The ultrasonic robot according to claim 1, characterized in that, It also includes a tensioning device and a force sensor, wherein the tensioning device is pressed above one side of the cable and the force sensor is connected in series on the other side of the cable.

9. The ultrasonic robot according to claim 1, characterized in that, The force sensor includes a first pulley, a second pulley, a third pulley, and a fourth pulley arranged along the direction of the line drive device toward the degree-of-freedom mechanism; The cable is disposed at the bottom of the first pulley and the bottom of the second pulley, wound around the top of the third pulley, and wound around the bottom of the fourth pulley.

10. The ultrasonic robot according to claim 1, characterized in that, The ultrasound robot also includes adjustable straps and an attachment structure. The attachment structure is installed on the patient-facing side of the degree-of-freedom mechanism. The adjustable straps include at least two straps, which are evenly distributed along the edge of the attachment structure in the circumferential direction.

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