Mechanical 4D linear array medical transducer with high-precision angle feedback function

Abstract

The invention discloses a mechanical 4D linear array medical transducer with a high-precision angle feedback function, and relates to the technical field of transducers, the mechanical 4D linear array medical transducer comprises a transducer main body, a probe support, a swing mechanism, an adjusting mechanism and a detection mechanism, the probe support is used for fixedly installing an ultrasonic probe; the swing mechanism is used for driving the probe bracket to rotate back and forth in the transducer main body and changing the angle of the ultrasonic probe; the adjusting mechanism is used for limiting the rotating angles of the probe bracket and the ultrasonic probe; and the detection mechanism is used for amplifying and detecting the rotating angles of the probe bracket and the ultrasonic probe. The fixing disc drives the connecting column to rotate, the connecting column pushes the fixing rod to rotate, the probe support and the ultrasonic probe are fixedly driven to rotate together, meanwhile, along with rotation of the connecting column, the fixing rod is pushed to swing around the rotating shaft in a reciprocating mode, the probe support and the ultrasonic probe swing smoothly, and multi-angle detection of the ultrasonic probe is facilitated; and real-time detection on the movement of the ultrasonic probe is facilitated.

Description

Technical Field

[0001] This invention relates to the field of transducer technology, and in particular to a mechanical 4D linear array medical transducer with high-precision angle feedback function. Background Technology

[0002] Medical transducers are special transducers used in medical diagnosis, treatment, monitoring, and rehabilitation to convert physiological signals or energy into electrical signals, or to precisely apply external energy to human tissues. Common medical transducers include ultrasonic transducers used for high-speed detection. Ultrasonic transducers convert high-frequency electrical signals into ultrasonic waves and use the emitted ultrasonic waves to observe the morphology, structure, and changes in the movement of organs and tissues in the patient's body over time. They are particularly important in obstetrics and gynecology for examining the fetus and observing dynamic organs such as the heart.

[0003] Common 4D transducers use motors to drive the transducer probe to oscillate, thereby obtaining ultrasonic data from different angles and positions to construct four-dimensional images. This often involves using the forward and reverse rotation of the motor to drive the ultrasonic probe in a reciprocating motion, as seen in the ultrasonic transducer, ICE probe, and four-dimensional imaging device for 4D imaging described in patent publication number CN119214685A. When switching between forward and reverse rotation, the motor typically needs to stop rotating forward first and then start rotating in the opposite direction. This can cause the ultrasonic probe to stall during the oscillation switching, resulting in intermittent detection of the ultrasonic probe's rotation angle and disrupting the entire detection process. Furthermore, most common 4D transducers use open-loop control, which is not conducive to real-time feedback of the ultrasonic probe's angle information. When the probe's movement becomes intermittent, the inability to accurately reflect the probe's motion status in a timely manner leads to deviations in the detection results and affects the accuracy of the ultrasonic images. Summary of the Invention

[0004] The purpose of this invention is to provide a mechanical 4D linear array medical transducer with high-precision angle feedback function to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a mechanical 4D linear array medical transducer with high-precision angle feedback function, comprising: Transducer body; A probe bracket is disposed inside the transducer body and is used to fix and install an ultrasonic probe. A swing mechanism is fixedly installed inside the transducer body. The swing mechanism is used to drive the probe bracket to reciprocate within the transducer body and change the angle of the ultrasonic probe. An adjustment mechanism is provided on the swing mechanism, and the adjustment mechanism is used to limit the rotation angle of the probe support and the ultrasonic probe; The detection mechanism is fixedly installed inside the transducer body and is used to amplify and detect the rotation angle of the probe bracket and the ultrasonic probe.

[0006] Preferably, the swing mechanism includes: A fixing frame is fixedly connected to one side of the inner wall of the transducer body, and the fixing frame is disposed on both sides of the probe bracket; A rotating shaft is fixedly connected to one side of one end of the probe bracket, and one end of the rotating shaft is rotatably inserted into the fixed frame; A fixing rod is fixedly connected to one side of the probe bracket and is positioned between the probe bracket and the fixing frame.

[0007] Preferably, the swing mechanism further includes: The movable groove is formed on the fixed rod and is elongated. A connecting column, one end of which is slidably inserted into the movable groove; A fixing plate, wherein the fixing plate is disposed on one side of the fixing rod; The mounting slot is formed on the fixed plate and is elongated. The mounting slot and the other end of the connecting column are slidably interlocked.

[0008] Preferably, the swing mechanism further includes: The mounting shaft is fixedly connected to the middle of the fixed plate, and one end of the mounting shaft is rotatably connected to the fixed frame; A limiting ring is fixedly connected to one end of a connecting column, and the limiting ring is in contact with one side of a fixed plate; A connecting seat is fixedly connected to the other end of the connecting column, and one end of the connecting seat is in contact with the other end of the fixed plate; The acoustic window head shell is fixedly installed at one end of the transducer body, and the position of the acoustic window head shell corresponds to that of the probe bracket.

[0009] Preferably, the adjustment mechanism includes: A receiving cavity, wherein the receiving cavity is formed in the middle of the mounting shaft; An adjusting screw is disposed within a receiving cavity, and one end of the adjusting screw is rotatably connected to the inner wall of the receiving cavity; An adjusting block is fixedly connected to the other end of an adjusting screw, and the adjusting block is rotatably connected to one side of the transducer body.

[0010] Preferably, the adjustment mechanism further includes: A nut block is slidably inserted into the receiving cavity, and the nut block is threadedly connected to one end of the adjusting screw; A fixing block, which is fixedly connected to the top and bottom ends of the nut block; A sliding groove is formed at the top and bottom of one end of the mounting shaft. The sliding groove is elongated and is slidably interlocked with the fixing block. A movable ring is slidably inserted into one end of the mounting shaft, and the inner wall of the movable ring is fixedly connected to one end of the fixed block.

[0011] Preferably, the adjustment mechanism further includes: A movable rod is located on one side of the fixed plate and is positioned between the connecting seat and the movable ring. A connecting shaft, which is fixedly connected to both ends of the movable rod; A fixed base is fixedly connected to the outer wall of the connecting base and the movable ring, and the fixed base is rotatably connected to the connecting shaft.

[0012] Preferably, the testing organization includes: A drive motor is fixedly installed inside the transducer body; A drive shaft, one end of which is connected to the output end of a drive motor; A support base is fixedly connected to one side of the inner wall of the transducer body, and the support base is rotatably connected to the other end of the drive shaft; A drive gear, which is fixedly mounted at both ends of the drive shaft.

[0013] Preferably, the testing organization includes: A driven gear is fixedly mounted on one end of a mounting shaft and meshes with one of the driving gears. A gearbox is fixedly installed inside the transducer body and is connected to another driving gear. A Hall encoder is fixedly installed inside the transducer body and located on one side of the gearbox, and is connected to the gearbox.

[0014] Preferably, the probe bracket is U-shaped, the outer wall of the connecting column fits against the inner wall of the movable groove, the outer wall of the connecting column fits against the inner wall of the mounting groove, and the number of teeth of the driving gear is greater than that of the driven gear.

[0015] The technical effects and advantages of this invention are as follows: This invention drives a drive motor to rotate a transmission shaft and a drive gear. The meshing of the drive gear and the driven gear drives the mounting shaft and the fixed disk to rotate together. The connecting column rotates with the fixed disk. One end of the connecting column presses against the inner wall of the movable groove and slides in the inner cavity of the movable groove, pushing the fixed rod to rotate. The fixed rod drives the probe bracket and the ultrasonic probe to rotate together. At the same time, as the connecting column rotates, it pushes the fixed rod to swing back and forth around the rotation axis, so that the probe bracket and the ultrasonic probe can swing smoothly, which facilitates multi-angle detection of the ultrasonic probe and makes it convenient to monitor the movement of the ultrasonic probe in real time. This invention uses an adjusting block to drive an adjusting screw to rotate, which in turn causes a nut block to move horizontally at one end of the adjusting screw. The movable ring moves along with the nut block and slides at one end of the mounting shaft, causing the movable rod to move and rotate. This allows one end of the movable rod to move the connecting column within the mounting groove, adjusting the distance between the connecting column and the axis of the mounting shaft. This, in turn, changes the radius of rotation of the connecting column, adjusts the distance the connecting column moves within the movable groove, and changes the angle at which the connecting column pushes the fixed rod to rotate. This achieves the limitation of the rotation angle of the probe bracket and the ultrasonic probe, facilitating precise control of the ultrasonic probe angle. This invention utilizes the cooperation of a driving gear, a driven gear, and a gearbox to amplify the rotation angle of the probe bracket. A Hall encoder uses a magnetic sensor and the Hall effect to measure the angle and detect the running angle of the gearbox, thereby achieving accurate detection and feedback of the rotation angle of the ultrasonic probe. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a top sectional view of the transducer body of the present invention. Figure 3 This is a top sectional view of the probe bracket structure of the present invention; Figure 4 This is a schematic diagram of the probe bracket structure of the present invention; Figure 5 This is an exploded view of the fixed disk of the present invention; Figure 6 This is a top view of the fixed disk structure of the present invention; Figure 7 This is a top sectional view of the mounting shaft of the present invention.

[0017] In the attached diagram: 1. Transducer body; 2. Probe bracket; 3. Swing mechanism; 31. Fixing frame; 32. Rotating shaft; 33. Fixing rod; 34. Movable groove; 35. Connecting column; 36. Fixing plate; 37. Mounting groove; 38. Mounting shaft; 39. Limiting ring; 310. Connecting seat; 311. Acoustic window head shell; 4. Adjustment mechanism; 41. Receiving cavity; 42. Adjusting screw; 43. Adjusting block; 44. Nut block; 45. Fixing block; 46. Sliding groove; 47. Movable ring; 48. Movable rod; 49. Connecting shaft; 410. Fixing seat; 5. Detection mechanism; 51. Drive motor; 52. Transmission shaft; 53. Support seat; 54. Driving gear; 55. Driven gear; 56. Gearbox; 57. Hall encoder. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] This invention provides, for example Figures 1-7 The mechanical 4D linear array medical transducer with high-precision angle feedback function shown includes a transducer body 1, a probe bracket 2, a swing mechanism 3, an adjustment mechanism 4, and a detection mechanism 5. The transducer body 1 is used to convert electrical energy into ultrasonic waves for detection. The probe bracket 2 is set inside the transducer body 1 and is used to fix the ultrasonic probe. The probe bracket 2 drives the ultrasonic probe to rotate, which facilitates real-time adjustment of the ultrasonic probe's angle. The swing mechanism 3 is fixedly installed inside the transducer body 1 and is used to drive the probe bracket 2 to reciprocate within the transducer body 1 and change the angle of the ultrasonic probe. The adjustment mechanism 4 is set on the swing mechanism 3 and is used to limit the rotation angle of the probe bracket 2 and the ultrasonic probe. The detection mechanism 5 is fixedly installed inside the transducer body 1 and is used to amplify and detect the rotation angle of the probe bracket 2 and the ultrasonic probe, and then feed the detected data back to the host.

[0020] The swing mechanism 3 includes a fixed frame 31, a rotating shaft 32, a fixed rod 33, a movable groove 34, a connecting column 35, a fixed plate 36, a mounting groove 37, a mounting shaft 38, a limiting ring 39, a connecting seat 310, and an acoustic window head shell 311. The fixed frame 31 is fixedly connected to one side of the inner wall of the transducer body 1 and is disposed on both sides of the probe bracket 2. The fixed frame 31 is used to install the probe bracket 2. The rotating shaft 32 is fixedly connected to one side of one end of the probe bracket 2. One end of the rotating shaft 32 is rotatably inserted into the fixed frame 31. One end of the probe bracket 2 is rotatably connected to the fixed frame 31 through the rotating shaft 32, so that the probe bracket 2 drives the ultrasonic probe to rotate around the rotating shaft 32. The fixed rod 33 is fixedly connected to the probe bracket 2. On one side, a fixed rod 33 is positioned between the probe bracket 2 and the fixed frame 31, and the fixed rod 33 is used to drive the probe bracket 2 to rotate. A movable groove 34 is formed on the fixed rod 33, and the movable groove 34 is elongated, used to install and accommodate the connecting column 35. One end of the connecting column 35 is slidably inserted into the movable groove 34, and the connecting column 35 slides in the inner cavity of the movable groove 34 and presses against the inner wall of the movable groove 34, pushing the fixed rod 33 to rotate. A fixed plate 36 is positioned on one side of the fixed rod 33, and the fixed plate 36 is used to install the connecting column 35 and drive the connecting column 35 to rotate. An installation groove 37 is formed on the fixed plate 36, and the installation groove 37 is elongated, with the other end of the installation groove 37 intersecting with the connecting column 35. The mounting groove 37 is designed to accommodate the connecting column 35. The connecting column 35 slides within the mounting groove 37, changing its position on the fixed plate 36. The mounting groove 37 is vertically aligned with the axis of the fixed plate 36. A mounting shaft 38 is fixedly connected to the center of the fixed plate 36, with one end rotatably connected to the mounting bracket 31. The mounting shaft 38 is used to mount the fixed plate 36, causing it to rotate around the mounting shaft 38. This rotation of the fixed plate 36 drives the connecting column 35 to rotate as well. One end of the connecting column 35 presses against the inner wall of the movable groove 34 and slides within the cavity of the movable groove 34, pushing the fixing rod 33 to rotate. The fixing rod 33 then drives the probe bracket 2 and the ultrasonic probe to rotate together. As the connecting column 35 rotates, it pushes the fixed rod 33 to swing back and forth around the rotating shaft 32, allowing the probe bracket 2 and the ultrasonic probe to swing smoothly, facilitating multi-angle detection by the ultrasonic probe. The limiting ring 39 is fixedly connected to one end of the connecting column 35 and fits against one side of the fixed plate 36. The limiting ring 39 is used to limit and fix the connecting column 35. The connecting seat 310 is fixedly connected to the other end of the connecting column 35 and fits against the other end of the fixed plate 36. Through the cooperation of the connecting seat 310 and the limiting ring 39, the connecting column 35 and the fixed plate 36 are limited and installed, ensuring that the connecting column 35 moves stably on the fixed plate 36 and that the fixed plate 36 drives the connecting column 35 to rotate stably.The acoustic window housing 311 is fixedly installed at one end of the transducer body 1, and its position corresponds to that of the probe bracket 2. The acoustic window housing 311 serves as the ultrasonic signal transmission window.

[0021] The adjusting mechanism 4 includes a receiving cavity 41, an adjusting screw 42, an adjusting block 43, a nut block 44, a fixing block 45, a sliding groove 46, a movable ring 47, a movable rod 48, a connecting shaft 49, and a fixed seat 410. The receiving cavity 41 is located in the middle of the mounting shaft 38 and is used to install the adjusting screw 42 and the nut block 44. The adjusting screw 42 is disposed in the receiving cavity 41, and one end of the adjusting screw 42 is rotatably connected to the inner wall of the receiving cavity 41. The adjusting screw 42 rotates in the receiving cavity 41 to install the nut block 44 and drive the nut block 44 to move within the receiving cavity 41. The adjusting block 43 is fixedly connected to the adjusting screw. At the other end of 42, the adjusting block 43 is rotatably connected to one side of the transducer body 1. One end of the adjusting block 43 is located outside one side of the transducer body 1. The adjusting block 43 drives the adjusting screw 42 to rotate, and a sealing ring is fixedly installed on the adjusting block 43 to ensure the sealing of the installation location of the adjusting block 43. The nut block 44 is slidably inserted into the receiving cavity 41. The nut block 44 is threadedly connected to one end of the adjusting screw 42. The nut block 44 is used to install the movable ring 47 and drive the movable ring 47 to move. By rotating the adjusting screw 42, the nut block 44 moves at one end of the adjusting screw 42, thus controlling the movement of the nut block 44. The position of 4 is adjusted; the fixing block 45 is fixedly connected to the top and bottom of the nut block 44, and the fixing block 45 is used to limit the movement of the nut block 44 so that it cannot rotate; the sliding groove 46 is opened at the top and bottom of one end of the mounting shaft 38, the sliding groove 46 is elongated, and the sliding groove 46 and the fixing block 45 are slidably interlocked. The sliding groove 46 is used to install and accommodate the fixing block 45, and the fixing block 45 slides in the sliding groove 46. The outer wall of the fixing block 45 is in contact with the inner wall of the sliding groove 46, limiting the nut block 44 so that it moves stably in the horizontal direction, and the mounting shaft 38 drives the nut block 44 and The movable ring 47 rotates together; the movable ring 47 is slidably inserted into one end of the mounting shaft 38, and the inner wall of the movable ring 47 is fixedly connected to one end of the fixed block 45. The movable ring 47 moves horizontally at one end of the mounting shaft 38 to drive the movable rod 48 to move; the movable rod 48 is set on one side of the fixed plate 36 and is set between the connecting seat 310 and the movable ring 47. The movable rod 48 is used to connect the movable ring 47 and the connecting seat 310. The movable rod 48 drives the connecting column 35 to move along the inner cavity of the mounting groove 37 to adjust the position of the connecting column 35; the connecting shaft 49 is fixedly connected to both ends of the movable rod 48.The fixed base 410 is fixedly connected to the outer wall of the connecting base 310 and the movable ring 47 respectively. The fixed base 410 is rotatably connected to the connecting shaft 49. The two ends of the movable rod 48 are rotatably connected to the fixed base 410 through the connecting shaft 49, so that the movable rod 48 rotates around the connecting shaft 49. When the transducer body 1 stops working, the adjusting block 43 drives the adjusting screw 42 to rotate, which drives the nut block 44 to move horizontally at one end of the adjusting screw 42. The movable ring 47 moves together with the nut block 44 and slides at one end of the mounting shaft 38, which drives the movable rod 48 to move and rotate. This causes one end of the movable rod 48 to drive the connecting column 35 to move in the mounting groove 37, adjusting the distance between the connecting column 35 and the axis of the mounting shaft 38, thereby changing the rotation radius of the connecting column 35, adjusting the distance the connecting column 35 moves in the movable groove 34, and changing the angle at which the connecting column 35 pushes the fixed rod 33 to rotate, thus limiting the rotation angle of the probe bracket 2 and the ultrasonic probe, which facilitates the control of the rotation angle of the ultrasonic probe.

[0022] The detection mechanism 5 includes a drive motor 51, a transmission shaft 52, a support base 53, a drive gear 54, a driven gear 55, a gearbox 56, and a Hall encoder 57. The drive motor 51 is fixedly installed inside the transducer body 1 and is electrically connected to an external power supply via an external first switch. The drive motor 51 drives the transmission shaft 52 to rotate. One end of the transmission shaft 52 is connected to the output end of the drive motor 51, and the transmission shaft 52 is used to mount the drive gear 54. The support base 53 is fixedly connected to one side of the inner wall of the transducer body 1, and the support base 53 is rotatably connected to the other end of the transmission shaft 52. The support base 53 is used to detect... The drive shaft 52 is installed and supported to ensure its stable rotation. The drive gears 54 are fixedly installed at both ends of the drive shaft 52, driving both drive gears 54 to rotate together. The driven gear 55 is fixedly installed at one end of the mounting shaft 38, meshing with one of the drive gears 54. The meshing of the drive gear 54 and driven gear 55 causes the drive gear 54 to drive the driven gear 55 to rotate. The mounting shaft 38 and the fixed disk 36 rotate together with the driven gear 55. The fixed disk 36 drives the connecting column 35 to rotate, pushing the fixed rod 33 and the probe bracket 2. The reciprocating motion of the ultrasonic probe is driven by a gearbox 56 fixedly installed inside the transducer body 1. The gearbox 56 is connected to another driving gear 54. Based on the basic law of gear meshing, the input shaft drives the first gear, which meshes with the second gear. The speed and torque of the output shaft are changed by the difference in the number of teeth. By utilizing the meshing between the gearbox 56 and the driving gear 54, the rotation angle of the driving gear 54 is transferred to the gearbox 56. By detecting the rotation angle of the gearbox 56, the driving gear 54, driven gear 55, fixed plate 36, fixed rod 33, and probe support are indirectly monitored. The rotation angle of frame 2 is detected; Hall encoder 57 is fixedly installed inside transducer body 1. Hall encoder 57 is set on one side of gearbox 56 and connected to gearbox 56. Hall encoder 57 uses magnetic sensor and Hall effect to measure angle. Hall effect element is used to detect the angle change of rotating magnetic field. The magnet rotates with the shaft and its magnetic field direction changes synchronously. Fixed Hall sensor detects the changing magnetic field. By measuring the sine and cosine voltage signals generated by two orthogonal Hall elements, and through arctangent calculation inside the chip, the absolute angle of magnetic field can be calculated, which is the rotation angle of the shaft.The probe bracket 2 is U-shaped, which facilitates the installation of the ultrasonic probe. The outer wall of the connecting column 35 fits against the inner wall of the movable groove 34, and the outer wall of the connecting column 35 fits against the inner wall of the mounting groove 37. The number of teeth of the driving gear 54 is greater than that of the driven gear 55. By using the cooperation of the driving gear 54, the driven gear 55 and the gearbox 56, the rotation angle of the probe bracket 2 is amplified, which facilitates precise control of the probe positioning. Furthermore, the detection signal is sent to the external host through the Hall encoder 57 to achieve precise feedback of the ultrasonic probe's motion angle.

[0023] The principle of this invention is as follows: A drive motor 51 drives the transmission shaft 52 and the driving gear 54 to rotate. The meshing of the driving gear 54 and the driven gear 55 drives the mounting shaft 38 and the fixed disk 36 to rotate together. The connecting column 35 rotates with the fixed disk 36. One end of the connecting column 35 presses against the inner wall of the movable groove 34 and slides within the cavity of the movable groove 34, pushing the fixed rod 33 to rotate. The fixed rod 33 drives the probe bracket 2 and the ultrasonic probe to rotate together. Simultaneously, as the connecting column 35 rotates, it pushes the fixed rod 33 to oscillate back and forth around the rotating shaft 32, allowing the probe bracket 2 and the ultrasonic probe to swing smoothly. This facilitates multi-angle detection of the ultrasonic probe and allows for real-time monitoring of the ultrasonic probe's movement. Furthermore, the cooperation of the driving gear 54, the driven gear 55, and the gearbox 56 amplifies the rotation angle of the probe bracket 2. The Hall encoder 57 utilizes magnetic transmission... The sensor and Hall effect are used to measure the angle of the gearbox 56 to detect the running angle, so as to accurately detect and provide feedback on the rotation angle of the ultrasonic probe. At the same time, when the transducer body 1 stops working, the adjusting block 43 drives the adjusting screw 42 to rotate, which drives the nut block 44 to move horizontally at one end of the adjusting screw 42. The movable ring 47 moves with the nut block 44 and slides at one end of the mounting shaft 38, which drives the movable rod 48 to move and rotate. This causes one end of the movable rod 48 to drive the connecting column 35 to move in the mounting groove 37, thereby adjusting the distance between the connecting column 35 and the axis of the mounting shaft 38, thus changing the rotation radius of the connecting column 35, adjusting the distance the connecting column 35 moves in the movable groove 34, and changing the angle at which the connecting column 35 pushes the fixed rod 33 to rotate. This achieves the limitation of the rotation angle of the probe bracket 2 and the ultrasonic probe, which facilitates the precise control of the ultrasonic probe angle.

[0024] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A mechanical 4D linear array medical transducer with high-precision angle feedback function, characterized in that, include: Transducer body (1); The probe bracket (2) is disposed inside the transducer body (1) and is used to fix and install the ultrasonic probe. The swing mechanism (3) is fixedly installed inside the transducer body (1). The swing mechanism (3) is used to drive the probe bracket (2) to reciprocate within the transducer body (1) and change the angle of the ultrasonic probe. Adjustment mechanism (4), which is mounted on swing mechanism (3), is used to limit the rotation angle of probe support (2) and ultrasonic probe; The detection mechanism (5) is fixedly installed inside the transducer body (1). The detection mechanism (5) is used to amplify and detect the rotation angle of the probe bracket (2) and the ultrasonic probe.

2. The mechanical 4D linear array medical transducer with high-precision angle feedback function according to claim 1, characterized in that, The swing mechanism (3) includes: The fixing frame (31) is fixedly connected to one side of the inner wall of the transducer body (1) and the fixing frame (31) is set on both sides of the probe bracket (2); Rotating shaft (32), the rotating shaft (32) is fixedly connected to one side of one end of the probe bracket (2), and one end of the rotating shaft (32) is rotatably interlocked with the fixed frame (31); A fixing rod (33) is fixedly connected to one side of the probe bracket (2) and the fixing rod (33) is located between the probe bracket (2) and the fixing frame (31).

3. The mechanical 4D linear array medical transducer with high-precision angle feedback function according to claim 2, characterized in that, The swing mechanism (3) further includes: The movable groove (34) is formed on the fixed rod (33) and is elongated. A connecting column (35) is provided, one end of which is slidably inserted into the movable groove (34); A fixing plate (36) is disposed on one side of a fixing rod (33); The mounting slot (37) is located on the fixed plate (36). The mounting slot (37) is elongated and is slidably interlocked with the other end of the connecting column (35).

4. The mechanical 4D linear array medical transducer with high-precision angle feedback function according to claim 3, characterized in that, The swing mechanism (3) further includes: Mounting shaft (38), which is fixedly connected to the middle part of the fixed plate (36), and one end of the mounting shaft (38) is rotatably connected to the fixed frame (31); A limiting ring (39) is fixedly connected to one end of a connecting column (35), and the limiting ring (39) is in contact with one side of a fixed plate (36); Connecting seat (310), the connecting seat (310) is fixedly connected to the other end of the connecting column (35), and one end of the connecting seat (310) is in contact with the other end of the fixing plate (36); Acoustic window head shell (311) is fixedly installed at one end of the transducer body (1), and the acoustic window head shell (311) corresponds to the position of the probe bracket (2).

5. A mechanical 4D linear array medical transducer with high-precision angle feedback function according to claim 4, characterized in that, The adjustment mechanism (4) includes: A receiving cavity (41) is provided in the middle of the mounting shaft (38); An adjusting screw (42) is disposed in the receiving cavity (41), and one end of the adjusting screw (42) is rotatably connected to the inner wall of the receiving cavity (41); Adjustment block (43) is fixedly connected to the other end of adjustment screw (42) and is rotatably connected to one side of transducer body (1).

6. A mechanical 4D linear array medical transducer with high-precision angle feedback function according to claim 5, characterized in that, The adjustment mechanism (4) further includes: Nut block (44), which is slidably inserted into the receiving cavity (41), and is threadedly connected to one end of the adjusting screw (42); A fixing block (45) is fixedly connected to the top and bottom of a nut block (44); The sliding groove (46) is provided at the top and bottom of one end of the mounting shaft (38). The sliding groove (46) is elongated and is slidably interlocked with the fixing block (45). The movable ring (47) is slidably inserted into one end of the mounting shaft (38), and the inner wall of the movable ring (47) is fixedly connected to one end of the fixed block (45).

7. A mechanical 4D linear array medical transducer with high-precision angle feedback function according to claim 6, characterized in that, The adjustment mechanism (4) further includes: Movable rod (48), the movable rod (48) is disposed on one side of fixed plate (36), the movable rod (48) is disposed between connecting seat (310) and movable ring (47); A connecting shaft (49) is fixedly connected to both ends of a movable rod (48); The fixed seat (410) is fixedly connected to the outer wall of the connecting seat (310) and the movable ring (47), and the fixed seat (410) is rotatably connected to the connecting shaft (49).

8. A mechanical 4D linear array medical transducer with high-precision angle feedback function according to claim 7, characterized in that, The testing organization (5) includes: A drive motor (51) is fixedly installed inside the transducer body (1); A drive shaft (52), one end of which is connected to the output end of a drive motor (51); Support base (53), the support base (53) is fixedly connected to one side of the inner wall of the transducer body (1), and the support base (53) is rotatably connected to the other end of the drive shaft (52); A drive gear (54) is fixedly mounted at both ends of the drive shaft (52).

9. A mechanical 4D linear array medical transducer with high-precision angle feedback function according to claim 8, characterized in that, The testing organization (5) includes: Driven gear (55), the driven gear (55) is fixedly installed at one end of the mounting shaft (38), and the driven gear (55) meshes with one of the driving gears (54); Gearbox (56), the gearbox (56) is fixedly installed inside the transducer body (1), and the gearbox (56) is connected to another drive gear (54) in a transmission connection; Hall encoder (57) is fixedly installed inside the transducer body (1). The Hall encoder (57) is located on one side of the gearbox (56) and is connected to the gearbox (56).

10. A mechanical 4D linear array medical transducer with high-precision angle feedback function according to claim 9, characterized in that, The probe bracket (2) is U-shaped. The outer wall of the connecting column (35) is in contact with the inner wall of the movable groove (34). The outer wall of the connecting column (35) is in contact with the inner wall of the mounting groove (37). The number of teeth of the driving gear (54) is greater than that of the driven gear (55).

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