Thyroid nodule ultrasonic detection mechanical arm

Abstract

The utility model relates to the field of medical equipment, and discloses a thyroid nodule ultrasonic detection mechanical arm which comprises a rotating shell, the top end of the rotating shell is rotationally connected with a first rotating plate, the top end of the first rotating plate is rotationally connected with a second rotating plate, and the bottom end of the second rotating plate is rotationally connected with a rotating block. A mounting shell is fixedly connected to the bottom end of the rotating block, a sliding block is slidably connected to the interior of the mounting shell, two clamping blocks are rotatably connected to the bottom end of the sliding block, elastic pieces are fixedly connected to the opposite sides of the clamping blocks, and a tension spring is fixedly connected to the top end of the sliding block. According to the detachable ultrasonic testing machine, the tension spring pushes the sliding block, the sliding block drives the clamping block to clamp the ultrasonic testing equipment, and the detachable ultrasonic testing machine can be easily detached, so that the detachable ultrasonic testing machine can be more easily moved or reinstalled, the equipment can be moved among different consulting rooms or medical centers, time and labor are saved, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the field of medical equipment, in particular to a mechanical arm for ultrasonic detection of thyroid nodules. Background Art

[0002] Thyroid nodules are one of the most common diseases in clinical practice, and their diagnosis mainly relies on ultrasound detection technology. This robotic arm can be programmed to move on a specific path in order to accurately position the ultrasound probe in the patient's thyroid area. With the precise control of the robotic arm, doctors can more easily obtain high-quality ultrasound images, thereby more accurately evaluating the nature and characteristics of thyroid nodules.

[0003] After searching, a Chinese patent discloses an ultrasonic probe clamping device (publication number CN218524645U). Although the patent technology includes a force-controlled mechanical arm flange, it also includes: a quick-change assembly, which includes an upper seat body fixedly connected to the force-controlled mechanical arm flange, and a lower seat body quickly combined or separated from the upper seat body, and a camera for dynamic display of the scanned part is installed on the upper seat body; a clamping assembly, which is arranged on the lower seat body and includes a first clamping member and a second clamping member, and the ultrasonic probe is clamped or released by the first clamping member and the second clamping member moving toward or away from each other; this application can quickly replace the ultrasonic probe through the rapid combination or separation of the upper seat body and the lower seat body, and at the same time, with the arrangement of the first clamping member and the second clamping member, it can adapt to the clamping of ultrasonic probes of various specifications, so that a set of standard clamping tooling can meet the clamping requirements of ultrasonic probes of various specifications.

[0004] However, under the existing technology, the ultrasonic detection equipment is also installed with bolts, and multiple bolts need to be screwed to install it. Once the ultrasonic detection machine is fixed in place, if there is an error, it means that it needs to be adjusted and installed many times to maintain a relatively stable position and calibration. It is time-consuming and laborious to screw the bolts many times, which reduces work efficiency. In addition, traditional ultrasonic detection mainly relies on doctors to hold the probe for operation. This method not only requires high professional skills of doctors, but also long-term handheld operation can easily cause doctor fatigue, affecting the accuracy and efficiency of the detection. Therefore, it is of great practical value to develop a robotic arm device that can automatically perform ultrasonic detection of thyroid nodules. Utility Model Content

[0005] The utility model aims to improve the problem in the prior art that bolts are screwed multiple times for adjustment and installation to maintain a relatively stable position and calibration, which is time-consuming and labor-intensive and reduces work efficiency, and proposes a thyroid nodule ultrasonic detection mechanical arm.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a thyroid nodule ultrasonic detection mechanical arm comprises a rotating shell, the top end of the rotating shell is rotatably connected to a first rotating plate, the top end of the first rotating plate is rotatably connected to a second rotating plate, the bottom end of the second rotating plate is rotatably connected to a rotating block, the bottom end of the rotating block is fixedly connected to a mounting shell, the interior of the mounting shell is slidably connected to a sliding block, and the bottom end of the sliding block is rotatably connected to two clamping blocks;

[0007] The opposite sides of the clamping block are fixedly connected with springs, the top of the sliding block is fixedly connected with a tension spring, the outside of the rotating shell is fixedly connected with a first telescopic component, and the outside of the second rotating plate is fixedly connected with a second telescopic component.

[0008] Furthermore, the first telescopic assembly includes a first fixed block, the bottom end of the first fixed block is fixedly connected to the top end of the rotating shell, the top end of the first fixed block is rotatably connected to the first telescopic rod, the output end of the first telescopic rod is rotatably connected to the first connecting block, and the outside of the first connecting block is fixedly connected to the rear end of the second rotating plate.

[0009] Furthermore, the second telescopic assembly includes a second fixed block, one end of the second fixed block is fixedly connected to the outside of the second rotating plate, the inside of the second fixed block is rotatably connected to the second telescopic rod, the output end of the second telescopic rod is rotatably connected to the second connecting block, and the front end of the second connecting block is fixedly connected to the rear end of the rotating block.

[0010] Furthermore, the bottom end of the rotating shell is rotatably connected to a fixed shell, and the interior of the rotating shell is fixedly connected to a motor.

[0011] Furthermore, the output end of the motor is fixedly connected to the inside of the fixed shell.

[0012] Furthermore, one end of the tension spring away from the sliding block is fixedly connected to the inner wall of the mounting shell, the top end of the spring sheet is fixedly connected to the outside of the sliding block, and the outside of the spring sheet is arranged inside the rotating shell.

[0013] Furthermore, one end of the sliding block is rotatably connected to a linkage block, a sliding groove is provided inside the sliding block, and the bottom end of the clamping block passes through the bottom end of the mounting shell.

[0014] Furthermore, the outer portion of the linkage block is slidably connected to the inner portion of the slide groove.

[0015] Furthermore, an ultrasonic detection device is arranged between the two clamping blocks, the top end of the ultrasonic detection device passes through the bottom end of the mounting shell, and the outer cover of the ultrasonic detection device is provided with a dust cover.

[0016] Furthermore, an ultrasonic probe fixing device is fixedly connected to the outside of the mounting shell, and a control sensor device is fixedly connected to the outside of the ultrasonic probe fixing device.

[0017] The utility model has the following beneficial effects:

[0018] 1. In the utility model, the ultrasonic detection device pushes the sliding block through structures such as the sliding block, the clamping block, and the spring, so that when the ultrasonic detection device enters the interior of the mounting shell, the tension spring pulls the sliding block, and the sliding block drives the clamping block to clamp the ultrasonic detection device. This makes it easier to move or reinstall the device, thereby making it easier to adjust the device. This is particularly important for medical institutions, because they may need to move the device between different clinics or medical centers, which facilitates the replacement of the equipment, thereby saving time for equipment replacement, saving time and effort, and improving work efficiency, while also meeting the maintenance and inspection of the equipment.

[0019] 2. In the utility model, through the first connecting block, the second connecting block and other structures, the extension and retraction of the first telescopic rod drives the rotation of the first rotating plate, and the extension and retraction of the second telescopic rod drives the rotation of the rotating block, thereby completing the overall extension and retraction, which can realize the automated and standardized detection of thyroid nodules, reduce the workload of doctors, and improve the accuracy and efficiency of detection; and by precisely controlling the contact pressure and angle of the ultrasonic probe, it can improve the comfort of patients and reduce the discomfort during the detection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A stereoscopic diagram of a thyroid nodule ultrasonic detection mechanical arm proposed by the utility model;

[0021] Figure 2 A cross-sectional view of the installation shell in the thyroid nodule ultrasonic detection mechanical arm proposed by the utility model;

[0022] Figure 3 A schematic diagram of a slideway in a mechanical arm for ultrasonic detection of thyroid nodules proposed in the utility model;

[0023] Figure 4 This is a schematic diagram of the first telescopic rod in the thyroid nodule ultrasonic detection mechanical arm proposed by the utility model;

[0024] Figure 5 This is a schematic diagram of a sliding block in a mechanical arm for ultrasonic detection of thyroid nodules proposed by the utility model.

[0025] Legend:

[0026] 1. Rotating shell; 2. First rotating plate; 3. Second rotating plate; 4. Rotating block; 5. Mounting shell; 6. Sliding block; 7. Clamping block; 8. Shrapnel; 9. Tension spring; 10. First telescopic assembly; 1001. First fixed block; 1002. First telescopic rod; 1003. First connecting block; 11. Second telescopic assembly; 1101. Second fixed block; 1102. Second telescopic rod; 1103. Second connecting block; 12. Fixed shell; 13. Motor; 14. Linkage block; 15. Slide slot; 16. Ultrasonic detection equipment; 17. Ultrasonic probe fixing device; 18. Control sensor device. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] Reference Figure 1 , Figure 2 and Figure 3 The utility model provides a thyroid nodule ultrasonic detection mechanical arm, including a rotating shell 1, the top of the rotating shell 1 is rotatably connected to a first rotating plate 2, the top of the first rotating plate 2 is rotatably connected to a second rotating plate 3, the bottom end of the second rotating plate 3 is rotatably connected to a rotating block 4, the bottom end of the rotating block 4 is fixedly connected to a mounting shell 5 to complete the internal fixation, the interior of the mounting shell 5 is slidably connected to a sliding block 6, the bottom end of the sliding block 6 is rotatably connected to two clamping blocks 7, the opposite sides of the clamping blocks 7 are fixedly connected to springs 8, the top of the sliding block 6 is fixedly connected to a tension spring 9, the outside of the rotating shell 1 is fixedly connected to a first telescopic assembly 10, and the outside of the second rotating plate 3 is fixedly connected to a second telescopic assembly 11.

[0029] The tension spring 9 facilitates the ultrasonic detection equipment 16 to press the sliding block 6, and then releases the ultrasonic detection equipment 16. The tension spring 9 pulls the sliding block 6, and the sliding block 6 pushes the clamping block 7, so that the clamping block 7 moves outward. When the clamping block 7 is pulled upward by the tension spring 9, it is limited by the size of the outlet of the mounting shell 5. Therefore, when the clamping block 7 enters the interior of the mounting shell 5, the outward expanded state is broken, so that the outlet of the mounting shell 5 squeezes the clamping block 7, so that the clamping block 7 is squeezed and pressed inward to clamp the ultrasonic detection equipment 16.

[0030] The outside of the rotating shell 1 is fixedly connected with the first telescopic assembly 10, and the outside of the second rotating plate 3 is fixedly connected with the second telescopic assembly 11, thereby facilitating the fixing of the external assembly.

[0031] The bottom end of the rotating shell 1 is rotatably connected to the fixed shell 12, and the interior of the rotating shell 1 is fixedly connected to a motor 13. The output end of the motor 13 is fixedly connected to the interior of the fixed shell 12, so that after the fixed shell 12 is installed, the motor 13 can be started to drive the rotating shell 1 to rotate.

[0032] like Figure 2 As shown, one end of the tension spring 9 away from the sliding block 6 is fixedly connected to the inner wall of the mounting shell 5, the top of the spring sheet 8 is fixedly connected to the outside of the sliding block 6, and the outside of the spring sheet 8 is arranged inside the rotating shell 1. One end of the sliding block 6 is rotatably connected to a linkage block 14, a slide groove 15 is provided inside the sliding block 6, and the bottom end of the clamping block 7 passes through the bottom end of the mounting shell 5. The outside of the linkage block 14 is slidably connected to the inside of the slide groove 15, so as to facilitate the control of the sliding block 6.

[0033] like Figure 5 As shown, an ultrasonic detection device 16 is arranged between the two clamping blocks 7, so as to facilitate the disassembly of the ultrasonic detection device 16. The top end of the ultrasonic detection device 16 passes through the bottom end of the mounting shell 5, and the outer cover of the ultrasonic detection device 16 is provided with a dust cover. The dust cover can protect the equipment from contamination: by covering the outside of the equipment, the dust cover forms a physical barrier to prevent dust and dirt in the air from contacting the surface of the equipment. The accumulation of dust and dirt may affect the accuracy and reliability of the ultrasonic detection equipment. The dust cover helps to keep the equipment clean, thereby ensuring its consistent high performance. The dust cover reduces the wear and corrosion of the internal parts of the equipment, which helps to reduce the frequency and need for equipment maintenance. In medical facilities, the use of dust covers can help ultrasonic detection equipment comply with industry standards and regulations on equipment cleaning and infection control.

[0034] like Figure 1 As shown, the outside of the mounting shell 5 is fixedly connected with an ultrasonic probe fixing device 17, and the ultrasonic probe fixing device 17 can ensure that the ultrasonic probe maintains appropriate contact pressure and angle with the surface of the patient's thyroid gland to obtain a clear ultrasonic image.

[0035] The ultrasonic probe fixture 17 may include an adjustable bracket or clamp for fixing the ultrasonic probe. This bracket or clamp can be extended, rotated or tilted as needed to adapt to the neck shape and detection requirements of different patients. In order to ensure appropriate contact pressure, the ultrasonic probe fixture 17 may include springs or damping mechanisms, which can provide a certain buffer when the probe contacts the patient's skin to prevent excessive or insufficient pressure. The ultrasonic probe fixture 17 can achieve precise control of the probe position and angle through an electric motor or a manual adjustment device. The electric motor can provide faster and more accurate adjustment, while manual adjustment is simpler and more direct.

[0036] If the ultrasonic probe fixture 17 is electrically adjustable, a control system will be provided. The control system can receive instructions from the operator and accurately control the position and angle of the ultrasonic probe through the electric motor. The control system can also integrate sensors to monitor the state and contact pressure of the probe in real time to ensure the safety and comfort of the detection process.

[0037] In order to further optimize the control, the ultrasound probe fixture 17 can be equipped with a pressure sensor and an angle sensor. These sensors can monitor the contact pressure and angle between the probe and the patient's skin in real time, and feed this information back to the control system for real-time adjustment.

[0038] Through the above designs and implementations, the ultrasound probe fixing device 17 can ensure that the ultrasound probe maintains appropriate pressure and angle when in contact with the patient's thyroid surface, thereby obtaining clear and accurate ultrasound images, providing strong support for the diagnosis of thyroid nodules.

[0039] The outside of the ultrasonic probe fixing device 17 is fixedly connected with a control sensor device 18 for real-time monitoring of the state of the mechanical arm and the contact between the ultrasonic probe and the patient's skin to ensure the safety and comfort of the detection.

[0040] The control sensor device 18 can also monitor the motion parameters of the robot arm, such as the angle, speed and acceleration of each joint. These motion parameter data are crucial to ensure the smooth operation and precise control of the robot arm. If the robot arm moves too fast, too slow or is not within the expected range, the control sensor device 18 will immediately detect these abnormalities and transmit these abnormal information to the control system, which will make corresponding adjustments or issue an alarm.

[0041] During ultrasound testing, the contact pressure and angle between the probe and the patient's skin are crucial to obtaining high-quality ultrasound images. The control sensor device 18 may include a pressure sensor and a position sensor that can measure the pressure applied by the probe to the patient's skin and the relative position of the probe and the skin in real time.

[0042] The pressure sensor measures the contact pressure between the ultrasound probe and the skin, ensuring that this pressure is neither too high to cause patient discomfort nor too low to affect image quality. The position sensor monitors the position and angle of the ultrasound probe, ensuring that it always maintains proper alignment with the patient's thyroid surface.

[0043] If the robot arm moves abnormally or the probe pressure is too high, the control sensor device 18 will interrupt the detection process in time to prevent harm to the patient or the operator. By adjusting the position and pressure of the ultrasound probe, the control sensor device 18 helps reduce the patient's discomfort during the detection process. Accurate sensor data can help the operator find the best detection position more quickly, thereby reducing the detection time.

[0044] like Figure 4 As shown, the first telescopic assembly 10 includes a first fixed block 1001, the bottom end of the first fixed block 1001 is fixedly connected to the top of the rotating shell 1, the top of the first fixed block 1001 is rotatably connected to the first telescopic rod 1002, the output end of the first telescopic rod 1002 is rotatably connected to the first connecting block 1003, and the outside of the first connecting block 1003 is fixedly connected to the rear end of the second rotating plate 3, so that the extension and retraction of the first telescopic rod 1002 drives the rotation of the first rotating plate 2.

[0045] like Figure 1 As shown, the second telescopic assembly 11 includes a second fixed block 1101, one end of the second fixed block 1101 is fixedly connected to the outside of the second rotating plate 3, the inside of the second fixed block 1101 is rotatably connected to the second telescopic rod 1102, the output end of the second telescopic rod 1102 is rotatably connected to the second connecting block 1103, the front end of the second connecting block 1103 is fixedly connected to the rear end of the rotating block 4, and the extension and retraction of the second telescopic rod 1102 drives the rotation of the rotating block 4. These structures are used to receive the doctor's instructions, control the movement of the robotic arm and the working state of the ultrasonic probe, and can automatically complete the standardized detection process according to the preset program, drive the movement of the robotic arm body, and realize precise positioning and operation.

[0046] The working principle of the thyroid nodule ultrasound detection robotic arm is as follows:

[0047] After pushing the ultrasonic detection device 16 into the sliding block 6 and releasing it, the tension spring 9 in the mounting shell 5 will take effect and pull the sliding block 6 to move. The movement of the sliding block 6 further drives the clamping block 7 to move inward. Due to the design of the outlet of the mounting shell 5, when the clamping block 7 is pulled upward by the tension spring 9, it is limited by the size of the outlet of the mounting shell 5, so that the expanded state of the clamping block 7 at the outlet is broken. During the inward movement, the clamping block 7 is squeezed by the outlet of the mounting shell 5, and the clamping block 7 begins to shrink, thereby achieving relative clamping and firmly fixing the ultrasonic detection device 16. In this process, the linkage block 14 outside the sliding block 6 slides into the groove along the core groove and transverse groove of the slide groove 15 to ensure the stability of the overall mechanism.

[0048] When it is necessary to remove or adjust the ultrasonic detection device 16, just press the device again to push the sliding block 6 to move inside the mounting shell 5. At this time, the linkage block 14 outside the sliding block 6 slides back to the center groove from the groove transverse groove of the slide groove 15. This action causes the sliding block 6 to drive the clamping block 7 to move outward, and at the same time, the action of the spring 8 causes the clamping block 7 to expand outward, so that the ultrasonic detection device 16 can be easily removed. This design not only facilitates the replacement of the equipment, but also greatly saves the time and labor required for traditional installation methods such as tightening bolts, and significantly improves work efficiency.

[0049] The telescopic movement of the first telescopic rod 1002 drives the rotation of the first rotating plate 2, while the telescopic movement of the second telescopic rod 1102 drives the rotation of the rotating block 4. In addition, the motor 13 drives the rotating shell 1 to rotate at the top of the fixed shell 12, thereby driving the overall rotation of the upper end of the rotating shell 1, facilitating multi-angle adjustment and increasing the operable range. These mechanisms work together to enable the contact pressure and angle of the ultrasonic probe to be precisely controlled. Such a design not only improves the patient's comfort, but also effectively reduces the discomfort that may occur during the detection process.

[0050] In summary, this embodiment achieves rapid installation and adjustment of the ultrasonic detection equipment through the clamping mechanism and the precise probe control mechanism, while optimizing the patient experience during the detection process.

[0051] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A thyroid nodule ultrasonic detection mechanical arm, comprising a rotating shell (1), characterized in that: The top end of the rotating shell (1) is rotatably connected to a first rotating plate (2), the top end of the first rotating plate (2) is rotatably connected to a second rotating plate (3), the bottom end of the second rotating plate (3) is rotatably connected to a rotating block (4), the bottom end of the rotating block (4) is fixedly connected to a mounting shell (5), the interior of the mounting shell (5) is slidably connected to a sliding block (6), the bottom end of the sliding block (6) is rotatably connected to two clamping blocks (7), the opposite sides of the clamping blocks (7) are fixedly connected to spring sheets (8), and the top end of the sliding block (6) is fixedly connected to a tension spring (9); The outside of the rotating shell (1) is fixedly connected to a first telescopic assembly (10), and the outside of the second rotating plate (3) is fixedly connected to a second telescopic assembly (11).

2. The thyroid nodule ultrasonic detection mechanical arm according to claim 1, characterized in that: The first telescopic assembly (10) comprises a first fixed block (1001), the bottom end of the first fixed block (1001) is fixedly connected to the top end of the rotating shell (1), the top end of the first fixed block (1001) is rotatably connected to a first telescopic rod (1002), the output end of the first telescopic rod (1002) is rotatably connected to a first connecting block (1003), and the outside of the first connecting block (1003) is fixedly connected to the rear end of the second rotating plate (3).

3. The thyroid nodule ultrasonic detection mechanical arm according to claim 1, characterized in that: The second telescopic assembly (11) comprises a second fixed block (1101), one end of the second fixed block (1101) is fixedly connected to the outside of the second rotating plate (3), the inside of the second fixed block (1101) is rotatably connected to a second telescopic rod (1102), the output end of the second telescopic rod (1102) is rotatably connected to a second connecting block (1103), and the front end of the second connecting block (1103) is fixedly connected to the rear end of the rotating block (4).

4. The thyroid nodule ultrasonic detection mechanical arm according to claim 1, characterized in that: The bottom end of the rotating shell (1) is rotatably connected to a fixed shell (12), and the interior of the rotating shell (1) is fixedly connected to a motor (13).

5. The thyroid nodule ultrasonic detection mechanical arm according to claim 4, characterized in that: The output end of the motor (13) is fixedly connected to the interior of the fixed shell (12).

6. The thyroid nodule ultrasonic detection mechanical arm according to claim 1, characterized in that: One end of the tension spring (9) away from the sliding block (6) is fixedly connected to the inner wall of the mounting shell (5), the top end of the spring sheet (8) is fixedly connected to the outside of the sliding block (6), and the outside of the spring sheet (8) is arranged inside the rotating shell (1).

7. The thyroid nodule ultrasonic detection mechanical arm according to claim 1, characterized in that: One end of the sliding block (6) is rotatably connected to a linkage block (14), a sliding groove (15) is provided inside the sliding block (6), and the bottom end of the clamping block (7) passes through the bottom end of the mounting shell (5).

8. The thyroid nodule ultrasonic detection mechanical arm according to claim 7, characterized in that: The outside of the linkage block (14) is slidably connected to the inside of the slide groove (15).

9. The thyroid nodule ultrasonic detection mechanical arm according to claim 1, characterized in that: An ultrasonic detection device (16) is arranged between the two clamping blocks (7), the top end of the ultrasonic detection device (16) passes through the bottom end of the mounting shell (5), and the outer cover of the ultrasonic detection device (16) is provided with a dust cover.

10. The thyroid nodule ultrasonic detection mechanical arm according to claim 1, characterized in that: The outside of the mounting shell (5) is fixedly connected to an ultrasonic probe fixing device (17), and the outside of the ultrasonic probe fixing device (17) is fixedly connected to a control sensor device (18).

Images