Ultrasonic probe positioning device

Abstract

The utility model provides an ultrasonic probe positioning device which comprises an ultrasonic probe clamping mechanism and an ultrasonic probe base, at least one sliding rail is installed on a bottom plate, and at least one sliding block is installed on the sliding rail in a sliding mode. An output shaft of the ultrasonic rotating motor is connected with a transmission shaft, an output shaft of the ultrasonic propulsion motor is connected with an ultrasonic propulsion lead screw, and the transmission shaft and the ultrasonic propulsion lead screw are arranged in parallel; the ultrasonic propulsion transmission mechanism comprises at least one supporting seat, a key gear, a transmission gear and a lead screw box; the key gear is slidably mounted on the transmission shaft, the transmission gear is meshed with the key gear, and the transmission gear is meshed with the semicircular gear; the supporting base is fixed to the sliding block, the lead screw box is fixed to the supporting base, and the lead screw box is in threaded connection with the ultrasonic propelling lead screw. According to the utility model, the problems of high operation difficulty, small needle insertion angle and poor precision caused by simultaneous operation of an ultrasonic probe and a puncture needle due to space limitation in an ultrasonic guided puncture process can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, in particular to an ultrasonic probe positioning device. Background Art

[0002] Under the guidance of real-time ultrasound, the robot holds the puncture instrument to perform precise targeted puncture percutaneously, which is minimally invasive, precise, safe and reliable. Precise targeted puncture requires accurate calculation of the location of the lesion and the ability to control the puncture instrument to accurately reach the lesion area. It requires high positioning and tracking accuracy and the ability to compensate for target displacement caused by tissue deformation under physiological movement and instrument interaction.

[0003] For lesions in the prostate, ablation, cryosurgery, and particle implantation are interventional treatment methods, and puncture biopsy is a pathological sampling method. These usually require puncture under ultrasound guidance. Prostate puncture guided by transrectal ultrasound (TRUS) has gradually become the main treatment for prostate diseases. Traditional prostate puncture guided by transrectal ultrasound (TRUS) is mainly performed by the operator holding ultrasound and puncture needles for manual puncture. The results are easily affected by factors such as manual needle accuracy and biopsy needle insertion posture restrictions, and the accuracy is low. Doctors are prone to fatigue when operating manually, the operation is complicated, the degree of standardization is not high, patient satisfaction is low, and positioning and tracking are complex and difficult. In addition, there are important organs such as the urethra around the prostate, and manual puncture is prone to serious accidental damage due to inaccurate depth and approach control. The use of an automated ultrasound probe positioning device can achieve precise stepping and automatic imaging of the ultrasound probe sagittal plane, cross section, etc. Utility Model Content

[0004] The utility model provides an ultrasonic probe positioning device to solve the technical problems of poor accuracy of existing manual puncture, unadjustable angle range of mechanical stepper, easy contamination of front rotation and feeding motors, large size and lack of accuracy of mechanical positioning robot for robot puncture.

[0005] The technical solution provided by the utility model is as follows:

[0006] One object of the utility model is to provide an ultrasonic probe positioning device, the ultrasonic probe positioning device comprising: an ultrasonic probe clamping mechanism, an ultrasonic probe base and an ultrasonic propulsion transmission mechanism;

[0007] The ultrasonic probe clamping mechanism is installed on the ultrasonic propulsion transmission mechanism, and the ultrasonic propulsion transmission mechanism is installed on the ultrasonic probe base;

[0008] The ultrasonic probe clamping mechanism is used to clamp the ultrasonic probe; the ultrasonic probe clamping mechanism comprises: an ultrasonic probe bracket, a semicircular gear is fixed on one side of the ultrasonic probe bracket or a semicircular gear is fixed on each side;

[0009] The ultrasonic probe base comprises: a bottom plate, an ultrasonic rotating motor and an ultrasonic propulsion motor; at least one slide rail is installed on the bottom plate, and at least one slider is slidably installed on the slide rail;

[0010] The output shaft of the ultrasonic rotary motor is connected to the transmission shaft, the output shaft of the ultrasonic propulsion motor is connected to the ultrasonic propulsion screw, and the transmission shaft and the ultrasonic propulsion screw are arranged in parallel;

[0011] The ultrasonic propulsion transmission mechanism comprises: at least one support seat, a key gear, a transmission gear and a screw box; the key gear is slidably mounted on the transmission shaft, the transmission gear is meshed with the key gear, and the transmission gear is meshed with the semicircular gear;

[0012] The support seat is fixed to the slider, the lead screw box is fixed to the support seat, and the lead screw box is threadedly connected to the ultrasonic propulsion lead screw;

[0013] When the transmission shaft rotates, the key gear is driven to rotate, thereby driving the ultrasonic probe clamping mechanism to rotate;

[0014] When the ultrasonic propulsion screw rotates, the screw box is driven to move in a straight line, thereby driving the ultrasonic probe clamping mechanism to move in a straight line.

[0015] In a preferred embodiment, a semicircular slide groove is provided on at least one side of the ultrasound probe support;

[0016] At least one copper column is installed on the support seat, and the copper column is inserted into the semicircular slide groove; when the ultrasonic probe clamping mechanism rotates, the copper column slides in the semicircular slide groove.

[0017] In a preferred embodiment, the support base has a plurality of different holes for installing the copper pillar;

[0018] The rotation angle of the ultrasonic probe clamping mechanism is adjusted by adjusting the copper column to be installed in different hole positions.

[0019] In a preferred embodiment, the ultrasonic probe clamping mechanism further comprises: an ultrasonic probe moving clamp is arranged on one side of the inner wall of the ultrasonic probe holder and moves linearly relative to the ultrasonic probe holder;

[0020] When the ultrasonic probe moving fixture moves along a straight line, the ultrasonic probe moving fixture clamps the ultrasonic probe.

[0021] In a preferred embodiment, the ultrasonic probe clamping mechanism comprises: an ultrasonic probe fixing fixture, a knob fixing bolt, an ultrasonic probe moving fixture and a knob;

[0022] The ultrasonic probe fixing fixture is fixedly connected to the ultrasonic probe bracket; the knob fixing bolt passes through the through hole opened on the ultrasonic probe moving fixture and is connected to the threaded hole on the knob;

[0023] An external thread is arranged on the outside of the knob, a hole for placing the knob is provided on the ultrasonic probe holder, and an internal thread is arranged in the hole. The external thread on the outside of the knob cooperates with the internal thread of the hole of the ultrasonic probe holder for placing the knob, so that the knob can move axially during rotation, and at the same time drive the ultrasonic probe moving fixture to move axially to clamp the ultrasonic probe on one side.

[0024] In a preferred embodiment, ultrasonic probe moving fixtures are respectively arranged on both sides of the inner wall of the ultrasonic probe holder and move linearly relative to the ultrasonic probe holder;

[0025] When the ultrasonic probe moving clamps on both sides of the inner wall of the ultrasonic probe holder move along a straight line, the ultrasonic probe moving clamps on both sides of the inner wall of the ultrasonic probe holder clamp the ultrasonic probe, and adjust the ultrasonic probe from both sides of the inner wall of the ultrasonic probe holder.

[0026] In a preferred embodiment, the ultrasound probe base further includes: a front mounting plate and a rear mounting plate; the front mounting plate is fixed to the bottom plate, and the rear mounting plate is fixed to the bottom plate;

[0027] The first transmission shaft bearing and the first lead screw bearing are mounted on the front mounting plate; the second transmission shaft bearing and the second lead screw bearing are mounted on the rear mounting plate;

[0028] The transmission shaft is mounted on the first transmission shaft bearing and the second transmission shaft bearing, and the ultrasonic propulsion screw is mounted on the first screw bearing and the second screw bearing.

[0029] In a preferred embodiment, the ultrasonic probe base further comprises: a motor bracket; the ultrasonic rotary motor is fixed on the motor bracket, and the ultrasonic propulsion motor is fixed on the motor bracket;

[0030] The output shaft of the ultrasonic rotary motor is connected to the transmission shaft through a transmission shaft coupling; the output shaft of the ultrasonic propulsion motor is connected to the ultrasonic propulsion screw through a screw coupling.

[0031] In a preferred embodiment, a first slide rail and a second slide rail are installed on the bottom plate, a first slider and a third slider are slidably installed on the first slide rail, and a second slider and a fourth slider are slidably installed on the second slide rail;

[0032] The support seat includes a first support seat and a second support seat; the first support seat is fixed to the first slider, and the first support seat is fixed to the second slider; the second support seat is fixed to the third slider, and the second support seat is fixed to the fourth slider.

[0033] The first support base is fixedly connected to the second support base via a first connecting plate, and the first support base is fixedly connected to the second support base via a second connecting plate.

[0034] In a preferred embodiment, a gear cover plate is fixed on the first support seat;

[0035] The first transmission gear bearing and the second key gear bearing are installed on the gear cover plate; the second transmission gear bearing and the first key gear bearing are installed on the first support seat;

[0036] A transmission gear is installed between the first transmission gear bearing and the second transmission gear bearing; a key gear is installed between the first key gear bearing and the second key gear bearing;

[0037] The first support seat is fixed to the lead screw box.

[0038] Compared with the prior art, the above technical solution of the utility model has at least the following beneficial effects:

[0039] The utility model provides an ultrasound probe positioning device, which can solve the problems of high operating difficulty, few needle insertion angles and poor precision caused by the need to operate the ultrasound probe and the puncture needle simultaneously due to space limitations in the existing ultrasound-guided puncture process. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 The utility model is a schematic diagram of the overall structure of a mechanical positioning robot.

[0042] Figure 2 It is a structural schematic diagram of the ultrasonic probe positioning device of the utility model.

[0043] Figure 3 It is an exploded view of the ultrasonic probe clamping mechanism of the utility model.

[0044] Figure 4 The utility model is a structural schematic diagram of an ultrasonic probe base.

[0045] Figure 5 It is a structural schematic diagram of the ultrasonic propulsion transmission mechanism of the utility model.

[0046] Figure 6 The utility model is a schematic diagram of the motion process of the ultrasonic probe positioning device.

[0047] Figure 7 It is a schematic diagram of the cooperation between the ultrasonic probe bracket of the ultrasonic probe clamping mechanism and the support seat of the ultrasonic propulsion transmission mechanism of the utility model.

[0048] Figure 8 It is a schematic diagram of adjusting the rotation angle of the ultrasonic probe clamping mechanism by adjusting the copper column to be installed in different hole positions. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution of the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings of the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the described embodiment of 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.

[0050] Unless otherwise defined, the technical or scientific terms used in the present invention shall have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar terms used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one", "an" or "the" do not indicate a quantity limitation, but indicate the existence of at least one. Words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" and similar terms are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0051] It should be noted that the terms "up", "down", "left", "right", "front", "back", etc. used in the present invention are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0052] like Figure 1 As shown, according to an embodiment of the utility model, a mechanical positioning robot is provided, comprising a planar puncture mechanism 1, an adjustable distance puncture needle fixing box 2 and an ultrasonic probe positioning device 3.

[0053] The plane puncture mechanism 1 is installed on the ultrasonic probe positioning device 3, and the adjustable distance puncture needle fixing box 2 is installed on the plane puncture mechanism 1. The adjustable distance puncture needle fixing box 2 is installed with an ablation puncture needle 5 and a temperature sensing probe 6, and the ablation puncture needle 5 and the temperature sensing probe 6 are located in a horizontal or vertical plane. A certain horizontal or vertical distance or front-to-back distance is maintained between the ablation puncture needle 5 and the temperature sensing probe 6.

[0054] The ultrasonic probe 4 is mounted on the ultrasonic probe positioning device 3. The ultrasonic probe positioning device 3 is configured to control the planar puncture mechanism 1 and the ultrasonic probe 4 to synchronously move forward and backward in the horizontal direction and rotate around the axis of the ultrasonic probe 4 in two degrees of freedom.

[0055] The ultrasound probe 4 is a medical intracavitary probe that can be inserted into natural cavities such as the rectum and vagina. It can emit ultrasound waves to the sagittal plane S (or cross section) and has the function of ultrasound imaging in the sagittal plane S (or cross section) or in two planes.

[0056] The plane puncture mechanism 1 controls the movement of the ablation puncture needle 5 on the adjustable-distance puncture needle fixing box 2 to form a working space plane that coincides with the sagittal plane S of the ultrasound probe 4 or is perpendicular to the cross section and passes through the sensing midpoint of the cross section.

[0057] Combination Figures 2 to 8 According to an embodiment of the utility model, an ultrasonic probe positioning device 3 is provided, comprising: an ultrasonic probe clamping mechanism 10 , an ultrasonic probe base 11 and an ultrasonic propulsion transmission mechanism 12 .

[0058] The ultrasonic probe clamping mechanism 10 is mounted on the ultrasonic propulsion transmission mechanism 12 , and the ultrasonic propulsion transmission mechanism 12 is mounted on the ultrasonic probe base 11 .

[0059] The ultrasonic probe base 11 is powered by an ultrasonic rotary motor and an ultrasonic propulsion motor. The ultrasonic propulsion transmission mechanism 12 converts the power transmitted by the ultrasonic probe base 11 into two degrees of freedom, rotation and linear movement, to control the rotation and linear movement of the ultrasonic probe clamping mechanism 10 .

[0060] The ultrasonic probe clamping mechanism 10 is used to clamp the ultrasonic probe 4. Figure 3 As shown, the ultrasonic probe clamping mechanism 10 comprises: an ultrasonic probe bracket 1001, a semicircular gear 1006 is fixed on one side of the ultrasonic probe bracket 1001 or one semicircular gear 1006 is fixed on both sides. In this embodiment, the semicircular gear 1006 is fixed on one side of the ultrasonic probe bracket 1001. The planar puncture mechanism 1 is installed on the ultrasonic probe bracket 1001.

[0061] Specifically, the planar puncture mechanism 1 is fixed to the ultrasonic probe bracket 1001 by bolts, so that the planar puncture mechanism 1 is installed on the ultrasonic probe bracket 1001 , and then the planar puncture mechanism 1 is installed on the ultrasonic probe positioning device 3 .

[0062] According to an embodiment of the present invention, the ultrasonic probe clamping mechanism 10 further includes: an ultrasonic probe moving fixture 1004 which is arranged on one side of the inner wall of the ultrasonic probe bracket 1001 and moves linearly relative to the ultrasonic probe bracket 1001 .

[0063] When the ultrasonic probe moving fixture 1004 moves along a straight line, the ultrasonic probe moving fixture 1004 clamps the ultrasonic probe 4 .

[0064] Specifically, Figure 3 As shown, the ultrasonic probe clamping mechanism 10 further includes: an ultrasonic probe fixing fixture 1002 , a knob fixing bolt 1003 , an ultrasonic probe moving fixture 1004 , a knob 1005 and a gear cover 1007 .

[0065] The side of the ultrasonic probe support 1001 is designed with a threaded hole, and the semicircular gear 1006 is designed with a mounting hole, and the two are connected by screws. The semicircular gear 1006 and the gear cover 1007 are designed with through holes, and the two are connected by screws and nuts.

[0066] The ultrasonic probe fixing fixture 1002 is designed with a mounting threaded hole, which is fixedly connected to the ultrasonic probe bracket 1001. The knob fixing bolt 1003 passes through a through hole opened on the ultrasonic probe moving fixture 1004 and is connected to the threaded hole on the knob 1005.

[0067] An external thread is arranged on the outside of the knob 1005, and the ultrasonic probe holder 1001 is provided with a hole for placing the knob 1005, and an internal thread is arranged in the hole. The external thread on the outside of the knob 1005 matches the internal thread of the hole of the ultrasonic probe holder 1001 for placing the knob 1005, so that the knob 1005 can move axially during the rotation process, and at the same time drive the ultrasonic probe moving fixture 1004 to move axially to clamp the ultrasonic probe 4 on one side, and the other side is aligned by the ultrasonic probe fixing fixture 1002. The ultrasonic probe fixing fixture 1002 and the ultrasonic probe moving fixture 1004 are designed to be replaceable to adapt to ultrasonic probes 4 of different manufacturers.

[0068] In another embodiment, ultrasonic probe moving fixtures 1004 that move linearly relative to the ultrasonic probe bracket 1001 are respectively provided on both sides of the inner wall of the ultrasonic probe bracket 1001 .

[0069] When the ultrasonic probe moving clamps 1004 on both sides of the inner wall of the ultrasonic probe holder 1001 move in a straight line, the ultrasonic probe moving clamps 1004 on both sides of the inner wall of the ultrasonic probe holder 1001 clamp the ultrasonic probe 4, and adjust the ultrasonic probe 4 from both sides of the inner wall of the ultrasonic probe holder 1001. The connection method of the ultrasonic probe moving clamps 1004 on both sides of the inner wall of the ultrasonic probe holder 1001 and the ultrasonic probe holder 1001 in this embodiment is the same as that in the above embodiment, and will not be repeated here.

[0070] like Figure 4 As shown, the ultrasonic probe base 11 comprises: a bottom plate 1115, an ultrasonic rotating motor 1111 and an ultrasonic propulsion motor 1112. At least one slide rail is installed on the bottom plate 1115, and at least one slider is slidably installed on the slide rail.

[0071] The output shaft of the ultrasonic rotary motor 1111 is connected to the transmission shaft 1104 , the output shaft of the ultrasonic propulsion motor 1112 is connected to the ultrasonic propulsion lead screw 1105 , and the transmission shaft 1104 and the ultrasonic propulsion lead screw 1105 are arranged in parallel.

[0072] Furthermore, the ultrasound probe base 11 further includes: a front mounting plate 1101, a rear mounting plate 1108 and a motor bracket 1114. The front mounting plate 1101 is fixed to the bottom plate 1115, and the rear mounting plate 1108 is fixed to the bottom plate 1115.

[0073] Specifically, the bottom of the front mounting plate 1101 and the rear mounting plate 1108 are designed with mounting holes, which match with the threaded holes on the bottom plate 1115 and are fixed together using bolts.

[0074] The first transmission shaft bearing 1102 and the first screw bearing 1103 are installed on the front mounting plate 1101. The second transmission shaft bearing 1106 and the second screw bearing 1107 are installed on the rear mounting plate 1105. The transmission shaft 1104 is installed on the first transmission shaft bearing 1102 and the second transmission shaft bearing 1106, and the ultrasonic propulsion screw 1105 is installed on the first screw bearing 1103 and the second screw bearing 1104.

[0075] Specifically, the first transmission shaft bearing 1102 and the first screw bearing 1103 are installed in the bearing installation holes on the front mounting plate 1101 . The second transmission shaft bearing 1106 and the second screw bearing 1107 are installed in the bearing installation holes on the rear mounting plate 1108 .

[0076] The ultrasonic rotary motor 1111 is fixed on the motor bracket 1114, and the ultrasonic propulsion motor 1112 is fixed on the motor bracket 1114. The ultrasonic rotary motor 1111 and the ultrasonic propulsion motor 1112 are covered by a motor housing 1113.

[0077] Specifically, the motor bracket 1114 has a mounting hole at the bottom thereof, which can be matched with the threaded hole on the bottom plate 1115 and connected by bolts. The ultrasonic rotary motor 1111 and the ultrasonic propulsion motor 1112 have threaded holes, which can be matched with the mounting holes on the motor bracket 1114 and connected by bolts.

[0078] The bottom of the motor housing 1113 is designed with a mounting hole, which can be matched with the threaded hole on the bottom plate 1115 and connected with bolts to cover the ultrasonic rotating motor 1111 and the ultrasonic propulsion motor 1112.

[0079] In this embodiment, a first slide rail 1116 and a second slide rail 1117 are installed on the bottom plate 1105 , and a first slider 1118 and a third slider 1120 are slidably installed on the first slide rail 116 , and a second slider 1119 and a fourth slider 1121 are slidably installed on the second slide rail 117 .

[0080] Specifically, the first slide rail 1116 and the second slide rail 1117 are designed with mounting holes, which match the threaded holes on the bottom plate 1115 and are fixed together with bolts. The first slider 1118 and the third slider 1120 are slidably mounted on the first slide rail 1116, and the second slider 1119 and the fourth slider 1121 are slidably mounted on the second slide rail 1117.

[0081] The output shaft of the ultrasonic rotary motor 1111 is connected to the transmission shaft 1104 via a transmission shaft coupling 1109 , and the output shaft of the ultrasonic propulsion motor 1112 is connected to the ultrasonic propulsion screw 1105 via a screw coupling 1110 .

[0082] Specifically, one end of the transmission shaft coupling 1109 is connected to the transmission shaft 1104 , and the other end is connected to the output shaft of the ultrasonic rotary motor 1111 . The ultrasonic rotary motor 1111 drives the transmission shaft 1104 to rotate through the transmission shaft coupling 1109 .

[0083] One end of the screw coupling 1110 is connected to the ultrasonic propulsion screw 1105 , and the other end is connected to the output shaft of the ultrasonic propulsion motor 1112 . The ultrasonic propulsion motor 1112 drives the ultrasonic propulsion screw 1105 to rotate through the screw coupling 1110 .

[0084] like Figure 5 As shown, the ultrasonic propulsion transmission mechanism 12 includes: at least one support seat, a key gear 1210, a transmission gear 1215 and a lead screw box 1213. The key gear 1210 is slidably mounted on the transmission shaft 1104, and the transmission gear 1215 is meshed with the key gear 1210, and the transmission gear 1215 is meshed with the semicircular gear 1006.

[0085] The support seat is fixed to the slider, the screw box 1213 is fixed to the support seat, and the screw box 1213 is threadedly connected to the ultrasonic propulsion screw 1105.

[0086] Specifically, the support seat of this embodiment includes a first support seat 1201 and a second support seat 1207. The first support seat 1201 is fixed to the first slider 1118, and the first support seat 1201 is fixed to the second slider 1119. The second support seat 1207 is fixed to the third slider 1120, and the second support seat 1207 is fixed to the fourth slider 1121. The lead screw box 1213 is fixed to the first support seat 1201.

[0087] Furthermore, the first slider 1118 and the second slider 1119 are respectively designed with four threaded holes, which can be matched with the first support seat 1201 and connected by bolts. The third slider 1120 and the fourth slider 1121 are respectively designed with four threaded holes, which can be matched with the second support seat 1207 and connected by bolts.

[0088] The first support base 1201 and the second support base 1207 are fixedly connected via a first connecting plate 1203 , and the first support base 1201 and the second support base 1207 are fixedly connected via a second connecting plate 1208 .

[0089] Specifically, the first support seat 1201 has four threaded holes on both sides, which can be matched with the first connecting plate 1203 and the second connecting plate 1208 for bolt connection. The second support seat 1207 has four threaded holes on both sides, which can be matched with the first connecting plate 1203 and the second connecting plate 1208 for bolt connection.

[0090] Furthermore, a gear cover plate 1212 is fixed on the first support seat 1201. A first transmission gear bearing 1214 and a second key gear bearing 1211 are installed on the gear cover plate 1212. A second transmission gear bearing 1216 and a first key gear bearing 1209 are installed on the first support seat 1201.

[0091] A transmission gear 1215 is installed between the first transmission gear bearing 1214 and the second transmission gear bearing 1216. A key gear 1210 is installed between the first key gear bearing 1209 and the second key gear bearing 1211. The key gear 1210 is slidably installed on the transmission shaft 1104. The first support seat 1201 is fixed to the lead screw box 1213.

[0092] Specifically, the first key gear bearing 1209 and the second transmission gear bearing 1216 can be installed in the bearing installation holes on the first support seat 1201. The second key gear bearing 1211 and the first transmission gear bearing 1214 can be installed in the bearing installation holes on the gear cover plate 1212.

[0093] The two ends of the key gear 1210 are installed between the first key gear bearing 1209 and the second key gear bearing 1211. The two ends of the transmission gear 1215 are installed between the first transmission gear bearing 1214 and the second transmission gear bearing 1216. The gear cover plate 1212 is designed with four mounting holes, which match the four threaded holes on the first support seat 1201 and are connected by bolts. The lead screw box 1213 is designed with four mounting holes, which match the threaded holes on the first support seat 1201 and are connected by bolts.

[0094] like Figure 7 As shown, according to an embodiment of the present invention, a semicircular sliding groove B is provided on at least one side of the ultrasonic probe support 1001 . In this embodiment, a semicircular sliding groove B is provided on both sides of the ultrasonic probe support 1001 .

[0095] At least one copper column is installed on the support seat, and the copper column is inserted into the semicircular slide groove B. Figure 5 In the embodiment shown, the first copper pillar 1202 and the second copper pillar 1204 are installed on the first support seat 1201. The third copper pillar 1205 and the fourth copper pillar 1206 are installed on the second support seat 1207. The first copper pillar 1202 and the second copper pillar 1204 are inserted into the semicircular groove B on one side of the ultrasonic probe bracket 1001, and the third copper pillar 1205 and the fourth copper pillar 1206 are inserted into the semicircular groove B on the other side of the ultrasonic probe bracket 1001.

[0096] like Figure 6 As shown, when the ultrasonic rotating motor 1111 drives the transmission shaft 1104 to rotate, the transmission shaft 1104 drives the key gear 1210 to rotate, the key gear 1210 drives the transmission gear 1215 to rotate, the transmission gear 1215 drives the semicircular gear 1006 to rotate, the semicircular gear 1006 drives the ultrasonic probe holder 1001 to rotate, thereby driving the ultrasonic probe clamping mechanism 10 to rotate, and further driving the ultrasonic probe 4 clamped by the ultrasonic probe clamping mechanism 10 to rotate.

[0097] Combination Figure 6 and Figure 7 When the ultrasonic probe clamping mechanism 10 rotates, the copper pillars (the first copper pillar 1202 and the second copper pillar 1204) slide in the semicircular groove B on one side of the ultrasonic probe support 1001. The copper pillars (the third copper pillar 1205 and the fourth copper pillar 1206) slide in the semicircular groove B on the other side of the ultrasonic probe support 1001.

[0098] like Figure 6As shown, when the ultrasonic propulsion motor 1112 drives the ultrasonic propulsion screw 1105 to rotate, the ultrasonic propulsion screw 1105 drives the screw box 1213 to move in a straight line, and the screw box 1213 drives the first support seat 1201 to move in a straight line, thereby driving the ultrasonic propulsion transmission mechanism 12 to move in a straight line as a whole, and then driving the ultrasonic probe clamping mechanism 10 to move in a straight line.

[0099] Combination Figure 8 The support base has a plurality of different hole positions for installing the copper column. By adjusting the copper column to be installed in different hole positions, the rotation angle of the ultrasonic probe clamping mechanism 10 is adjusted.

[0100] Taking the second support base 1207 as an example, the second support base 1207 has a first hole position a, a second hole position b, a third hole position c and a fourth hole position d for installing the third copper pillar 1205 and the fourth copper pillar 1206.

[0101] When the fourth copper pillar 1206 is installed in the outermost first hole position a and the third copper pillar 1205 is installed in the outermost fourth hole position d, the ultrasonic probe bracket 1001 can be rotated 60° on both sides, and the ultrasonic probe bracket 1001 can obtain better support.

[0102] When the fourth copper column 1206 is installed in the second inner hole position b and the third copper column 1205 is installed in the third inner hole position c, the ultrasonic probe bracket 1001 can be rotated 80° on both sides, and the ultrasonic probe bracket 1001 can obtain a larger rotation angle.

[0103] The manner in which the first support base 1202 is provided with a plurality of different hole positions for installing the copper pillars is the same as that of the second support base 1207 , and will not be described again here.

[0104] The output shaft of the ultrasonic rotary motor 1111 of the utility model transmits the rotational motion to the transmission shaft 1104 through the transmission shaft coupling 1109, and then transmits the rotation to the semicircular gear 1006 through the key gear 1210 and the transmission gear 1215. The semicircular gear 1006 drives the entire ultrasonic probe clamping mechanism 10 to rotate.

[0105] The output shaft of the ultrasonic propulsion motor 1112 transmits the rotational motion to the ultrasonic propulsion screw 1105 through the screw coupling 1110, and the ultrasonic propulsion screw 1105 and the screw box 1213 form a linear motion through the cooperation, thereby controlling the linear motion of the ultrasonic propulsion transmission mechanism 12.

[0106] Since the planar puncture mechanism 1 is installed on the ultrasonic probe bracket 1001 of the ultrasonic probe clamping mechanism 10 in the ultrasonic probe positioning device, the ultrasonic probe clamping mechanism 10 drives the planar puncture mechanism 1 and the ultrasonic probe 4 to perform synchronous linear and / or rotational movements, thereby effectively solving the problem of difficulty in operating the ultrasonic probe and the puncture needle at the same time and difficulty in synchronization, and can realize automatic control of the synchronous movement of the ultrasonic probe and the puncture needle, which is helpful to realize precise stepping and automatic imaging of the sagittal plane, cross-section, etc. of the ultrasonic probe.

[0107] There are a few points to note:

[0108] (1) The drawings of the embodiments of the present utility model only relate to the structures related to the embodiments of the present utility model, and other structures may refer to the conventional designs.

[0109] (2) For the sake of clarity, in the drawings used to describe the embodiments of the present invention, the thickness of the layers or regions is enlarged or reduced, that is, these drawings are not drawn according to the actual scale. It is understood that when an element such as a layer, film, region or substrate is referred to as being "on" or "under" another element, the element may be "directly" "on" or "under" the other element or there may be an intermediate element.

[0110] (3) In the absence of conflict, the embodiments of the present invention and the features therein may be combined with each other to obtain new embodiments.

[0111] The above are only specific implementation methods of the present utility model, but the protection scope of the present utility model is not limited thereto. The protection scope of the present utility model shall be based on the protection scope of the claims.

Claims

1. An ultrasonic probe positioning device, characterized in that: The ultrasonic probe positioning device comprises: an ultrasonic probe clamping mechanism, an ultrasonic probe base and an ultrasonic propulsion transmission mechanism; The ultrasonic probe clamping mechanism is installed on the ultrasonic propulsion transmission mechanism, and the ultrasonic propulsion transmission mechanism is installed on the ultrasonic probe base; The ultrasonic probe clamping mechanism is used to clamp the ultrasonic probe; the ultrasonic probe clamping mechanism comprises: an ultrasonic probe bracket, a semicircular gear is fixed on one side of the ultrasonic probe bracket or a semicircular gear is fixed on each side; The ultrasonic probe base comprises: a bottom plate, an ultrasonic rotating motor and an ultrasonic propulsion motor; at least one slide rail is installed on the bottom plate, and at least one slider is slidably installed on the slide rail; The output shaft of the ultrasonic rotary motor is connected to the transmission shaft, the output shaft of the ultrasonic propulsion motor is connected to the ultrasonic propulsion screw, and the transmission shaft and the ultrasonic propulsion screw are arranged in parallel; The ultrasonic propulsion transmission mechanism comprises: at least one support seat, a key gear, a transmission gear and a screw box; the key gear is slidably mounted on the transmission shaft, the transmission gear is meshed with the key gear, and the transmission gear is meshed with the semicircular gear; The support seat is fixed to the slider, the lead screw box is fixed to the support seat, and the lead screw box is threadedly connected to the ultrasonic propulsion lead screw; When the transmission shaft rotates, the key gear is driven to rotate, thereby driving the ultrasonic probe clamping mechanism to rotate; When the ultrasonic propulsion screw rotates, the screw box is driven to move in a straight line, thereby driving the ultrasonic probe clamping mechanism to move in a straight line.

2. The ultrasonic probe positioning device according to claim 1, characterized in that: A semicircular slide groove is provided on at least one side of the ultrasonic probe support; At least one copper column is installed on the support seat, and the copper column is inserted into the semicircular slide groove; when the ultrasonic probe clamping mechanism rotates, the copper column slides in the semicircular slide groove.

3. The ultrasonic probe positioning device according to claim 2, characterized in that: The support base has a plurality of different holes for installing the copper column; The rotation angle of the ultrasonic probe clamping mechanism is adjusted by adjusting the copper column to be installed in different hole positions.

4. The ultrasonic probe positioning device according to claim 1, characterized in that: The ultrasonic probe clamping mechanism further comprises: an ultrasonic probe moving clamp arranged on one side of the inner wall of the ultrasonic probe bracket and moving in a straight line relative to the ultrasonic probe bracket; When the ultrasonic probe moving fixture moves along a straight line, the ultrasonic probe moving fixture clamps the ultrasonic probe.

5. The ultrasonic probe positioning device according to claim 4, characterized in that: The ultrasonic probe clamping mechanism comprises: an ultrasonic probe fixing fixture, a knob fixing bolt, an ultrasonic probe moving fixture and a knob; The ultrasonic probe fixing fixture is fixedly connected to the ultrasonic probe bracket; the knob fixing bolt passes through the through hole opened on the ultrasonic probe moving fixture and is connected to the threaded hole on the knob; An external thread is arranged on the outside of the knob, a hole for placing the knob is provided on the ultrasonic probe holder, and an internal thread is arranged in the hole. The external thread on the outside of the knob cooperates with the internal thread of the hole of the ultrasonic probe holder for placing the knob, so that the knob can move axially during rotation, and at the same time drive the ultrasonic probe moving fixture to move axially to clamp the ultrasonic probe on one side.

6. The ultrasonic probe positioning device according to claim 1, characterized in that: The clamping mechanism further comprises: ultrasonic probe moving clamps are respectively arranged on both sides of the inner wall of the ultrasonic probe bracket and move linearly relative to the ultrasonic probe bracket; When the ultrasonic probe moving clamps on both sides of the inner wall of the ultrasonic probe holder move along a straight line, the ultrasonic probe moving clamps on both sides of the inner wall of the ultrasonic probe holder clamp the ultrasonic probe, and adjust the ultrasonic probe from both sides of the inner wall of the ultrasonic probe holder.

7. The ultrasonic probe positioning device according to claim 1, characterized in that: The ultrasonic probe base further includes: a front mounting plate and a rear mounting plate; the front mounting plate is fixed to the bottom plate, and the rear mounting plate is fixed to the bottom plate; The first transmission shaft bearing and the first lead screw bearing are mounted on the front mounting plate; the second transmission shaft bearing and the second lead screw bearing are mounted on the rear mounting plate; The transmission shaft is mounted on the first transmission shaft bearing and the second transmission shaft bearing, and the ultrasonic propulsion screw is mounted on the first screw bearing and the second screw bearing.

8. The ultrasonic probe positioning device according to claim 1, characterized in that: The ultrasonic probe base further comprises: a motor bracket; the ultrasonic rotary motor is fixed on the motor bracket, and the ultrasonic propulsion motor is fixed on the motor bracket; The output shaft of the ultrasonic rotary motor is connected to the transmission shaft through a transmission shaft coupling; the output shaft of the ultrasonic propulsion motor is connected to the ultrasonic propulsion screw through a screw coupling.

9. The ultrasonic probe positioning device according to claim 1, characterized in that: The bottom plate is provided with a first slide rail and a second slide rail, the first slide rail is slidably provided with a first slider and a third slider, and the second slide rail is slidably provided with a second slider and a fourth slider; The support seat includes a first support seat and a second support seat; the first support seat is fixed to the first slider, and the first support seat is fixed to the second slider; the second support seat is fixed to the third slider, and the second support seat is fixed to the fourth slider; The first support base is fixedly connected to the second support base via a first connecting plate, and the first support base is fixedly connected to the second support base via a second connecting plate.

10. The ultrasonic probe positioning device according to claim 9, characterized in that: The gear cover plate is fixed on the first support seat; The first transmission gear bearing and the second key gear bearing are installed on the gear cover plate; the second transmission gear bearing and the first key gear bearing are installed on the first support seat; A transmission gear is installed between the first transmission gear bearing and the second transmission gear bearing; a key gear is installed between the first key gear bearing and the second key gear bearing; The first support seat is fixed to the lead screw box.

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