Mechanical arm for ultrasonic examination

Abstract

The mechanical arm comprises a main supporting arm and an auxiliary supporting arm, the auxiliary supporting arm is connected to the lower end of the main supporting arm in a rotating mode through a servo motor, an arc-shaped supporting arm is installed at the tail end of the bottom of the auxiliary supporting arm, a detection mechanism is embedded in a sliding groove of the arc-shaped supporting arm, and the detection mechanism is connected with the auxiliary supporting arm in a rotating mode. The detection mechanism comprises an ultrasonic instrument, an I-shaped disc, an arc-shaped fluted disc, a gear and a first motor, the ultrasonic instrument is rotationally connected to supporting lugs on the two sides of the I-shaped disc, the I-shaped disc is slidably nested in a sliding groove of the arc-shaped supporting arm, and the arc-shaped fluted disc is fixed to the tail end of the top of the ultrasonic instrument. According to the utility model, the arc-shaped support arm drives the ultrasonic instrument on the detection mechanism to press the abdomen of a subject, so that the effect of replacing manual pressing is achieved, and the labor intensity of doctors is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of ultrasonic inspection equipment, in particular to a mechanical arm used for ultrasonic inspection. Background Art

[0002] At present, with the continuous development of medical technology, various types of medical auxiliary equipment have significantly improved the analysis of disease conditions, making it easier for doctors to quickly and timely understand the condition and develop better treatment plans for patients. In clinical medicine, doctors often use ultrasound scanners to examine the inside of the patient's abdominal cavity, which facilitates the diagnosis of the condition.

[0003] Currently, there is an ultrasound examination device with a manipulator-assisted probe with announcement number CN209863883U. The device can assist doctors in operation by using the extension of the manipulator and the multi-angle adjustment of the manipulator to imitate the doctor's hand-held B-ultrasound probe movements. However, it has the following shortcomings: 1. The manipulator needs to control the three-dimensional coordinates simultaneously when clamping the detector, so it is not easy to move smoothly along the curve of the subject's abdomen; 2. When the detector presses the subject's abdomen, it is not easy to grasp the pressing force, causing pain to the subject. Utility Model Content

[0004] The purpose of the utility model is to solve the problem in the prior art that a mechanical arm clamping a detector needs to control the three-dimensional coordinates at the same time, so it is not easy to move smoothly along the curve of the abdomen of the subject, and it is not easy to control the pressing force when the detector presses the abdomen of the subject, causing pain to the subject, and a mechanical arm for ultrasonic examination is proposed.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a mechanical arm for ultrasonic inspection, comprising a main arm and a secondary arm, wherein the secondary arm is rotatably connected to the lower end of the main arm through a servo motor, an arc-shaped arm is installed at the bottom end of the secondary arm, a detection mechanism is nested in the slide groove of the arc-shaped arm, and the detection mechanism comprises an ultrasonic instrument, an I-shaped plate, an arc-shaped gear plate, a gear and a first motor;

[0006] The ultrasonic instrument is rotatably connected to the two side ears of the I-shaped plate, the I-shaped plate is slidably nested in the sliding groove of the arc-shaped support arm, the arc-shaped gear plate is fixed to the top end of the ultrasonic instrument, the first motor is fixed to the top surface of the I-shaped plate, and the output shaft passes through the central through hole of the I-shaped plate and is fixedly connected to the gear, and the gear is meshed with the arc-shaped gear plate.

[0007] Preferably, a second motor is fixed to one side of the top surface of the I-shaped plate, a worm is fixed to the output shaft of the second motor, a worm gear is provided on the top surface of the inner wall of the slide groove of the arc-shaped support arm, and the worm gear is meshedly connected with the worm gear on the top surface of the inner wall of the slide groove of the arc-shaped support arm.

[0008] Preferably, a pressure sensor is fixed to one side of the ultrasound instrument.

[0009] Preferably, a controller is installed on the secondary arm, and the controller is electrically connected to the first motor and the second motor through a cable.

[0010] Preferably, a control module is also installed inside the controller, and the pressure sensor is controlled in linkage with the driving motor of the main arm through the control module.

[0011] Preferably, a sealing strip is installed at the sliding groove opening of the arc-shaped support arm, and the outer surfaces of the main support arm, the auxiliary support arm and the arc-shaped support arm are all treated by spraying.

[0012] The utility model has the following beneficial effects:

[0013] 1. The robotic arm for ultrasonic examination has an arc-shaped support arm and a detection mechanism. The second motor can drive the detection mechanism to move along the slide groove of the arc-shaped support arm through the engagement of the worm gear with the worm gear, so that the force of the ultrasound instrument pressing the abdomen of the examinee remains stable, reducing the difficulty of the doctor's operation.

[0014] 2. The robotic arm used for ultrasonic examination uses a pressure sensor and a control module. The control module receives data from the pressure sensor and automatically compares it with a preset value. When the data is greater than the set value, the drive motor of the main arm is started to drive the main arm, the auxiliary arm, the arc arm and the detection mechanism to reduce the pressure on the abdomen of the examinee, thereby protecting the examinee. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a front perspective view of the utility model;

[0016] Figure 2 It is a rear perspective view of the utility model;

[0017] Figure 3 It is a cross-sectional view of the utility model;

[0018] Figure 4 For the utility model Figure 3 Enlarged view of point A in the middle. DETAILED DESCRIPTION

[0019] 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.

[0020] In the description of the present utility model, it should be noted that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present utility model; the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance. In addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0021] like Figure 1-4 As shown, the robotic arm for ultrasonic inspection of this embodiment includes a main arm 1 and a secondary arm 2, the secondary arm 2 is rotatably connected to the lower end of the main arm 1 through a servo motor, an arc-shaped arm 3 is installed at the bottom end of the secondary arm 2, and a detection mechanism is nested in the slide groove of the arc-shaped arm 3, and the detection mechanism includes an ultrasonic instrument 41, an I-shaped plate 42, an arc-shaped gear plate 43, a gear 44 and a first motor 45;

[0022] The ultrasonic instrument 41 is rotatably connected to the two side ears of the I-shaped plate 42, the I-shaped plate 42 is slidably nested in the slide groove of the arc-shaped support arm 3, the arc-shaped gear plate 43 is fixed to the top end of the ultrasonic instrument 41, the first motor 45 is fixed to the top surface of the I-shaped plate 42 and the output shaft passes through the central through hole of the I-shaped plate 42 and is fixedly connected to the gear 44, and the gear 44 is meshed with the arc-shaped gear plate 43.

[0023] When in use, the main arm 1 drives the auxiliary arm 2, the arc-shaped arm 3 and the detection mechanism through the servo motor to approach the abdomen of the subject, so that the arc-shaped arm 3 covers the outside of the abdomen of the subject, so that the ultrasound device 41 is pressed on the surface of the abdomen of the subject. The detection mechanism can drive the ultrasound device 41 to move in an arc around the abdomen of the subject through the I-shaped plate 42, and by starting the first motor 45 to drive the gear 44 to rotate, the gear 44 engages the arc-shaped gear plate 43 to drive the ultrasound device 41 to deflect around the support ear of the I-shaped plate 42, thereby changing the angle at which the ultrasound device 41 presses the abdomen of the subject, making it convenient for the doctor to move the ultrasound device 41 while adjusting the observation angle, thereby facilitating observation.

[0024] like Figure 3As shown, a second motor 5 is fixed to one side of the top surface of the I-shaped plate 42, a worm 6 is fixed to the output shaft of the second motor 5, a worm gear is provided on the top surface of the inner wall of the slide groove of the arc-shaped support arm 3, the worm gear 6 is meshingly connected with the worm gear on the top surface of the inner wall of the slide groove of the arc-shaped support arm 3, and the second motor 5 is engaged with the worm gear by the worm gear 6, so as to drive the detection mechanism to move along the slide groove of the arc-shaped support arm 3, so that the force of the ultrasound instrument 41 pressing the abdomen of the subject remains stable, reducing the difficulty of the doctor's operation.

[0025] like Figure 1 , 3 As shown in FIG. 4 , a pressure sensor 7 is fixed to one side of the ultrasound device 41. The pressure sensor 7 determines the force of the ultrasound device 41 pressing the abdomen of the subject by detecting the position of its own telescopic guide rod to avoid pain caused by excessive force.

[0026] like Figure 1-3 As shown, a controller (not shown) is installed on the secondary arm 2, and the controller is electrically connected to the first motor 45 and the second motor 5 through cables. The controller controls the robotic arm, and controls the start and stop of the first motor 45 and the second motor 5 respectively, thereby enabling the ultrasound instrument 41 to imitate manual handheld instrument detection, thereby reducing the doctor's workload and work intensity.

[0027] like Figure 1-3 As shown, a control module (not shown) is also installed inside the controller. The pressure sensor 7 is linked to the driving motor of the main arm 1 through the control module. The control module receives the data of the pressure sensor 7 and automatically compares it with the preset value. When it is greater than the set value, the driving motor of the main arm 1 is started, driving the main arm 1, the auxiliary arm 2, the arc arm 3 and the detection mechanism to reduce the pressure on the abdomen of the subject, thereby protecting the subject.

[0028] like Figure 1-3 As shown, a sealing strip (not shown) is installed at the slide groove opening of the arc-shaped support arm 3. The sealing strip serves to close the slide groove opening of the arc-shaped support arm 3 to prevent dust from entering the interior of the arc-shaped support arm 3. The outer surfaces of the main support arm 1, the auxiliary support arm 2, and the arc-shaped support arm 3 are all spray-coated to facilitate cleaning and disinfection.

[0029] 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, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or 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 should be included in the protection scope of the present invention.

Claims

1. A mechanical arm for ultrasonic inspection, comprising a main arm (1) and a secondary arm (2), wherein the secondary arm (2) is rotatably connected to the lower end of the main arm (1) via a servo motor, and characterized in that: An arc-shaped support arm (3) is installed at the bottom end of the auxiliary support arm (2), and a detection mechanism is nested in the slide groove of the arc-shaped support arm (3), and the detection mechanism comprises an ultrasonic instrument (41), an I-shaped plate (42), an arc-shaped gear plate (43), a gear (44) and a first motor (45); The ultrasonic instrument (41) is rotatably connected to the two side ears of the I-shaped plate (42), the I-shaped plate (42) is slidably nested in the sliding groove of the arc-shaped support arm (3), the arc-shaped toothed plate (43) is fixed to the top end of the ultrasonic instrument (41), the first motor (45) is fixed to the top surface of the I-shaped plate (42) and the output shaft passes through the central through hole of the I-shaped plate (42) and is fixedly connected to the gear (44), and the gear (44) is meshedly connected with the arc-shaped toothed plate (43).

2. The robotic arm according to claim 1, characterized in that: A second motor (5) is fixed to one side of the top surface of the I-shaped plate (42); a worm (6) is fixed to the output shaft of the second motor (5); a worm gear is provided on the top surface of the inner wall of the slide groove of the arc-shaped support arm (3); and the worm gear (6) is meshingly connected with the worm gear on the top surface of the inner wall of the slide groove of the arc-shaped support arm (3).

3. The robotic arm for ultrasonic inspection according to claim 2, characterized in that: A pressure sensor (7) is fixed on one side of the ultrasonic instrument (41).

4. The robotic arm for ultrasonic inspection according to claim 3, characterized in that: A controller is installed on the secondary support arm (2), and the controller is electrically connected to the first motor (45) and the second motor (5) via a cable.

5. The robotic arm for ultrasonic inspection according to claim 4, characterized in that: A control module is also installed inside the controller, and the pressure sensor (7) is controlled in linkage with the drive motor of the main support arm (1) through the control module.

6. The robotic arm for ultrasonic inspection according to claim 5, characterized in that: The sliding groove opening of the arc-shaped support arm (3) is provided with a sealing strip, and the outer surfaces of the main support arm (1), the auxiliary support arm (2) and the arc-shaped support arm (3) are all treated with plastic spraying.

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