Portable ultrasonic robot scanning system

Abstract

The utility model relates to the technical field of medical instruments, and provides a portable ultrasonic robot scanning system which comprises a base, a mechanical arm, a transverse swing part, a pitching motion part and an ultrasonic probe. The mechanical arm is arranged on the base, and the execution tail end of the mechanical arm can reach one side of a to-be-scanned part; the first end of the transverse swing part is rotatably arranged at the execution tail end of the mechanical arm, the pitching motion part is rotatably arranged at the second end of the transverse swing part, and the ultrasonic probe is arranged on the pitching motion part; and the ultrasonic probe is used for performing ultrasonic scanning on the to-be-scanned part. The system disclosed by the utility model is simple in structure, low in cost, convenient to carry and relatively low in operation difficulty, can ensure that the pose of the ultrasonic probe is matched with a plurality of detection parts of a to-be-scanned part based on comprehensive adjustment of multiple degrees of freedom, and can be conveniently applied to ambulances and other field sites to execute related first-aid tasks.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202311789582.1, filed on December 25, 2023, and entitled “A Portable Ultrasonic Robot Scanning System”, which is incorporated herein by reference in its entirety. Technical Field

[0003] The utility model relates to the technical field of medical machinery, in particular to a portable ultrasonic robot scanning system. Background Art

[0004] Ultrasound scanning is a medical examination method that performs non-invasive examinations of the scanned area. For example, ultrasound scanning is often used to evaluate the structure and function of the human neck. Neck ultrasound scans are used to examine the thyroid gland, evaluate the carotid arteries, evaluate lymph node status, examine salivary glands, and identify other neck masses or abnormalities. During the examination, the operator moves the ultrasound probe across the neck to capture images of different areas. Compared with other examinations, neck ultrasound examinations have the advantages of no radiation, high safety, simple operation, relatively low cost, real-time imaging, and immediate analysis of results. Although neck ultrasound examinations are widely used in clinical practice, their imaging quality may be limited by many factors. In particular, the imaging quality depends largely on the operator's operating experience and the projection angle of the ultrasound wave, which may lead to a lack of consistency in the evaluation results of neck ultrasound examinations.

[0005] In actual applications, it is found that existing ultrasonic scanning equipment is usually used in hospitals or physical examination institutions. This type of ultrasonic scanning equipment mainly uses ultrasonic probes with the assistance of industrial robotic arms to complete related ultrasonic scanning tasks. The entire set of ultrasonic scanning equipment is bulky and costly, but has few degrees of freedom and high operating requirements for testing personnel. It is difficult to use in ambulances and other field locations to perform related emergency tasks. Utility Model Content

[0006] The utility model provides a portable ultrasonic robot scanning system, which is used to solve the problems that the existing ultrasonic scanning equipment is large in size, high in cost and inconvenient to be used in ambulances and other field sites to perform relevant emergency tasks.

[0007] The utility model provides a portable ultrasonic robot scanning system, comprising: a base, a mechanical arm, a lateral swinging part, a pitching moving part and an ultrasonic probe;

[0008] The mechanical arm is arranged on the base, and the execution end of the mechanical arm can reach one side of the part to be scanned;

[0009] The first end of the lateral swinging member is rotatably disposed at the execution end of the mechanical arm, the pitching member is rotatably disposed at the second end of the lateral swinging member, and the ultrasonic probe is disposed on the pitching member;

[0010] Wherein, the ultrasonic probe is used to perform ultrasonic scanning on the part to be scanned.

[0011] According to a portable ultrasonic robot scanning system provided by the utility model, the execution end of the mechanical arm can reach the part to be scanned near the left or right side of the human neck;

[0012] The lateral swinging member is rotatably arranged at the execution end of the robotic arm around a vertical axis, the pitching moving member is rotatably arranged at the second end of the lateral swinging member around a horizontal axis, and the ultrasonic probe is used to perform ultrasonic scanning of the thyroid gland or carotid artery on the left or right side of the human neck.

[0013] According to a portable ultrasonic robot scanning system provided by the utility model, the mechanical arm includes a lifting mechanism, a first linkage arm and a second linkage arm;

[0014] The lifting mechanism is arranged on the base, the first end of the first linkage arm and the output end of the lifting mechanism are rotatably connected around a vertical axis, the second end of the first linkage arm and the first end of the second linkage arm are rotatably connected around a vertical axis, and the second end of the second linkage arm and the first end of the lateral swinging member are rotatably connected around a vertical axis.

[0015] According to a portable ultrasonic robot scanning system provided by the utility model, the lifting mechanism is a lead screw lifting mechanism, and the lead screw lifting mechanism includes a lead screw, a lifting seat, a slide rail and a drive motor;

[0016] The lead screw and the slide rail are arranged side by side and both extend in the vertical direction; the drive motor and the lead screw are dynamically coupled to drive the lead screw to rotate;

[0017] The lifting seat is movably arranged on the slide rail, and the lifting seat is provided with a threaded hole. The lead screw passes through the threaded hole and is threadedly connected with the threaded hole. The first end of the first linkage arm is rotatably arranged on the lifting seat around a vertical axis.

[0018] According to a portable ultrasonic robot scanning system provided by the utility model, the screw lifting mechanism also includes a mounting seat and a lifting platform;

[0019] The mounting seat is arranged on the base, and the lifting platform and the driving motor are arranged on the mounting seat respectively;

[0020] There are two slide rails, which are arranged side by side on the lifting platform and on both sides of the lead screw; the first end of the lead screw is rotatably arranged on the mounting seat and is power-coupled with the output end of the drive motor, and the second end of the lead screw is rotatably arranged on the lifting platform.

[0021] According to a portable ultrasonic robot scanning system provided by the utility model, the lead screw lifting mechanism is also configured with a trigger member and a zeroing button;

[0022] The trigger member and the zero return button are respectively connected to a control panel, and the control panel is respectively connected to the drive motor and the pitch motion member;

[0023] The zero return button is used to receive a pressing input command from an operator, and the control panel is used to control the driving motor to drive the lifting seat to move to an initial position and control the pitch moving part to return to an initial state according to the pressing input command fed back by the zero return button;

[0024] Wherein, the trigger member is arranged at the initial position, and the control panel is used for controlling the driving motor to stop running when the trigger member is triggered by the lifting seat.

[0025] According to a portable ultrasonic robot scanning system provided by the utility model, the pitch moving part includes a telescopic driving rod and a crank arm;

[0026] The first end of the telescopic driving rod is rotatably disposed on the transverse swing member, and the second end of the telescopic driving rod is rotatably connected to the crank arm;

[0027] The first end of the crank arm is rotatably connected to the second end of the lateral swinging member around a horizontal axis, and the second end of the crank arm is used to set the ultrasonic probe.

[0028] According to a portable ultrasonic robot scanning system provided by the utility model, the lateral swinging member includes a first crossbar, a connecting portion and a second crossbar;

[0029] The first cross bar and the second cross bar are spaced from each other and arranged side by side, the first end of the first cross bar and the first end of the second cross bar are both connected to the connecting portion; the second end of the second linkage arm is rotatably connected to the connecting portion around a vertical axis;

[0030] The first end of the telescopic driving rod is rotatably disposed between the first end of the first cross bar and the first end of the second cross bar, and the first end of the crank arm is rotatably disposed between the second end of the first cross bar and the second end of the second cross bar.

[0031] According to a portable ultrasonic robot scanning system provided by the utility model, human-machine interaction modules are provided on both sides of the crank arm, and the human-machine interaction modules are electrically connected to the lifting mechanism and the telescopic driving rod respectively;

[0032] The human-machine interaction module is used to receive a first type of operation instruction from an operator, and the lifting mechanism can respond to the first type of operation instruction to control the output end of the lifting mechanism to perform lifting movement;

[0033] The human-computer interaction module is used to receive the operator's second type of operation instructions, and the telescopic drive rod can respond to the second type of operation instructions to drive the crank arm to swing around the horizontal axis relative to the lateral swing member, and then the crank arm drives the ultrasonic probe to perform pitch movement.

[0034] According to a portable ultrasonic robot scanning system provided by the utility model, a clamp is provided at the second end of the crank arm, and the clamp is used to clamp the ultrasonic probe.

[0035] According to a portable ultrasonic robot scanning system provided by the utility model, a first rotating joint is formed between the first linkage arm and the output end of the lifting mechanism, a second rotating joint is formed between the first linkage arm and the second linkage arm, and a third rotating joint is formed between the second linkage arm and the lateral swinging member;

[0036] Wherein, the first rotational joint, the second rotational joint and the third rotational joint are all passive joints with damping.

[0037] According to a portable ultrasonic robot scanning system provided by the utility model, a first absolute value encoder is provided on one side of the passive joint, and the first absolute value encoder is used to detect the rotation angle of the passive joint;

[0038] The drive motor is provided with a second absolute value encoder, and the second absolute value encoder is used to detect the rotation angle of the drive motor;

[0039] The telescopic drive rod is provided with a third absolute value encoder, and the third absolute value encoder is used to detect the rotation angle of the rotary drive member corresponding to the telescopic drive rod to determine the length of the telescopic drive rod;

[0040] The first absolute value encoder, the second absolute value encoder and the third absolute value encoder are electrically connected to a control board respectively, and the control board is electrically connected to the drive motor and the telescopic drive rod respectively;

[0041] The control panel is used to control the working state of the drive motor and the telescopic drive rod according to the information fed back by the first absolute value encoder, the second absolute value encoder and the third absolute value encoder, so as to adjust the posture of the ultrasonic probe and control the ultrasonic probe to return to its initial position.

[0042] According to a portable ultrasonic robot scanning system provided by the utility model, the ultrasonic probe is flat and has a first installation state, a second installation state and a third installation state relative to the pitch motion part;

[0043] When the ultrasonic probe is in the first installation state, the bottom surface of the ultrasonic probe is installed on the installation surface of the pitch motion member, and the extension direction of the ultrasonic probe is parallel to the installation surface of the pitch motion member;

[0044] When the ultrasonic probe is in the second installation state, the side surface of the ultrasonic probe is installed on the installation surface of the pitch motion member, and the extension direction of the ultrasonic probe is parallel to the installation surface of the pitch motion member;

[0045] When the ultrasonic probe is in the third installation state, the bottom of the ultrasonic probe is installed on the pitch motion piece, the detection end of the ultrasonic probe is arranged upward or downward, and the extension direction of the ultrasonic probe is perpendicular to the installation surface of the pitch motion piece.

[0046] The portable ultrasonic robot scanning system provided by the utility model is configured with a base, a mechanical arm, a lateral swinging member, a pitching motion member and an ultrasonic probe which are connected in sequence. When performing ultrasonic examination of the human neck, the spatial position to be reached by the execution end of the mechanical arm can be adjusted according to the physical condition of the subject so as to reach one side of the part to be scanned, so that the detection end of the ultrasonic probe is initially close to or fits the part to be scanned, and then the lateral swinging member is controlled to swing horizontally, and the pitch angle of the ultrasonic probe is adjusted by the pitching motion member, so as to further adjust the position and posture of the ultrasonic probe, so as to facilitate the ultrasonic probe to scan the relevant features of the part to be scanned.

[0047] It can be seen that the system shown in the utility model has a simple structure, low cost, is easy to carry, and has relatively low operating difficulty. Based on the comprehensive adjustment of multiple degrees of freedom, it can ensure that the position of the ultrasound probe is compatible with multiple detection parts of the part to be scanned, and can be conveniently used in ambulances and other field locations to perform related emergency tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0049] Figure 1 It is a structural schematic diagram of the portable ultrasonic robot scanning system provided by the utility model;

[0050] Figure 2 It is a structural schematic diagram of the portable ultrasonic robot scanning system provided by the utility model performing ultrasonic scanning on the left side of the human neck;

[0051] Figure 3 It is a structural schematic diagram of the portable ultrasonic robot scanning system provided by the utility model performing ultrasonic scanning on the right side of the human neck;

[0052] Figure 4 This is one of the structural schematic diagrams of the lifting mechanism provided by the utility model;

[0053] Figure 5 This is the second structural diagram of the lifting mechanism provided by the utility model;

[0054] Figure 6 It is a structural schematic diagram of the ultrasonic probe provided by the utility model in a first installation state on a pitch moving part;

[0055] Figure 7 It is a structural schematic diagram of the ultrasonic probe provided by the utility model in a second installation state on the pitch moving part;

[0056] Figure 8 It is a structural schematic diagram of the ultrasonic probe provided by the utility model in a third installation state on the pitch moving part;

[0057] Reference numerals:

[0058] 1. Base;

[0059] 2. Mechanical arm; 21. Lifting mechanism; 211. Lead screw; 212. Lifting seat; 213. Slide rail; 214. Driving motor; 215. Mounting seat; 216. Lifting platform; 217. Trigger; 22. First linkage arm; 23. Second linkage arm;

[0060] 3. lateral swinging member; 31. first crossbar; 32. connecting portion; 33. second crossbar;

[0061] 4. Pitch moving parts; 41. Telescopic driving rod; 42. Crank arm; 43. Clamp;

[0062] 5. Human-computer interaction module; 6. Ultrasonic probe;

[0063] 100. Human neck. DETAILED DESCRIPTION

[0064] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described clearly and completely in conjunction with the drawings in the utility model. Obviously, the described embodiments are 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.

[0065] Combine the following Figure 1-Figure 8 , the portable ultrasonic robot scanning system provided by the embodiment of the utility model is described in detail through specific embodiments and application scenarios.

[0066] like Figure 1 As shown, the utility model provides a portable ultrasonic robot scanning system, comprising: a base 1, a mechanical arm 2, a lateral swinging member 3, a pitching moving member 4 and an ultrasonic probe 6.

[0067] The robot arm 2 is arranged on the base 1, and the execution end of the robot arm 2 can reach one side of the part to be scanned; wherein, the part to be scanned can be the neck, cervical spine, lumbar spine and other positions of the human body, which is not specifically limited.

[0068] The first end of the lateral swing member 3 is rotatably disposed at the execution end of the robot arm 2 , the pitch motion member 4 is rotatably disposed at the second end of the lateral swing member 3 , and the ultrasonic probe 6 is disposed on the pitch motion member 4 .

[0069] The ultrasonic probe 6 is used to perform ultrasonic scanning on the part to be scanned.

[0070] In the application scenario of using the system shown in this embodiment to perform ultrasonic scanning on the human neck, the robot arm 2 can be further optimized. For example, the execution end of the robot arm 2 can reach a position close to the left or right side of the human neck 100.

[0071] The first end of the transverse swing member 3 is rotatably disposed at the execution end of the robot arm 2 around a vertical axis, the pitch motion member 4 is rotatably disposed at the second end of the transverse swing member 3 around a horizontal axis, and the ultrasonic probe 6 is disposed on the pitch motion member 4.

[0072] The ultrasonic probe 6 is used to perform ultrasonic scanning on the thyroid gland or carotid artery on the left or right side of the human neck 100 .

[0073] It is understandable that the base 1 can be set on a desk, a treatment bed and other work platforms. The base 1 is used to provide an installation support for the robotic arm 2. To ensure the reliability of the operation of the robotic arm 2, the base 1 can be configured to be fixed to the work platform.

[0074] Optionally, the base 1 includes a base body and flexible legs. The base body is horizontally arranged, the flexible legs are arranged at the bottom of the base body, and the mechanical arm 2 is arranged at the top of the base body. A counterweight structure can be arranged on the base 1 to ensure the stability of the entire base 1 placed on the working platform.

[0075] The robotic arm 2 can be a robotic arm with at least three degrees of freedom as is well known in the art, so as to ensure that the execution end of the robotic arm 2 can perform three-dimensional positioning in three-dimensional space, and then spatially position the ultrasonic probe 6 based on the execution end, and the execution end drives the ultrasonic probe 6 to a position close to the left or right side of the human neck 100.

[0076] At the same time, the lateral swing member 3 can swing left and right in the horizontal plane relative to the execution end of the robot arm 2, and thereby drive the pitch moving member 4 to swing left and right, thereby providing the ultrasonic probe 6 on the pitch moving member 4 with the freedom of lateral scanning.

[0077] The pitch motion member 4 can perform a pitch motion in a vertical plane relative to the lateral swing member 3 , and thereby drive the ultrasonic probe 6 to perform a pitch motion, thereby providing the ultrasonic probe 6 with a degree of freedom for pitch scanning.

[0078] The ultrasonic robot scanning system shown in the utility model is configured with a base 1, a mechanical arm 2, a lateral swinging member 3, a pitching motion member 4 and an ultrasonic probe 6 which are connected in sequence. When performing an ultrasonic examination of a human neck 100, the spatial position to be reached by the execution end of the mechanical arm 2 can be adjusted according to the physical condition of the subject to reach a position close to the left or right side of the human neck 100, so that the detection end of the ultrasonic probe 6 is initially close to or in contact with the skin of the human neck 100, and then the lateral swinging member 3 is controlled to swing horizontally, and the pitch angle of the ultrasonic probe 6 is adjusted by the pitching motion member 4, so as to further adjust the posture of the ultrasonic probe 6, so as to facilitate the ultrasonic probe 6 to scan the internal carotid artery, the external carotid artery, the subclavian artery or the thyroid gland and other parts.

[0079] It can be seen that the utility model can ensure that the posture of the ultrasonic probe 6 is compatible with multiple detection parts of the human neck 100 based on the comprehensive adjustment of multiple degrees of freedom, and can conveniently perform ultrasonic scanning of the thyroid gland or carotid artery on the left or right side of the human neck 100.

[0080] Furthermore, the ultrasonic probe 6 is flat, and has a first installation state, a second installation state, and a third installation state relative to the pitch motion member 4 .

[0081] like Figure 6 As shown, when the ultrasonic probe 6 is in the first installation state, the bottom surface of the ultrasonic probe 6 is installed on the installation surface of the pitch moving member 4, and the extension direction of the ultrasonic probe 6 is parallel to the installation surface of the pitch moving member 4. At this time, the ultrasonic probe 6 can perform ultrasonic scanning on the part to be scanned in a transverse manner with the assistance of the lifting mechanism 21, the lateral swing member 3 and the pitch moving member 4.

[0082] like Figure 7 As shown, when the ultrasonic probe 6 is in the second installation state, the side of the ultrasonic probe 6 is installed on the installation surface of the pitch moving member 4, and the extension direction of the ultrasonic probe 6 is parallel to the installation surface of the pitch moving member 4. At this time, the ultrasonic probe 6 can perform ultrasonic scanning on the part to be scanned in a longitudinal manner with the assistance of the lifting mechanism 21, the lateral swing member 3 and the pitch moving member 4.

[0083] like Figure 8 As shown, when the ultrasonic probe 6 is in the third installation state, the bottom of the ultrasonic probe 6 is installed on the pitch moving member 4, the detection end of the ultrasonic probe 6 is arranged upward or downward, and the extension direction of the ultrasonic probe 6 is perpendicular to the installation surface of the pitch moving member 4. At this time, the ultrasonic probe 6 can perform ultrasonic scanning on the part to be scanned in a vertical posture with the assistance of the lifting mechanism 21, the lateral swing member 3 and the pitch moving member 4.

[0084] In actual application, the operator can selectively determine the installation state of the ultrasonic probe 6 relative to the pitch moving part 4 according to the on-site detection environment, so as to realize ultrasonic scanning of the part to be scanned in different detection scenarios.

[0085] In some embodiments, Figure 1 As shown, the robot arm 2 includes a lifting mechanism 21 , a first linking arm 22 and a second linking arm 23 .

[0086] The lifting mechanism 21 is arranged on the base 1, the first end of the first linkage arm 22 and the output end of the lifting mechanism 21 are rotatably connected around the vertical axis, the second end of the first linkage arm 22 and the first end of the second linkage arm 23 are rotatably connected around the vertical axis, and the second end of the second linkage arm 23 and the first end of the lateral swing member 3 are rotatably connected around the vertical axis.

[0087] It is understandable that a first rotation joint is formed between the first linkage arm 22 and the output end of the lifting mechanism 21 , a second rotation joint is formed between the first linkage arm 22 and the second linkage arm 23 , and a third rotation joint is formed between the second linkage arm 23 and the transverse swing member 3 .

[0088] Damping plates can be arranged between the first linking arm 22 and the output end of the lifting mechanism 21, between the first linking arm 22 and the second linking arm 23, and between the second linking arm 23 and the lateral swinging member 3. This design enables the first rotation joint, the second rotation joint and the third rotation joint to be passive joints with damping, thereby ensuring that the passive joints are more stable during the rotation process and can be maintained at the set rotation angle according to actual needs.

[0089] Based on the above configuration, it can be ensured that the second end of the second linkage arm 23 has three degrees of freedom on the horizontal plane, and it can be ensured that the ultrasound probe 6 can reach the left side or the right side of the human neck 100 .

[0090] like Figure 2 As shown, by actively or passively dragging and adjusting the lifting mechanism 21, the first linking arm 22 and the second linking arm 23 of the robot arm 2, the ultrasonic probe 6 can perform ultrasonic examination on the left side of the human neck 100.

[0091] like Figure 3 As shown, by actively or passively dragging and adjusting the lifting mechanism 21 , the first linking arm 22 and the second linking arm 23 of the robot arm 2 , the ultrasonic probe 6 can perform ultrasonic examination on the right side of the human neck 100 .

[0092] Since the first rotational joint, the second rotational joint and the third rotational joint are all passive joints with damping, when performing ultrasonic scanning, the operator can drag the ultrasonic probe 6 in the horizontal plane according to the physical condition of the subject, so that the ultrasonic probe 6 can contact the skin on the left or right side of the human neck 100; then, by controlling the output end of the lifting mechanism 21 to perform lifting and lowering movements, the ultrasonic probe 6 can be moved along the axial direction of the human neck 100 to complete the ultrasonic examination of the human neck 100.

[0093] In some embodiments, Figure 4 and Figure 5 As shown, in order to more accurately control the position of the output end of the lifting mechanism 21 for lifting movement, the lifting mechanism 21 can be configured as a screw lifting mechanism, which includes a screw 211, a lifting seat 212, a slide rail 213 and a drive motor 214.

[0094] The lead screw 211 and the slide rail 213 are arranged side by side and both extend in the vertical direction; the driving motor 214 and the lead screw 211 are power-coupled to drive the lead screw 211 to rotate.

[0095] The lifting seat 212 is the output end of the screw lifting mechanism. The lifting seat 212 is movably arranged on the slide rail 213. The lifting seat 212 is provided with a threaded hole. The screw 211 is passed through the threaded hole and is threadedly connected with the threaded hole. The first end of the first linkage arm 22 is rotatably arranged on the lifting seat 212 around the vertical axis. A screw nut can be arranged on the lifting seat 212. The threaded hole shown in this embodiment is the inner hole of the screw nut. The screw nut is adapted to the screw 211. It only needs to be sleeved on the screw 211 in a threaded connection manner.

[0096] Specifically, the lead screw lifting mechanism further includes a mounting seat 215 and a lifting platform 216 ; the mounting seat 215 is disposed on the base 1 , and the lifting platform 216 and the driving motor 214 are respectively disposed on the mounting seat 215 .

[0097] There are two slide rails 213, which are arranged side by side on the lifting platform 216 and on both sides of the screw 211; the first end of the screw 211 is rotatably arranged on the mounting seat 215 and is power-coupled with the output end of the driving motor 214, and the second end of the screw 211 is rotatably arranged on the lifting platform 216.

[0098] In practical applications, the driving motor 214 may be a servo motor, and the driving motor 214 may be connected to the first end of the lead screw 211 via a belt transmission mechanism or a gear transmission mechanism.

[0099] When the driving motor 214 rotates along the first rotation direction, the driving motor 214 drives the lead screw 211 to rotate; since the lead screw 211 and the lifting seat 212 are threadedly connected, and the slide rail 213 is used to limit the movement of the lifting seat 212 along its extension direction, the lead screw 211 will drive the lifting seat 212 to rise along the extension direction of the slide rail 213 when rotating.

[0100] Correspondingly, when the driving motor 214 rotates along the second rotation direction, the driving motor 214 drives the lead screw 211 to rotate, and then the lead screw 211 drives the lifting seat 212 to descend along the extension direction of the slide rail 213. The first rotation direction and the second rotation direction are opposite.

[0101] In some embodiments, Figure 4 As shown, the lead screw lifting mechanism is also equipped with a trigger member 217 and a zero return button; the trigger member 217 and the control button are respectively connected to the control board, and the control board is respectively connected to the drive motor 214 and the pitch motion member.

[0102] The zero return button is used to receive a pressing input command from the operator, and the control panel is used to control the driving motor 214 to drive the lifting seat 212 to move to the initial position and control the pitch moving part 4 to return to the initial state according to the pressing input command fed back by the zero return button.

[0103] The trigger member 217 can be any one of a proximity switch, a travel switch or a photoelectric switch. The trigger member 217 is set at the above-mentioned initial position. The control panel is used to control the driving motor 214 to stop running when the trigger member 217 is triggered by the lifting seat 212.

[0104] It is understandable that the initial position shown in this embodiment can be the position where the lifting seat 212 can move to the lowest end of the slide rail 213. At the same time, the pitching member 4 is in the initial state, which can be considered as the state of the pitching member 4 before the pitching movement relative to the lateral swing member 3.

[0105] In actual application, when the ultrasonic probe 6 completes an ultrasonic detection, the operator can press the zeroing button. When the control panel receives the pressing input instruction fed back by the zeroing button, it will obtain the angle information of the current rotation of the driving motor 214, and determine the target angle information that the driving motor 214 needs to rotate when the lifting seat 212 moves to the initial position. The target angle information includes the rotation direction and rotation angle of the driving motor 214. Then, the control panel drives and controls the driving motor 214 according to the target angle information, so that the lifting seat 212 moves to the initial position, and controls the pitch moving part 4 to return to the initial state, so as to prepare for the next ultrasonic detection.

[0106] When the lifting seat 212 moves to the initial position, the trigger member 217 will be triggered by the lifting seat 212 and send a switch signal to the control board. The control board controls the drive motor 214 to stop running according to the received switch signal to ensure that the lifting seat 212 stops at the initial position.

[0107] In some embodiments, Figure 1 and Figure 6 As shown, the pitch moving member 4 includes a telescopic driving rod 41 and a crank arm 42 .

[0108] The first end of the telescopic driving rod 41 is rotatably disposed on the transverse swing member 3 , and the second end of the telescopic driving rod 41 is rotatably connected to the crank arm 42 .

[0109] The first end of the crank arm 42 is rotatably connected to the second end of the lateral swing member 3 around a horizontal axis, and the second end of the crank arm 42 is used to set the ultrasonic probe 6.

[0110] It is understandable that the crank arm 42 may be an L-shaped crank arm 42 , and the telescopic drive rod 41 may be an electric push rod known in the art, and the telescopic drive rod 41 may be switchable between an extended state and a shortened state.

[0111] Optionally, the crank arm 42 includes a first arm segment and a second arm segment, the first arm segment and the second arm segment are vertically arranged, one end of the first arm segment is rotatably arranged on the second end of the lateral swing member 3, the second end of the telescopic drive rod 41 is rotatably connected to the middle part of the first arm segment, and the second arm segment is used to set the ultrasonic probe 6.

[0112] When the telescopic driving rod 41 is extended, the telescopic driving rod 41 is used to drive the crank arm 42 to rotate clockwise around the horizontal axis, and the crank arm 42 drives the ultrasonic probe 6 to move downward. When the telescopic driving rod 41 is shortened, the telescopic driving rod 41 is used to drive the crank arm 42 to rotate counterclockwise around the horizontal axis, and the crank arm 42 drives the ultrasonic probe 6 to move upward.

[0113] At the same time, the control board is electrically connected to the telescopic driving rod 41. When the control board receives the pressing input instruction fed back by the zeroing button, it controls the telescopic driving rod 41 to return to the initial length according to the angle information detected by the third absolute encoder configured on the telescopic driving rod 41, so that the pitch moving member 4 returns to the initial state.

[0114] In some embodiments, Figure 1 and Figure 6 As shown, in order to realize the organic integration of the pitch motion member 4 and the lateral swing member 3 , the lateral swing member 3 may be configured to include a first crossbar 31 , a connecting portion 32 and a second crossbar 33 .

[0115] The first cross bar 31 and the second cross bar 33 are spaced apart from each other and arranged side by side. The first end of the first cross bar 31 and the first end of the second cross bar 33 are both connected to the connecting portion 32. The second end of the second linkage arm 23 is rotatably connected to the connecting portion 32 around a vertical axis.

[0116] At least part of the telescopic driving rod 41 is accommodated in the gap between the first cross bar 31 and the second cross bar 33, the first end of the telescopic driving rod 41 is rotatably disposed between the first end of the first cross bar 31 and the first end of the second cross bar 33, and the first end of the crank arm 42 is rotatably disposed between the second end of the first cross bar 31 and the second end of the second cross bar 33.

[0117] In this way, while the ultrasonic probe 6 is controlled to perform downward and upward movements through the pitch motion member 4, the ultrasonic probe 6 can also be controlled to perform horizontal swings on the horizontal plane through the lateral swing member 3 to adjust the lateral scanning angle of the ultrasonic probe 6 so that the posture of the ultrasonic probe 6 is adapted to the detection site on the subject.

[0118] This design makes it easy for the ultrasound probe 6 to scan the internal carotid artery, the external carotid artery, the subclavian artery and the thyroid gland, that is, to achieve ultrasound scanning of the thyroid gland and all the carotid arteries on the left or right side of the human neck 100.

[0119] In some embodiments, in order to improve the operator's convenience in controlling the ultrasonic probe 6 for ultrasonic detection, a human-machine interaction module 5 is provided on both sides of the crank arm 42 , and the human-machine interaction module 5 is electrically connected to the lifting mechanism 21 and the telescopic driving rod 41 , respectively.

[0120] The human-machine interaction module 5 is used to receive the first type of operation instructions from the operator, and the lifting mechanism 21 can respond to the first type of operation instructions to control the output end of the lifting mechanism 21 to perform lifting movement.

[0121] The human-computer interaction module 5 is used to receive the operator's second type of operation instructions. The telescopic drive rod 41 can respond to the second type of operation instructions to drive the crank arm 42 to swing around the horizontal axis relative to the lateral swing member 3, and then the crank arm 42 drives the ultrasonic probe 6 to perform pitch movement.

[0122] It is understandable that, in this embodiment, by providing a human-machine interaction module 5 on both sides of the crutch arm 42, it is convenient for the operator to perform ultrasonic detection on the left or right side of the human neck 100 respectively and input relevant control instructions during the detection process.

[0123] The human-computer interaction module 5 can be configured to include a control panel and a left button, a right button, an upper button, a lower button and a middle button arranged on the control panel. The control panel is electrically connected to the lifting mechanism 21 and the telescopic driving rod 41 respectively. The left button and the right button are respectively arranged on the left and right sides of the middle button, and the upper button and the lower button are respectively arranged on the upper and lower sides of the middle button.

[0124] In practical applications, the control operation of the portable ultrasonic robot scanning system is as follows: first, a pressing input command is executed to the zeroing button, and the control panel controls the driving motor 214 to drive the lifting seat 212 to move to the initial position according to the pressing input command fed back by the zeroing button;

[0125] Next, after the lifting seat 212 reaches the initial position, the operator presses the upper button, and the control panel can control the output end of the lifting mechanism 21 to rise according to the trigger instruction fed back by the upper button; the operator presses the lower button, and the control panel can control the output end of the lifting mechanism 21 to descend according to the trigger instruction fed back by the lower button, that is, the operator can fine-tune the height of the lifting seat 212 through the upper button and the lower button, and according to the passive drag adjustment of the first rotation joint and the second rotation joint, finally move the ultrasonic probe 6 to the initial position of the human neck (such as the internal clavicle artery).

[0126] Next, the operator presses the left button, and the control panel can control the telescopic driving rod 41 to shorten according to the trigger instruction fed back by the left button, so that the ultrasonic probe 6 moves upward; the operator presses the right button, and the control panel can control the telescopic driving rod 41 to extend according to the trigger instruction fed back by the right button, so that the ultrasonic probe 6 moves downward. That is, the operator can fine-tune the pitch angle of the ultrasonic probe 6 by using the upper left button and the right button, so that the detection end of the ultrasonic probe 6 better fits the initial part of the human neck (such as the internal clavicle artery).

[0127] After completing the above-mentioned fine-tuning action, press the middle button to start the scanning task. During the scanning process, the operator can drag the first linking arm 22 and the second linking arm 23 to make the detection end of the ultrasonic probe 6 fit the skin of the human neck, and fine-tune the lateral swinging member 3 according to the ultrasonic imaging effect in order to achieve a better ultrasonic imaging effect.

[0128] In some embodiments, Figure 6 As shown, in order to facilitate the fixation of the ultrasonic probe 6 , a clamp 43 is provided at the second end of the crank arm 42 , and the clamp 43 is used to clamp the ultrasonic probe 6 .

[0129] Among them, the clamp 43 can be configured to include a clamping seat and a cover plate. The clamping seat is arranged at the second end of the crank arm 42, and the cover plate can be installed on the clamping seat by fasteners such as bolts. A clamping space suitable for clamping the ultrasonic probe 6 is formed between the clamping seat and the cover plate.

[0130] like Figures 6 to 8 As shown, when the pitch moving member 4 includes a telescopic driving rod 41 and a crank arm 42, the clamp 43 is arranged on the second arm segment of the crank arm 42. The outer side of the second arm segment away from the first arm segment is the installation surface of the pitch moving member 4 shown in the above embodiment.

[0131] like Figure 6 and Figure 7 As shown, when the ultrasonic probe 6 is in the first installation state or the second installation state, the clamp 43 is arranged on the outer side surface of the second arm segment. At this time, the extension direction of the ultrasonic probe 6 is parallel to the outer side surface of the second arm segment.

[0132] like Figure 8 As shown, when the ultrasonic probe 6 is in the third installation state, the clamp 43 is arranged at an end of the second arm segment away from the first arm segment. At this time, the detection end of the ultrasonic probe 6 is arranged downward, and the extension direction of the ultrasonic probe 6 is perpendicular to the outer side surface of the second arm segment.

[0133] In some embodiments, a first absolute encoder is disposed on one side of the passive joint, and the first absolute encoder is used to detect the rotation angle of the passive joint.

[0134] The driving motor 214 is equipped with a second absolute encoder, and the second absolute encoder is used to detect the rotation angle of the driving motor 214 .

[0135] The telescopic driving rod 41 is provided with a third absolute value encoder. For example, the telescopic driving rod 41 is an electric push rod. The third absolute value encoder is used to detect the rotation angle of the rotating driving member corresponding to the telescopic driving rod to determine the length of the telescopic driving rod.

[0136] The first absolute value encoder, the second absolute value encoder and the third absolute value encoder are electrically connected to the control board respectively, and the control board is electrically connected to the driving motor 214 and the telescopic driving rod 41 respectively.

[0137] The control panel is used to control the working state of the drive motor 214 and the telescopic drive rod 41 according to the information fed back by the first absolute value encoder, the second absolute value encoder and the third absolute value encoder, so as to adjust the posture of the ultrasonic probe 6 and control the ultrasonic probe 6 to return to the initial position.

[0138] In summary, the portable ultrasonic robot scanning system shown in the utility model has the following beneficial effects:

[0139] (1) The utility model can realize semi-automatic ultrasonic scanning of multiple organs in the human neck with the assistance of non-professionals, and can realize full-position scanning of the thyroid gland and carotid artery on the left and right sides of the human neck, which is highly universal for patients.

[0140] (2) The lifting mechanism shown in the present invention can realize the lifting movement of the ultrasonic probe, which is convenient for quickly meeting the requirement of linear movement of the ultrasonic probe along the axial direction of the human neck during neck scanning.

[0141] (3) The first rotating joint, the second rotating joint, the third rotating joint and the pitch motion part shown in the utility model provide the ultrasound probe with multiple degrees of freedom (including three degrees of freedom for positioning the ultrasound probe in three-dimensional space, a degree of freedom for satisfying the ultrasound probe to perform lateral scanning and a degree of freedom for satisfying the ultrasound probe to perform pitch scanning, a total of five degrees of freedom), realizing the function of assisting the operator to adjust the posture of the ultrasound probe, which can adapt to the scanning requirements of different organs and to the examinees in different conditions.

[0142] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A portable ultrasonic robot scanning system, characterized in that: include: Base, mechanical arm, lateral swing part, pitch motion part and ultrasonic probe; The mechanical arm is arranged on the base, and the execution end of the mechanical arm can reach one side of the part to be scanned; The first end of the lateral swinging member is rotatably disposed at the execution end of the mechanical arm, the pitching member is rotatably disposed at the second end of the lateral swinging member, and the ultrasonic probe is disposed on the pitching member; Wherein, the ultrasonic probe is used to perform ultrasonic scanning on the part to be scanned.

2. The portable ultrasonic robot scanning system according to claim 1, characterized in that: The execution end of the robotic arm can reach the part to be scanned close to the left or right side of the human neck; The lateral swinging member is rotatably arranged at the execution end of the robotic arm around a vertical axis, the pitching moving member is rotatably arranged at the second end of the lateral swinging member around a horizontal axis, and the ultrasonic probe is used to perform ultrasonic scanning of the thyroid gland or carotid artery on the left or right side of the human neck.

3. The portable ultrasonic robot scanning system according to claim 1, characterized in that: The mechanical arm comprises a lifting mechanism, a first linkage arm and a second linkage arm; The lifting mechanism is arranged on the base, the first end of the first linkage arm and the output end of the lifting mechanism are rotatably connected around a vertical axis, the second end of the first linkage arm and the first end of the second linkage arm are rotatably connected around a vertical axis, and the second end of the second linkage arm and the first end of the lateral swinging member are rotatably connected around a vertical axis.

4. The portable ultrasonic robot scanning system according to claim 3, characterized in that: The lifting mechanism is a screw lifting mechanism, which includes a screw, a lifting seat, a slide rail and a drive motor; The lead screw and the slide rail are arranged side by side and both extend in the vertical direction; the drive motor and the lead screw are dynamically coupled to drive the lead screw to rotate; The lifting seat is movably arranged on the slide rail, and the lifting seat is provided with a threaded hole. The lead screw passes through the threaded hole and is threadedly connected with the threaded hole. The first end of the first linkage arm is rotatably arranged on the lifting seat around a vertical axis.

5. The portable ultrasonic robot scanning system according to claim 4, characterized in that: The screw lifting mechanism also includes a mounting seat and a lifting platform; The mounting seat is arranged on the base, and the lifting platform and the driving motor are arranged on the mounting seat respectively; There are two slide rails, which are arranged side by side on the lifting platform and on both sides of the lead screw; the first end of the lead screw is rotatably arranged on the mounting seat and is power-coupled with the output end of the drive motor, and the second end of the lead screw is rotatably arranged on the lifting platform.

6. The portable ultrasonic robot scanning system according to claim 4, characterized in that: The screw lifting mechanism is also equipped with a trigger and a zero return button; The trigger member and the zero return button are respectively connected to a control panel, and the control panel is respectively connected to the drive motor and the pitch motion member; The reset button is used to receive a pressing input command from an operator, and the control panel is used to control the driving motor to drive the lifting seat to move to an initial position and control the pitch moving part to return to an initial state according to the pressing input command fed back by the reset button; Wherein, the trigger member is arranged at the initial position, and the control panel is used for controlling the driving motor to stop running when the trigger member is triggered by the lifting seat.

7. The portable ultrasonic robot scanning system according to any one of claims 4 to 6, characterized in that: The pitching motion member comprises a telescopic driving rod and a crank arm; The first end of the telescopic driving rod is rotatably disposed on the transverse swing member, and the second end of the telescopic driving rod is rotatably connected to the crank arm; The first end of the crank arm is rotatably connected to the second end of the lateral swinging member around a horizontal axis, and the second end of the crank arm is used to set the ultrasonic probe.

8. The portable ultrasonic robot scanning system according to claim 7, characterized in that: The lateral swinging member comprises a first crossbar, a connecting portion and a second crossbar; The first cross bar and the second cross bar are spaced from each other and arranged side by side, the first end of the first cross bar and the first end of the second cross bar are both connected to the connecting portion; the second end of the second linkage arm is rotatably connected to the connecting portion around a vertical axis; The first end of the telescopic driving rod is rotatably disposed between the first end of the first cross bar and the first end of the second cross bar, and the first end of the crank arm is rotatably disposed between the second end of the first cross bar and the second end of the second cross bar.

9. The portable ultrasonic robot scanning system according to claim 7, characterized in that: Human-machine interaction modules are provided on both sides of the crank arm, and the human-machine interaction modules are electrically connected to the lifting mechanism and the telescopic driving rod respectively; The human-machine interaction module is used to receive a first type of operation instruction from an operator, and the lifting mechanism can respond to the first type of operation instruction to control the output end of the lifting mechanism to perform lifting movement; The human-computer interaction module is used to receive the operator's second type of operation instructions, and the telescopic drive rod can respond to the second type of operation instructions to drive the crank arm to swing around the horizontal axis relative to the lateral swing member, and then the crank arm drives the ultrasonic probe to perform pitch movement.

10. The portable ultrasonic robot scanning system according to claim 7, characterized in that: A clamp is provided at the second end of the crank arm, and the clamp is used to clamp the ultrasonic probe.

11. The portable ultrasonic robot scanning system according to claim 7, characterized in that: A first rotation joint is formed between the first linkage arm and the output end of the lifting mechanism, a second rotation joint is formed between the first linkage arm and the second linkage arm, and a third rotation joint is formed between the second linkage arm and the transverse swinging member; Wherein, the first rotational joint, the second rotational joint and the third rotational joint are all passive joints with damping.

12. The portable ultrasonic robot scanning system according to claim 11, characterized in that: A first absolute value encoder is provided on one side of the passive joint, and the first absolute value encoder is used to detect the rotation angle of the passive joint; The drive motor is provided with a second absolute value encoder, and the second absolute value encoder is used to detect the rotation angle of the drive motor; The telescopic drive rod is provided with a third absolute value encoder, and the third absolute value encoder is used to detect the rotation angle of the rotary drive member corresponding to the telescopic drive rod to determine the length of the telescopic drive rod; The first absolute value encoder, the second absolute value encoder and the third absolute value encoder are electrically connected to a control board respectively, and the control board is electrically connected to the drive motor and the telescopic drive rod respectively; The control panel is used to control the working state of the drive motor and the telescopic drive rod according to the information fed back by the first absolute value encoder, the second absolute value encoder and the third absolute value encoder, so as to adjust the posture of the ultrasonic probe and control the ultrasonic probe to return to its initial position.

13. The portable ultrasonic robot scanning system according to any one of claims 1 to 6, characterized in that: The ultrasonic probe is flat and has a first installation state, a second installation state and a third installation state relative to the pitch moving part; When the ultrasonic probe is in the first installation state, the bottom surface of the ultrasonic probe is installed on the installation surface of the pitch motion member, and the extension direction of the ultrasonic probe is parallel to the installation surface of the pitch motion member; When the ultrasonic probe is in the second installation state, the side surface of the ultrasonic probe is installed on the installation surface of the pitch motion member, and the extension direction of the ultrasonic probe is parallel to the installation surface of the pitch motion member; When the ultrasonic probe is in the third installation state, the bottom of the ultrasonic probe is installed on the pitch motion piece, the detection end of the ultrasonic probe is arranged upward or downward, and the extension direction of the ultrasonic probe is perpendicular to the installation surface of the pitch motion piece.

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