Mechanical arm device for three-dimensional ultrasonic equipment

Abstract

The utility model discloses a mechanical arm device for three-dimensional ultrasonic equipment. The mechanical arm device comprises a mechanical arm main body and a space positioning mechanism, the space positioning mechanism comprises a base, a shell, a handle and a space positioning module, the space positioning module is arranged in a shell formed by the shell and the bottom, the handle is fixedly connected to one side of the shell, the other side of the shell is fixedly connected with a lifting rod of the ultrasonic equipment trolley, and the space positioning mechanism can synchronously ascend and descend along with the lifting rod. When the three-dimensional ultrasonic equipment with the mechanical arm device is used, the spatial positioning module can be moved to a position where the spatial positioning module can be matched with an ultrasonic probe for inspection by moving the mechanical arm; accurate space positioning of the ultrasonic probe can be guaranteed between the sensor in the ultrasonic probe and the space positioning mechanism through the magnetic field, the problem that the position of a space positioner of existing three-dimensional ultrasonic equipment is difficult to adjust according to the requirements of a user is solved, and great convenience is brought to use.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments and equipment, in particular to a mechanical arm device for three-dimensional ultrasonic equipment, which can be used in mobile three-dimensional ultrasonic equipment to provide a spatial positioning function for an ultrasonic probe. Background Art

[0002] Traditional ultrasound scanning uses two-dimensional imaging. In order to obtain more information, three-dimensional ultrasound is used for human body detection. Due to the need for three-dimensional imaging, the ultrasound probe must be accurately positioned throughout the detection process. Due to the spatial positioning required for three-dimensional ultrasound detection, the accuracy of the probe's spatial positioning is extremely high. The existing technology is to fix the spatial locator on an immovable device so that the body of the person undergoing three-dimensional ultrasound detection adapts to the area and position of spatial positioning. Otherwise, the spatial positioning signal reception will be unstable or the space will be inaccurate or the image fusion effect will be poor during three-dimensional ultrasound scanning. The existing spatial locator cannot adjust the position of the spatial locator according to the user's needs, which affects the received signal, and the positioning is not accurate enough, which brings inconvenience to the user. Utility Model Content

[0003] The purpose of the utility model is to provide a mechanical arm for a mobile three-dimensional ultrasound device, which can be used to locate the spatial position of a three-dimensional ultrasound probe in the mobile three-dimensional ultrasound device. It can cope with the inspection scenario proposed in the background technology that the existing three-dimensional ultrasound examination requires the examinee to meet the inspection scenario of the area and position required by the spatial positioning in a prescribed posture. Because the precise spatial positioning required for three-dimensional ultrasound detection cannot be freely adjusted according to the position and posture of the user, the utility model aims to overcome the problem of impossible or insufficient precision of spatial positioning caused by the prior art, making more convenient three-dimensional ultrasound examination possible.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solution: construct a mechanical arm device for three-dimensional ultrasound equipment, including a mechanical arm body and a spatial positioning mechanism, wherein:

[0005] The mechanical arm body comprises:

[0006] The rear end is used to be mounted on a lifting rod on a cart of a three-dimensional ultrasound device;

[0007] The front end is used to install the connection space positioning mechanism, and

[0008] A plurality of movable arms connected between the rear end and the front end, wherein movable joints are provided between adjacent movable arms;

[0009] The spatial positioning mechanism comprises:

[0010] A spatial positioning module, used for sensing a sensor element installed in the probe of the three-dimensional ultrasound device to accurately obtain the position of the probe;

[0011] A base, used for placing the spatial positioning module;

[0012] A housing, used to form a shell of the spatial positioning mechanism together with the base;

[0013] A lug is provided on the side wall of the housing and is used to be pivotally connected to the front end of the mechanical arm, and

[0014] A handle, fixed to another side wall of the housing of the spatial positioning mechanism opposite to the lug, for being held by hand to control the spatial position of the front end of the mechanical arm body;

[0015] The rear end of the mechanical arm body is fixedly mounted on the lifting rod through a mechanical arm fixing seat and a first bolt, so that the mechanical arm body can drive the working plane of the spatial positioning mechanism at its front end to rise and fall along with the rise and fall of the lifting rod.

[0016] In the above-mentioned mechanical arm device for three-dimensional ultrasound equipment, the lifting rod is also provided with a display screen above the mechanical arm body.

[0017] In the above-mentioned mechanical arm device for three-dimensional ultrasound equipment, the lifting rod is further provided with a control panel below the mechanical arm body, and the control panel includes a keyboard.

[0018] In the above-mentioned robotic arm device for three-dimensional ultrasound equipment, the cart is equipped with a chassis of the three-dimensional ultrasound equipment, the chassis is connected to an ultrasound probe via a cable, each ultrasound probe contains a sensor element detected by the spatial positioning module, and a plurality of brackets for placing the probes are arranged on the side of the control panel.

[0019] In the above-mentioned mechanical arm device for three-dimensional ultrasound equipment, the bottom of the cart is provided with wheels.

[0020] The above-mentioned mechanical arm device for three-dimensional ultrasound equipment also includes a plurality of second bolts for connecting the base and the spatial positioning module.

[0021] In the above-mentioned robotic arm device for three-dimensional ultrasound equipment, the cart is provided with a guide rail for allowing the lifting rod to move up and down, and a slider is provided in the guide rail. The front end of the slider is detachably connected to the robotic arm fixing seat, and the rear end of the slider is detachably connected to the lifting rod.

[0022] The beneficial effects of implementing the utility model are as follows: the mechanical arm body used includes a front end and a rear end, and there are multiple arms and joints that can rotate flexibly between the front end and the rear end, so that the space positioning mechanism installed at the front end can move freely relative to the rear end. The utility model installs the rear end of the mechanical arm body on the lifting column of the cart, so that it can be lifted and lowered with the lifting column. Since the space positioning mechanism is directly installed at the front end of the mechanical arm body, it can be freely displaced relative to the rear end. The mechanical arm device of the utility model is arranged below the display and above the control panel, which is convenient for operation and observation. The mechanical arm device of the utility model for three-dimensional ultrasonic equipment is composed of a mechanical arm fixing seat, a mechanical arm, and a space locator assembly. The mechanical arm fixing seat is used to fix the mechanical arm body to the lifting column of the host cart, so that the mechanical arm body can be lifted and lowered and can be rotated and extended; the utility model installs the space positioning module at the front end of the mechanical arm. In other words, the space positioning module is fixed to the base by screws, and then the shell is fixed to the base by screws. The handle is installed on the shell by screws, so that it can be manipulated or manipulated to any position. Among them, the spatial positioning mechanism is composed of a spatial positioning module, a base, a shell, screws, a handle, etc. When in use, the ultrasound doctor can move to the side of the person being examined by a cart, and pull the spatial positioning mechanism at the front end of the mechanical wall to move and position it at a suitable position through the handle and the mechanical arm, and then use the probe to perform an ultrasonic examination on the body being examined. At this time, the doctor can see the processed ultrasonic image through the control panel and the display screen, so that the person being examined does not need to be lying or standing, and can choose different positions and postures for three-dimensional ultrasonic examination according to actual conditions. Since the position of the spatial locator can be flexibly moved by the mechanical arm, the distance between the spatial locator and the patient can be determined according to needs, ensuring that the probe is kept at a suitable distance so that the system can receive a strong and stable positioning signal, which solves the problem that the existing technology cannot adjust the position of the spatial locator according to the needs of the user, and brings great convenience to the user. The mechanical arm device for three-dimensional ultrasonic equipment of the utility model is simple to install, and the mechanical arm can be arbitrarily hovered to facilitate positioning of the appropriate position. Through the handle operation, the spatial locator can hover at any point within the effective range, which is convenient for locating the coordinates of the ultrasonic probe and further analyzing and processing the ultrasonic signal. At the same time, the mechanical arm device for three-dimensional ultrasonic equipment of the utility model can bear a large weight and ensure that the spatial positioning mechanism can be freely moved with a small pulling force. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a three-dimensional structural schematic diagram of an embodiment of a mechanical arm device for three-dimensional ultrasonic equipment of the utility model;

[0024] Figure 2 This is a schematic structural diagram of the main part of the mechanical arm in an embodiment of the mechanical arm device for three-dimensional ultrasonic equipment of the utility model;

[0025] Figure 3It is a schematic diagram of the exploded structure of an embodiment of the mechanical arm device for three-dimensional ultrasonic equipment of the utility model;

[0026] Figure 4 It is a side structural schematic diagram of a mechanical arm main body of an embodiment of a mechanical arm device for three-dimensional ultrasonic equipment of the utility model;

[0027] Figure 5 It is a front structural schematic diagram of a mechanical arm main body of an embodiment of a mechanical arm device for three-dimensional ultrasonic equipment of the utility model.

[0028] The numbers in the figure are uniformly described as follows: 1. display screen; 2. cart body; 3. robot arm body; 4. robot arm fixing seat; 5. first bolt; 6. second bolt; 7. base; 8. shell; 9. handle; 10. space positioning module; 11. space positioning mechanism; 12. lifting rod; 13. lug; 14. control panel; 15. ultrasonic probe; 16. bracket for placing the probe; 17. chassis of ultrasonic equipment; 18. wheels; 19. guide rail. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions therein. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0030] The utility model provides Figure 1-5 The embodiment of the mechanical arm device for three-dimensional ultrasound equipment shown in the figure. This mechanical arm device is used for mobile three-dimensional ultrasound equipment. The mobile three-dimensional ultrasound equipment shown in the embodiment includes a cart body 2, a wheel 18 ( Figure 4 and Figure 5 ), a chassis 17 is installed on the cart body 2, and a guide rail 19 and a lifting rod 12 that can be raised and lowered along the guide rail 19 are also vertically installed on the cart body 2.

[0031] The lifting rod 12 is installed with a display screen 1 and a control panel 14 from top to bottom, and the control panel 14 has a plurality of probe holders 16, and a plurality of ultrasound probes 15 electrically connected to the chassis 17 through cables are placed in the probe holders 16 when not in use ( Figure 1 ).

[0032] The chassis 17 includes a computer system, an ultrasonic module, and a system power supply for supplying power to the computer system and the ultrasonic module. The display screen 1 and the keyboard on the control panel 14 are all connected to the computer system in the chassis 17. The ultrasonic probe 15 includes a magnetic sensor for spatial positioning, which is connected to the ultrasonic module in the chassis through a cable. The spatial positioning module installed in the spatial positioning mechanism at the movable end of the robot body 3 is also connected to the computer system in the chassis 17.

[0033] The mechanical arm device for three-dimensional ultrasound equipment of the utility model comprises a mechanical arm body 3, such as Figure 1-5 As shown, the robot arm body 3 has a fixed rear end fixedly mounted on the lifting rod (12) on the cart of the three-dimensional ultrasound equipment and a movable front end for installing the spatial positioning mechanism 11; and a plurality of movable arms are connected in series between the rear end and the front end, and a movable joint is provided between two adjacent movable arms. The movable front end of the robot arm body 3 in the utility model is provided with a spatial positioning mechanism supported by the robot arm body 3; as shown in FIG. Figure 3 The spatial positioning mechanism includes a base 7, a shell 8, a handle 9 and a spatial positioning module 10, wherein the base and the shell constitute a shell, and the spatial positioning module 10 for spatially positioning the ultrasonic probe is installed in the above shell (7, 8), specifically, the base 7 is arranged at the bottom of the shell 8, the base 7 and the shell 8 are detachably connected, the handle 9 is fixedly connected to the front end of one side of the spatial positioning device shell, and the other side of the shell opposite to the handle side is used to interface the movable front end of the mechanical arm body 3, that is, the spatial positioning mechanism is detachably connected to the front end of the mechanical arm body 3 through the rear end of the base 7 constituting the shell. The mechanical arm body 3 can be arbitrarily suspended within the effective range through the joint damping axis, and the spatial positioning device 10 can be operated by the handle 9 to hover at any point within the effective range, so that when the ultrasonic probe 15 is subjected to three-dimensional ultrasonic detection, its spatial positioning signal can be accurately detected and the coordinates can be output to the rear analysis software. In this embodiment, the spatial positioning module 10 provides the three-dimensional coordinate data of the ultrasonic probe to the chassis 17.

[0034] In one embodiment of the utility model, a metal pedal is also provided at the bottom of the cart body 2. When the foot steps on the metal pedal at the bottom, the gas spring switch is triggered, and the gas spring pushes the lifting rod upward to achieve its upward movement. When the foot steps on the metal pedal at the bottom and the keyboard is pressed by hand, the gas spring can be pressed down to reset, so that the lifting rod can be lowered, thereby realizing the lifting and lowering of the space positioning mechanism driven by the mechanical arm body. In other words, the mechanical arm body drives the space positioning mechanism 11 to move up and down through the lifting device of the cart.

[0035] In one embodiment of the utility model, by calculating the parameters such as gravity and tension of the system and the spatial positioner, the selection of the ready-made mechanical arm on the market is carried out to meet the requirements of smaller tension and convenient free movement.

[0036] In one embodiment of the utility model, the model of the spatial positioning module 10 used in the spatial positioning mechanism is 3D Guidance trakSTAR of NDI Company. NDI Company's trakSTAR is a high-precision, high-speed magnetic field sensor tracker, including a magnetic field generator and multiple magnetic sensors, providing the spatial position of each magnetic sensor, with the characteristics of high-precision and all-round tracking and high-speed update, capable of achieving fast, dynamic and all-round tracking, and within a certain range of the magnetic field transmitter and the ultrasonic probe containing the magnetic sensor, such as 1 meter, the spatial positioning accuracy of the ultrasonic probe can reach 1 mm. In the utility model, through the magnetic sensor built into the ultrasonic probe 17, the spatial positioning module 10trakSTAR can capture the spatial coordinates of the ultrasonic probe 15 and send out a signal, and the spatial position signal and the signal of the ultrasonic probe can be handed over to the computer system for image fusion processing, and the spatial locator base 7 and the spatial locator housing 8 can both protect the spatial positioning module 10.

[0037] In one embodiment of the utility model, the spatial positioning mechanism further includes a lug 13, which is arranged on the side wall of the housing and is used to be pivotally connected to the front end of the mechanical arm body. The side wall here is opposite to the side wall of the mounting handle 9 ( Figure 2 , 3 ).

[0038] In one embodiment of the utility model, a mechanical arm fixing seat 4 and a first bolt 5 are further included, and the rear end of the mechanical arm body 3 is fixedly mounted on the lifting rod 12 through the mechanical arm fixing seat 4 and the first bolt 5, so that the mechanical arm body 3 can drive the horizontal plane of the space positioning mechanism 11 at its front end to rise and fall with the rise and fall of the lifting rod 12, and the lifting rod 12 can move up and down along the guide rail 19 ( Figure 1 , Figure 2 and Figure 3 ). In other words, the first bolts 5 are all connected to the mechanical arm fixing seat 4 and are threadedly connected to the lifting rod of the cart body 2. The first bolts 5 are evenly distributed on the mechanical arm fixing seat 4 to ensure uniform force.

[0039] In one embodiment of the utility model, there are multiple second bolts 6 for connecting the base 7 and the spatial positioning module 10, that is, the robotic arm device also includes multiple second bolts 6, and the multiple second bolts 6 are respectively connected to the threaded connection of the spatial locator base 7 and the spatial locator housing 8 and the spatial positioning module 10, and the multiple second bolts 6 are evenly distributed on the spatial locator 10.

[0040] In the above-mentioned embodiments of the utility model, the three-dimensional ultrasound equipment chassis (17) on the cart is connected to a plurality of ultrasound probes 15 via cables, each of which contains a sensor element detected by the spatial positioning module, and a plurality of brackets (16) for placing the probes 15 are arranged on the side of the control panel 14 to facilitate movement and use.

[0041] 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 device for a three-dimensional ultrasound device, characterized in that: It comprises a mechanical arm body (3) and a spatial positioning mechanism (11), wherein: The mechanical arm body (3) comprises: A rear end, used for being mounted on a lifting rod (12) on a trolley of a three-dimensional ultrasound device; A front end for mounting a connection space positioning mechanism (11), and A plurality of movable arms connected between the rear end and the front end, wherein movable joints are provided between adjacent movable arms so that the spatial positioning mechanism (11) installed at the front end can move freely; The spatial positioning mechanism (11) comprises: A spatial positioning module (10) for sensing a sensor element installed in a probe of the three-dimensional ultrasound device to accurately obtain the position of the probe; A base (7) for placing the spatial positioning module (10); A housing (8) used to form a shell of the spatial positioning mechanism (11) together with the base (7); A lug (13) is provided on the side wall of the housing (8) and is used to be pivotally connected to the front end of the mechanical arm body (3); and A handle (9) is fixed to another side wall of the housing (8) of the spatial positioning mechanism (11) opposite to the lug (13), and is used for moving the spatial position of the front end of the mechanical arm body by hand; The rear end of the mechanical arm body (3) is fixedly mounted on the lifting rod (12) via a mechanical arm fixing seat (4) and a first bolt (5), so that the mechanical arm body (3) can drive the spatial positioning mechanism (11) at its front end to rise and fall along with the rise and fall of the lifting rod (12).

2. The mechanical arm device for three-dimensional ultrasound equipment according to claim 1, characterized in that: The lifting rod (12) is also provided with a display screen (1) above the mechanical arm body (3).

3. The mechanical arm device for three-dimensional ultrasound equipment according to claim 2, characterized in that: The lifting rod (12) is also provided with a control panel (14) below the mechanical arm body (3), and a keyboard is arranged on the control panel.

4. The mechanical arm device for three-dimensional ultrasound equipment according to claim 3, characterized in that: The cart is equipped with a chassis (17) of a three-dimensional ultrasound device, the chassis is connected to an ultrasound probe (15) via a cable, each ultrasound probe (15) contains a sensor element detected by the spatial positioning module (10), and a plurality of brackets (16) for placing the ultrasound probes (15) are arranged on the side of the control panel (14).

5. The mechanical arm device for three-dimensional ultrasound equipment according to claim 4, characterized in that: The bottom of the cart is provided with wheels (18).

6. The mechanical arm device for three-dimensional ultrasound equipment according to claim 4, characterized in that: It also includes a plurality of second bolts (6) for connecting the base (7) and the spatial positioning module (10).

7. The mechanical arm device for three-dimensional ultrasound equipment according to any one of claims 1 to 6, characterized in that: The cart is provided with a guide rail (19) for allowing the lifting rod (12) to move up and down, and a slider is provided in the guide rail (19). The front end of the slider is detachably connected to the mechanical arm fixing seat (4), and the rear end of the slider is detachably connected to the lifting rod (12).

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