Ultrasonic mechanism with telecentric fixed point

Abstract

The present application relates to an ultrasonic mechanism with a telecentric fixed point, and relates to the field of prostate biopsy, and includes an ultrasonic probe, a bottom moving part, an intermediate moving part, and a top moving part; the bottom moving part is used to make a circular motion around a first telecentric fixed point, so that the ultrasonic probe is aimed at the anus of the target object; the intermediate moving part is arranged on the bottom moving part, and is used to drive the ultrasonic probe to make a pitch motion with the end of the ultrasonic probe close to the anus as a second telecentric fixed point, so that the axial direction of the ultrasonic probe is consistent with the direction of the rectum connected to the anus; the top moving part is arranged on the intermediate moving part, and the ultrasonic probe is arranged on the top moving part; the top moving part is used to drive the ultrasonic probe to be inserted into the anus, so as to obtain an ultrasonic image of the target object in real time. The present application can protect the anus of the target object, and make the target object more comfortable during the operation.

Description

Technical Field

[0001] The present application relates to the field of prostate biopsy, and in particular to an ultrasonic mechanism with a telecentric fixed point. Background Art

[0002] When an abnormality occurs in the prostate, an ultrasound probe needs to be inserted from the anus of the target subject into the rectum. The ultrasound probe will rotate in the rectum of the target subject to perform ultrasound scanning on the area where the prostate is located.

[0003] Prior to this, the target subject often required local anesthesia, such as anesthesia of the target subject's perineum and prostate, but not the rectum and anus. During the operation, the doctor would constantly ask the target subject whether the adjustment of the ultrasound probe would cause pain or discomfort.

[0004] In the related art, when the circumferential angle or the pitch angle of the ultrasonic probe is adjusted, the position of the ultrasonic probe at one end of the anus will change, which may cause damage to the anus of the target object. Utility Model Content

[0005] The present application aims to at least solve the technical problem in the prior art that when the circumferential angle or pitch angle of the ultrasonic probe is adjusted, the position of the ultrasonic probe at one end of the anus changes, which may cause damage to the anus of the target object. To this end, the present application proposes an ultrasonic mechanism with a telecentric fixed point.

[0006] The present application provides an ultrasonic mechanism with a telecentric fixed point, comprising:

[0007] Ultrasound probe;

[0008] A bottom moving part, used for performing circular motion around the first telecentric fixed point, so that the ultrasonic probe is aligned with the anus of the target object;

[0009] The middle moving part is arranged on the bottom moving part, and is used to drive the ultrasonic probe to make a pitch motion with the end of the ultrasonic probe close to the anus as the second telecentric fixed point, so that the axial direction of the ultrasonic probe is consistent with the direction of the rectum connected to the anus;

[0010] The top moving part is arranged on the middle moving part; the ultrasonic probe is arranged on the top moving part; the top moving part is used to drive the ultrasonic probe to be inserted into the anus to obtain the ultrasonic image of the target object in real time.

[0011] By adopting the above technical solution, the end of the ultrasound probe close to the anus serves as the second telecentric fixed point. The ultrasound probe can make circular motion around the second telecentric fixed point to adjust the circumferential angle, and can make pitch motion around the second telecentric fixed point to adjust the pitch angle. That is, the position of the end of the ultrasound probe close to the anus will not change, thereby protecting the anus of the target object and making the target object more comfortable during the operation.

[0012] According to one embodiment of the present application, the bottom moving part includes:

[0013] Base;

[0014] An arc track is located below the base; a rack is provided on the side wall of the arc track;

[0015] At least one first gear, rotatably disposed on the base and meshing with a rack on the side wall surface of the arc track;

[0016] At least one guide wheel group includes at least one guide wheel, and the guide wheel is connected to the other opposite side wall of the arc track in a guiding manner.

[0017] By adopting the above technical solution, the base can move more smoothly along the first arc track through the guide wheel set and the first gear, so that the ultrasonic probe moves in a circle around the second telecentric fixed point to achieve adjustment of the circumferential angle.

[0018] According to one embodiment of the present application, the intermediate moving part includes:

[0019] At least two lifting assemblies are arranged in parallel on the base; each of the lifting assemblies has a moving block that moves in a vertical direction, the moving blocks of the at least two lifting assemblies are sequentially arranged on the top moving part along the axial direction of the ultrasonic probe, and the moving speed of the moving blocks of the at least two lifting assemblies gradually increases along the axial direction of the ultrasonic probe.

[0020] By adopting the above technical solution, the motion block away from the ultrasonic probe has a faster speed in the vertical direction than the motion block close to the ultrasonic probe, so that the ultrasonic probe performs pitch motion around the second telecentric fixed point to achieve adjustment of the pitch angle.

[0021] According to one embodiment of the present application, the top moving part includes:

[0022] A linear motion component is arranged side by side with the ultrasonic probe; the motion blocks of the at least two lifting components are arranged on the linear motion component; and the linear motion component is used to drive the ultrasonic probe to perform linear motion along the axial direction of the ultrasonic probe.

[0023] By adopting the above technical solution, the linear motion assembly can drive the ultrasonic probe to advance or retreat along the axial direction of the ultrasonic probe, so that the ultrasonic probe is inserted into the rectum from the anus of the target object, or is removed from the anus of the target object.

[0024] According to one embodiment of the present application, the top moving part further includes:

[0025] The rotating assembly is sleeved outside the ultrasonic probe and rotatably arranged on the linear motion assembly, and is used to drive the ultrasonic probe to perform rotating motion around the axis of the ultrasonic probe.

[0026] By adopting the above technical solution, the rotating assembly drives the ultrasonic probe to rotate around the axis of the ultrasonic probe, so that the ultrasonic probe rotates in the rectum of the target object and performs ultrasonic scanning on the area where the prostate of the target object is located.

[0027] According to one embodiment of the present application, the rotating assembly includes:

[0028] A mounting seat, fixed on the linear motion assembly;

[0029] A second gear is rotatably disposed in the mounting seat;

[0030] The third gear is sleeved outside the ultrasonic probe and meshed with the second gear.

[0031] By adopting the above technical solution, the second gear is rotated, thereby driving the third gear and the ultrasonic probe to rotate synchronously, so that the ultrasonic probe rotates around the axis of the ultrasonic probe.

[0032] According to an embodiment of the present application, the third gear is mounted outside the ultrasound probe through a mounting sleeve, the mounting sleeve includes a bottom shell and a top cover buckled with the bottom shell, and a limit slot is provided on the bottom shell;

[0033] Wherein, the ultrasonic probe is installed in the area between the bottom shell and the top cover, and is locked in the limiting slot.

[0034] By adopting the above technical solution, the top cover of the mounting sleeve can be opened from the bottom shell of the mounting sleeve, and the ultrasonic probe can be placed in the limiting groove of the bottom shell of the mounting sleeve from the placement opening of the second arc track. The limiting groove engages with the metal protrusion on the ultrasonic probe to ensure the installation accuracy of the ultrasonic probe, and the top cover of the mounting sleeve and the bottom shell of the mounting sleeve are buckled with each other. The top cover of the mounting sleeve can be pressed against the ultrasonic probe to ensure that its position does not change during movement.

[0035] According to one embodiment of the present application, the ultrasonic mechanism further includes:

[0036] The cart has universal wheels at the bottom.

[0037] By adopting the above technical solution, the target object can be quickly approached by the cart.

[0038] According to one embodiment of the present application, an adjustment portion is installed on the cart, and the adjustment portion is used to adjust the position of the ultrasound probe so that the ultrasound probe is close to the anus of the target object.

[0039] By adopting the above technical solution, the position of the base of the bottom moving part is adjusted by the adjusting part, so as to roughly adjust the position of the ultrasonic probe away from the anus of the target object.

[0040] According to one embodiment of the present application, the adjustment unit includes:

[0041] The first adjusting part is connected to the bottom moving part and is used for driving the bottom moving part to move along the Z-axis direction.

[0042] The second adjusting part is connected to the first adjusting part and is used for driving the first adjusting part to move along the Y-axis direction.

[0043] The third adjusting part is connected to the second adjusting part and is used for driving the second adjusting part to move along the X-axis direction.

[0044] By adopting the above technical solution, the position of the ultrasound probe from the target object's anus can be roughly adjusted so that the top moving part drives the ultrasound probe to be inserted into the anus sufficiently, while also reducing the burden on the doctor to move the ultrasound mechanism.

[0045] In summary, the present application includes at least one of the following beneficial technical effects: the end of the ultrasound probe close to the anus serves as the second telecentric fixed point, the ultrasound probe can make circular motion around the second telecentric fixed point to achieve adjustment of the circumferential angle, and can make pitch motion around the second telecentric fixed point to achieve adjustment of the pitch angle, that is, the position of the end of the ultrasound probe close to the anus will not change, thereby protecting the anus of the target object and making the target object more comfortable during the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is one of the structural schematic diagrams of the ultrasonic mechanism provided in the embodiment of the present application;

[0047] Figure 2 This is the second structural schematic diagram of the ultrasonic mechanism provided in the embodiment of the present application;

[0048] Figure 3 This is the third structural schematic diagram of the ultrasonic mechanism provided in the embodiment of the present application;

[0049] Figure 4 This is the fourth structural schematic diagram of the ultrasonic mechanism provided in the embodiment of the present application;

[0050] Figure 5 is a structural schematic diagram of the bottom moving mechanism provided in an embodiment of the present application;

[0051] Figure 6 It is one of the structural schematic diagrams of the intermediate moving mechanism provided in the embodiment of the present application;

[0052] Figure 7 This is the second structural diagram of the intermediate moving mechanism provided in the embodiment of the present application;

[0053] Figure 8 It is one of the partial structural schematic diagrams of the ultrasonic mechanism provided in the embodiment of the present application;

[0054] Fig. 9 is a structural schematic diagram of the top moving mechanism provided in an embodiment of the present application;

[0055] Fig.10 yes Fig. 9 The structural diagram at A in the middle;

[0056] Fig.11 is a schematic diagram of the structure of the mounting sleeve and the ultrasonic probe provided in the embodiment of the present application;

[0057] Fig.12 This is the second partial structural diagram of the ultrasonic mechanism provided in the embodiment of the present application;

[0058] Fig.13 This is the fifth structural schematic diagram of the ultrasonic mechanism provided in the embodiment of the present application.

[0059] Reference numerals:

[0060] 100. Ultrasonic probe;

[0061] 200, bottom moving mechanism; 210, base; 211, window; 220, arc track; 221, outer ring wall surface; 222, inner ring wall surface; 22a, first guide surface; 22b, second guide surface; 230, first gear; 240, first guide wheel;

[0062] 300, intermediate moving mechanism; 310, lifting assembly; 311, moving block; 312, lifting seat; 313, transmission part;

[0063] 400, top moving mechanism; 410, linear motion assembly; 411, base; 420, rotating assembly; 421, mounting seat; 4211, limit opening; 422, second gear; 423, third gear; 424, mounting sleeve; 4241, bottom shell; 4242, top cover;

[0064] 500, cart;

[0065] 600, adjustment unit; 610, first adjustment unit; 620, second adjustment unit; 630, third adjustment unit;

[0066] b. The second telecentric fixed point; a. The first telecentric fixed point. DETAILED DESCRIPTION

[0067] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0068] First, in order to facilitate the description of the relative position relationship and setting points of each part in this application, the implementation scenario of the embodiment of this application is explained here.

[0069] When an abnormality occurs in the prostate, a magnetic resonance imaging (MRI) examination of the prostate area will be performed first to obtain a preoperative MRI contour image of the prostate. The doctor will then manually segment the preoperative MRI contour image of the prostate patient and mark the puncture area.

[0070] After that, the doctor inserts the ultrasound probe into the patient's anus and performs an ultrasound scan on the area where the prostate is located to obtain a series of continuous sagittal plane ultrasound images of the prostate. The preoperatively annotated MRI contour image information is registered to the sagittal plane ultrasound image. That is, the image fusion is performed by registering the prostate area manually segmented by the MRI contour image with the prostate area automatically segmented by the sagittal plane ultrasound image.

[0071] After that, the doctor will use a biopsy gun to take tissue samples from the prostate lesion points corresponding to the area to be tested based on the area to be tested marked after image fusion.

[0072] Reference below Figure 1-Figure 13 An ultrasonic mechanism having a telecentric fixed point according to an embodiment of the present application is described.

[0073] like Figure 1 As shown, the ultrasound mechanism includes: an ultrasound probe 100 , a bottom moving part 200 , a middle moving part 300 and a top moving part 400 .

[0074] The bottom moving part 200 is used to make a circular motion around the first telecentric fixed point a so that the ultrasonic probe 100 is aligned with the anus of the target object.

[0075] The middle moving part 300 is arranged on the bottom moving part 200, and is used to drive the ultrasonic probe 100 to make a pitch motion with the end of the ultrasonic probe 100 close to the anus as the second telecentric fixed point b, so that the axial direction of the ultrasonic probe 100 is consistent with the direction of the rectum connected to the anus.

[0076] like Figure 2 , Figure 3 and Figure 4 As shown, the vertical projection of the second telecentric fixed point b toward the ground passes through the first telecentric fixed point a, that is, when the bottom moving part 200 makes a circular motion around the first telecentric fixed point a, the ultrasonic probe 100 also makes a circular motion around the second telecentric fixed point b.

[0077] like Figure 3 As shown, the ultrasonic probe 100 moves in a circle around the second telecentric fixed point b through the bottom moving part 200; Figure 4 As shown, the ultrasonic probe 100 performs a pitch motion around the second telecentric fixed point b through the intermediate moving part 300 .

[0078] like Figure 1 As shown, the top moving part 400 is arranged on the middle moving part 300; the ultrasonic probe 100 is arranged on the top moving part 400; the top moving part 400 is used to drive the ultrasonic probe 100 to be inserted into the anus to obtain an ultrasonic image of the target object in real time.

[0079] Specifically, the doctor inserts the ultrasound probe 100 from the anus into the rectum of the target object and performs ultrasound scanning on the area where the prostate of the target object is located.

[0080] However, due to the size of the target object's prostate, the position of the ultrasound probe 100 at the target object's anus needs to be changed. For example, the circumferential angle or pitch angle of the ultrasound probe 100 may need to be adjusted, and then the probe 100 may be inserted into the rectum to scan the prostate lesion point corresponding to the area to be tested.

[0081] Related Art When the circumferential angle or the pitch angle of the ultrasonic probe 100 is adjusted, the position of the ultrasonic probe 100 at one end of the anus will change, which may cause damage to the anus of the target object.

[0082] In the above embodiment of the present application, the end of the ultrasound probe 100 close to the anus serves as the second telecentric fixed point b. The ultrasound probe 100 can make circular motion around the second telecentric fixed point b to adjust the circumferential angle, and can make pitch motion around the second telecentric fixed point b to adjust the pitch angle, that is, the position of the end of the ultrasound probe 100 close to the anus will not change, thereby protecting the anus of the target object and making the target object more comfortable during the operation.

[0083] like Figure 5 As shown, in some embodiments, the bottom moving part 200 includes: a base 210, an arc track 220, at least one first gear 230 and at least one guide wheel set.

[0084] The arc track 220 is located below the base 210 ; a rack is provided on the side wall of the arc track 220 .

[0085] The first gear 230 is rotatably disposed on the base 210 and meshes with a rack on a side wall of the arc track 220 .

[0086] The guide wheel assembly includes at least one guide wheel 240 , and the guide wheel 240 is connected to the other opposite side wall of the arc track 220 in a guiding manner.

[0087] For example, when the rack is arranged on the outer annular wall surface 221 of the arc track 220, the guide wheel 240 can be arranged on the inner annular wall surface 222 of the arc track 220, or when the rack is arranged on the inner annular wall surface 222 of the arc track 220, the guide wheel 240 can be arranged on the outer annular wall surface 221 of the arc track 220.

[0088] Of course, when the rack is arranged on the outer annular wall surface 221 of the arc track 220 and / or on the inner annular wall surface 222 of the arc track 220, it should also be allowed that the guide wheel 240 is simultaneously guided and connected with the outer annular wall surface 221 of the arc track 220 and the inner annular wall surface 222 of the arc track 220.

[0089] In this embodiment, the base 210 can move more smoothly along the first arc track 220 through the guide wheel group and the first gear 230, so that the ultrasound probe 100 performs a circular motion around the second telecentric fixed point b to achieve the adjustment of the circumferential angle.

[0090] Exemplarily, the outer annular wall surface 221 and the inner annular wall surface 222 of the arc track 220 both include a first guide surface 22a and a second guide surface 22b. A rack is laid on the first guide surface 22a of the outer annular wall surface 221 of the arc track 220, and the second guide surface 22b is directly above the first guide surface 22a and protrudes toward one side of the first guide surface 22a. The guide wheel 240 is circumferentially provided with an annular groove, which is guide-connected to the second guide surface 22b.

[0091] In actual implementation, the guide wheel group has four guide wheels 240, wherein two guide wheels 240 of the guide wheel group are guide-connected to the second guide surface 22b of the outer annular wall 221 of the arc track 220, and the other two guide wheels 240 of the guide wheel group are guide-connected to the second guide surface 22b of the inner annular wall 222 of the arc track 220.

[0092] In actual implementation, the bottom moving part 200 has a motor, which is mounted on the base 210, and the output shaft of the motor is fixedly connected to the first gear 230. The motor includes but is not limited to a servo motor or a stepper motor.

[0093] like Figure 6 , Figure 7 and Figure 8As shown, in some embodiments, the intermediate moving part 300 includes: at least two lifting assemblies 310 .

[0094] At least two lifting assemblies 310 are arranged in parallel on the base 210; each lifting assembly 310 has a moving block 311 that moves in the vertical direction, and the moving blocks 311 of at least two lifting assemblies 310 are arranged in sequence on the top moving part 400 along the axial direction of the ultrasonic probe 100, and the moving speed of the moving blocks 311 of at least two lifting assemblies 310 gradually increases along the axial direction of the ultrasonic probe 100.

[0095] In this embodiment, the motion block 311 moving away from the ultrasonic probe 100 has a faster speed in the vertical direction than the motion block 311 moving close to the ultrasonic probe 100, so that the ultrasonic probe 100 performs a pitch motion around the second telecentric fixed point b to adjust the pitch angle.

[0096] like Figure 8 As shown, illustratively, at least two lifting assemblies 310 each include: a lifting seat 312 and a transmission part 313 .

[0097] The lifting seat 312 is rotatably mounted on one end of the top moving part 400 away from the second telecentric fixed point b of the ultrasonic probe 100 through the moving block 311, the transmission part 313 is mounted on the base 210, and the power end of the transmission part 313 is connected to the lifting seat 312 to enable the lifting seat 312 to move in the vertical direction.

[0098] The motion block 311 away from the ultrasonic probe 100 moves faster than the motion block 311 close to the ultrasonic probe 100, so that the ultrasonic probe 100 performs a pitch motion around the second telecentric fixed point b to adjust the pitch angle.

[0099] In actual implementation, the lifting seat 312 has side walls that are arranged opposite to each other, and the moving block 311 is installed on the side walls of the lifting seat 312 and is rotatably connected to the top moving part 400 through a bearing.

[0100] like Figure 8 As shown, in actual implementation, the base 210 is provided with windows 211 corresponding to the number of the at least two lifting assemblies 310 , and the lifting seats 312 of the lifting assemblies 310 are guided through the windows 211 .

[0101] In actual implementation, the transmission part 313 may include a motor, a coupling and a screw. The output shaft of the motor is axially connected to the screw through the coupling, and the screw is threadedly connected to the lifting seat 312 to enable the lifting seat 312 to move in the vertical direction.

[0102] The motor includes but is not limited to a servo motor or a stepper motor, and the lead screw includes but is not limited to a self-locking lead screw.

[0103] It should be noted that a force control sensor may be installed on the top moving part 400 , and the pitch angle of the ultrasonic probe 100 of the ultrasonic mechanism may be adjusted through the force control sensor.

[0104] like Fig. 9 and Fig.10 As shown, in some embodiments, the top moving part 400 includes: a linear motion component 410 .

[0105] The linear motion assembly 410 is arranged side by side with the ultrasonic probe 100 , and the motion blocks 311 of at least two lifting assemblies 310 are arranged on the linear motion assembly 410 ; the linear motion assembly 410 is used to drive the ultrasonic probe 100 to perform linear motion along the axial direction of the ultrasonic probe 100 .

[0106] In this embodiment, the linear motion assembly 410 can drive the ultrasound probe 100 to advance or retreat along the axial direction of the ultrasound probe 100 so that the ultrasound probe 100 is inserted into the rectum from the anus of the target object, or is removed from the anus of the target object.

[0107] like Fig.10 As shown, in some embodiments, the top moving part 400 further includes: a rotating component 420 .

[0108] The rotating assembly 420 is sleeved outside the ultrasonic probe 100 and rotatably disposed on the linear motion assembly 410 , and is used to drive the ultrasonic probe 100 to rotate around the axis of the ultrasonic probe 100 .

[0109] In this embodiment, the rotating assembly 420 drives the ultrasonic probe 100 to rotate around the axis of the ultrasonic probe 100, so that the ultrasonic probe 100 rotates in the rectum of the target object to perform ultrasonic scanning on the area where the prostate of the target object is located.

[0110] like Fig.10 As shown, exemplarily, the rotating assembly 420 includes: a mounting seat 421 , a second gear 422 , and a third gear 423 .

[0111] The mounting seat 421 is disposed on the linear motion assembly 410 .

[0112] The second gear 422 is rotatably disposed in the mounting seat 421 .

[0113] The third gear 423 is sleeved on the outside of the ultrasonic probe 100 and meshes with the second gear 422 .

[0114] In this example, the second gear 422 is rotated, thereby driving the third gear 423 and the ultrasonic probe 100 to rotate synchronously, so that the ultrasonic probe 100 rotates around the axis of the ultrasonic probe 100 .

[0115] like Fig.10As shown, in actual implementation, the end of the mounting seat 421 away from the screw rod is provided with a limiting opening 4211, and the end of the third gear 423 away from the ultrasonic probe 100 is located in the limiting opening 4211 and meshes with the second gear 422. This design is used for the ultrasonic probe 100 to move with the mounting seat 421 when the mounting seat 421 moves.

[0116] In actual implementation, a motor is also installed in the mounting seat 421 , and the output shaft of the motor is connected to the second gear 422 . The motor includes but is not limited to a servo motor or a stepper motor.

[0117] like Fig.11 As shown, in actual implementation, the third gear 423 is mounted on the outside of the ultrasound probe 100 through a mounting sleeve 424, and the mounting sleeve 424 includes a bottom shell 4241 and a top cover 4242 snapped with the bottom shell 4241, and a limit slot is provided on the bottom shell 4241;

[0118] The ultrasonic probe 100 is installed in the area between the bottom shell 4241 and the top cover 4242 and is locked in the limiting slot.

[0119] In this embodiment, the top cover 4242 of the mounting sleeve 424 can be opened from the bottom shell 4241 of the mounting sleeve 424, and the ultrasonic probe 100 can be placed in the limiting slot of the bottom shell 4241 of the mounting sleeve 424 from the placement opening of the second arc track 220. The limiting slot engages with the metal protrusion on the ultrasonic probe 100 to ensure the installation accuracy of the ultrasonic probe 100, and the top cover 4242 of the mounting sleeve 424 and the bottom shell 4241 of the mounting sleeve 424 are snapped together. The top cover 4242 of the mounting sleeve 424 can be crimped against the ultrasonic probe 100 to ensure that its position does not change during movement.

[0120] like Fig. 9 As shown, illustratively, the linear motion assembly 410 includes: a base 411, a motor, a lead screw and a synchronous wheel set.

[0121] The moving blocks 311 of at least two lifting assemblies 310 are rotatably mounted on a base 411, a bar hole is opened on the base 411, a motor is mounted on the bottom wall of the base 411, the output shaft of the motor is axially fixed to the screw rod through a synchronous wheel set, and the mounting base 421 of the rotating assembly 420 passes through the bar hole of the base 411 and is threadedly connected to the screw rod.

[0122] In this example, the output shaft of the motor drives the screw to rotate through the synchronous wheel set, so that the mounting seat 421 of the rotating assembly 420 can move along the strip hole of the base 411, thereby making the ultrasonic probe 100 move linearly along the axial direction of the ultrasonic probe 100.

[0123] In actual implementation, the motor includes but is not limited to a servo motor or a stepper motor, and the lead screw includes but is not limited to a self-locking lead screw.

[0124] In actual implementation, a protective cover is also installed on the bottom wall of the base 411, and a space for accommodating the motor, the lead screw and the synchronous wheel set is formed between the protective cover and the bottom wall of the base 411.

[0125] like Fig.12 As shown, in some embodiments, the ultrasound mechanism further includes: a cart 500 .

[0126] The bottom of the cart 500 is provided with universal wheels, and the cart 500 can be used to quickly approach the target object.

[0127] like Fig.13 As shown, illustratively, an adjusting portion 600 is installed on the cart 500 , and the adjusting portion 600 is used to adjust the position of the ultrasound probe 100 so that the ultrasound probe 100 is close to the anus of the target object.

[0128] In this example, the position of the base 210 of the bottom moving part 200 is adjusted by the adjusting part 600, thereby roughly adjusting the position of the ultrasound probe 100 from the anus of the target object.

[0129] like Fig.13 As shown, illustratively, the adjustment portion 600 includes: a first adjustment portion 610 , a second adjustment portion 620 and a third adjustment portion 630 .

[0130] The power end of the first adjusting portion 610 is connected to the base 210 to drive the arc track 220 of the bottom moving portion 200 to move along the Z-axis direction.

[0131] The power end of the second adjusting portion 620 is connected to the first adjusting portion 610 to drive the first adjusting portion 610 to move along the Y-axis direction.

[0132] The power end of the third adjusting portion 630 is connected to the second adjusting portion 620 to drive the second adjusting portion 620 to move along the X-axis direction.

[0133] In this embodiment, the position of the ultrasound probe 100 from the anus of the target object can be roughly adjusted by the first adjustment portion 610 , the second adjustment portion 620 , and the third adjustment portion 630 .

[0134] It should be noted that the doctor can use the cart 500 to move the ultrasound mechanism between the legs of the target object, and then use the first adjustment part 610, the second adjustment part 620 and the third adjustment part 630 to bring the ultrasound probe 100 of the ultrasound mechanism close to and aim at the anus of the target object, without the need for the doctor to carry the ultrasound mechanism to a suitable position and bring the ultrasound probe 100 of the ultrasound mechanism close to and aim at the anus of the target object at that position.

[0135] That is, the above-mentioned embodiment of the present application can roughly adjust the position of the ultrasonic probe 100 from the target object's anus, so that the top moving part 400 drives the ultrasonic probe 100 to insert into the anus sufficiently, while also reducing the burden on the doctor to move the ultrasonic mechanism.

[0136] In actual implementation, the first adjusting part 610 , the second adjusting part 620 and the third adjusting part 630 all include: a motor, a synchronous pulley, a screw and a bracket.

[0137] The motor of the first adjusting part 610 is connected to the screw through a synchronous pulley, and the screw is threadedly connected to the arc track 220 of the bottom moving part 200 to drive the base 210 to move along the Z-axis direction.

[0138] The motor of the second adjusting part 620 is connected to the screw through a synchronous pulley, and the screw is threadedly connected to the bracket of the first adjusting part 610 to drive the first adjusting part 610 to move along the Y-axis direction.

[0139] The motor of the third adjusting part 630 is connected to the screw through a synchronous pulley, and the screw is threadedly connected to the bracket of the second adjusting part 620 to drive the second adjusting part 620 to move along the X-axis direction.

[0140] It should be noted that the ultrasound mechanism can be connected to other electronic devices when in use. The electronic devices are used to monitor the movement of the ultrasound probe 100 described below. The electronic devices include but are not limited to computers, mobile phones, and wearable devices.

[0141] Taking the electronic device as a computer as an example, the electronic device can input motion control information of the ultrasonic probe 100, such as information about the rotational motion of the ultrasonic probe 100 around the axis of the ultrasonic probe 100, information about the linear motion of the ultrasonic probe 100 along the axial direction of the ultrasonic probe 100, information about the circular motion of the ultrasonic probe 100 around the second telecentric fixed point b, information about the pitch motion of the ultrasonic probe 100 around the second telecentric fixed point b, etc.

[0142] Afterwards, the electronic device sends an execution instruction to the ultrasound mechanism based on the motion control information instruction of the ultrasound probe 100 .

[0143] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An ultrasonic mechanism having a telecentric fixed point, characterized in that: include: Ultrasonic probe (100); A bottom moving part (200) is used to make a circular motion around the first telecentric fixed point (a) so as to align the ultrasonic probe (100) with the anus of the target object; The middle moving part (300) is arranged on the bottom moving part (200) and is used to drive the ultrasonic probe (100) to perform a pitch motion with the end of the ultrasonic probe (100) close to the anus as the second telecentric fixed point (b), so that the axial direction of the ultrasonic probe (100) is consistent with the direction of the rectum connected to the anus; A top moving part (400) is arranged on the middle moving part (300); the ultrasonic probe (100) is arranged on the top moving part (400); the top moving part (400) is used to drive the ultrasonic probe (100) to be inserted into the anus, so as to obtain an ultrasonic image of the target object in real time.

2. The ultrasonic mechanism according to claim 1, characterized in that: The bottom moving part (200) comprises: Base (210); An arc track (220) is located below the base (210); a rack is provided on the side wall surface of the arc track (220); at least one first gear (230) rotatably disposed on the base (210) and meshing with a rack on a side wall surface of the arc track (220); At least one guide wheel group comprises at least one guide wheel (240), wherein the guide wheel (240) is connected to another opposite side wall of the arc track (220) in a guiding manner.

3. The ultrasonic mechanism according to claim 2, characterized in that: The intermediate moving part (300) comprises: At least two lifting assemblies (310) are arranged in parallel on the base (210); each of the lifting assemblies (310) has a moving block (311) that moves in a vertical direction; the moving blocks (311) of the at least two lifting assemblies (310) are arranged on the top moving part (400) in sequence along the axial direction of the ultrasonic probe (100), and the moving speed of the moving blocks (311) of the at least two lifting assemblies (310) gradually increases along the axial direction of the ultrasonic probe (100).

4. The ultrasonic mechanism according to claim 3, characterized in that: The top moving part (400) comprises: A linear motion component (410) is arranged side by side with the ultrasonic probe (100); the motion blocks (311) of the at least two lifting components (310) are arranged on the linear motion component (410); and the linear motion component (410) is used to drive the ultrasonic probe (100) to perform linear motion along the axial direction of the ultrasonic probe (100).

5. The ultrasonic mechanism according to claim 4, characterized in that: The top moving part (400) further includes: The rotating assembly (420) is sleeved outside the ultrasonic probe (100) and is rotatably arranged on the linear motion assembly (410), and is used to drive the ultrasonic probe (100) to perform a rotating motion around the axis of the ultrasonic probe (100).

6. The ultrasonic mechanism according to claim 5, characterized in that: The rotating assembly (420) comprises: a mounting seat (421) arranged on the linear motion assembly (410); A second gear (422) rotatably disposed in the mounting seat (421); The third gear (423) is sleeved outside the ultrasonic probe (100) and meshes with the second gear (422).

7. The ultrasonic mechanism according to claim 6, characterized in that: The third gear (423) is sleeved on the outside of the ultrasonic probe (100) through a mounting sleeve (424), the mounting sleeve (424) comprises a bottom shell (4241) and a top cover (4242) snapped with the bottom shell (4241), and a limit slot is provided on the bottom shell (4241); Wherein, the ultrasonic probe (100) is installed in the area between the bottom shell (4241) and the top cover (4242), and is locked in the limiting slot.

8. The ultrasonic mechanism according to any one of claims 1 to 7, characterized in that: The ultrasonic mechanism also includes: The cart (500) is provided with universal wheels at the bottom.

9. The ultrasonic mechanism according to claim 8, characterized in that: The cart (500) is equipped with an adjusting portion (600), and the adjusting portion (600) is used to adjust the position of the ultrasound probe (100) so that the ultrasound probe (100) is close to the anus of the target object.

10. The ultrasonic mechanism according to claim 9, characterized in that: The adjustment unit (600) comprises: A first adjusting portion (610) connected to the bottom moving portion (200) and used for driving the bottom moving portion (200) to move along the Z-axis direction; A second adjusting portion (620) connected to the first adjusting portion (610) for driving the first adjusting portion (610) (600) to move along the Y-axis direction; The third adjusting part (630) is connected to the second adjusting part (620) and is used to drive the second adjusting part (620) to move along the X-axis direction.

Images