Ultrasonic volume probe and ultrasonic imaging device

Abstract

The present application relates to the field of medical device technology, and specifically to an ultrasonic volume probe and an ultrasonic imaging device. The ultrasonic volume probe includes a probe housing, a base, an acoustic head support, an acoustic head, and an acoustic head driving mechanism. The driving member is used to generate a driving force to drive the acoustic head and the acoustic head support to swing or rotate around the base. The transmission member is used to transmit the driving force, and the driving force generated by the driving member is transmitted to the acoustic head support member through the transmission member, driving the acoustic head support member and the acoustic head to swing or rotate. Since the force sensor is installed in the acoustic head driving mechanism, the force sensor in the ultrasonic volume probe can detect the driving force of the acoustic head driving mechanism, and the transmission state of the acoustic head driving mechanism can be known according to the detected driving force, which provides convenience for judging whether the acoustic head driving mechanism is faulty.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to an ultrasonic volume probe and an ultrasonic imaging device. Background Art

[0002] Ultrasonic imaging equipment usually includes an ultrasonic probe and an ultrasonic host. The ultrasonic probe includes an acoustic head that can convert electrical signals into ultrasonic signals. The ultrasonic host is responsible for controlling the electrical pulse to excite the acoustic head to emit ultrasonic waves, while receiving the echo signal obtained by the ultrasonic probe, and detecting and processing the signal.

[0003] The ultrasonic volume probe also includes an acoustic head driving mechanism that drives the acoustic head. The acoustic head driving mechanism drives the acoustic head to swing within a certain angle and scans and images the human body at each angle within the acoustic head swing range, thereby constructing an image of human tissue. At present, after the acoustic head driving mechanism fails, the ultrasonic volume probe generally cannot work normally, and the user cannot know the transmission failure of the acoustic head driving mechanism, which needs to be checked step by step, and there is a problem of low troubleshooting efficiency. Utility Model Content

[0004] The purpose of the present application is to provide an ultrasonic volume probe capable of detecting the transmission state of an acoustic head driving mechanism. In addition, the purpose of the present application is also to provide an ultrasonic imaging device using the ultrasonic volume probe.

[0005] In a first aspect, an embodiment provides an ultrasound volume probe, comprising:

[0006] Probe housing;

[0007] A base, the base is disposed in the probe housing and is fixedly connected to or integrally formed with the probe housing;

[0008] A sound head support, the sound head support is rotatably arranged on the base;

[0009] A sound head, the sound head is fixedly arranged on the sound head support or is integrally formed with the sound head support, and the sound head can swing relative to the base through the sound head support;

[0010] A sound head driving mechanism, the sound head driving mechanism is arranged in the probe housing and is drivingly connected to the sound head support member, the sound head driving mechanism includes a driving member and a tension transmission member, the driving member is used to generate a driving force to drive the sound head and the sound head support member to swing around the base; the tension transmission member is used to transmit the driving force;

[0011] and a force sensor, wherein the force sensor is arranged on the tension transmission member and is used to detect the tension exerted on the tension transmission member when the tension transmission member transmits the driving force.

[0012] Furthermore, in one embodiment, the ultrasonic volume probe is an intracavitary ultrasonic probe, the probe shell includes an intracavitary shell section and a handle shell section, the acoustic head is arranged in the intracavitary shell section, the intracavitary shell section is used to extend into the patient's body, the driving member is arranged in the handle shell section, the handle shell section is used for the user to hold the intracavitary ultrasonic probe, and the tension transmission member extends from the handle shell section to the intracavitary shell section.

[0013] Furthermore, in one embodiment, the tension transmission member includes a first section and a second section, and the sound head driving mechanism also includes an elastic member, the elastic member is connected between the first section and the second section, the first section and the second section transmit power through the elastic member, and the elastic member elastically deforms after the tension transmission member is tensioned.

[0014] Furthermore, in one embodiment, the tension transmission member includes a first section and a second section, the force sensor includes an elastic member, the elastic member is connected between the first section and the second section, the first section and the second section transmit power through the elastic member, and the elastic member is elastically deformed after the tension transmission member is tensioned.

[0015] Furthermore, in one embodiment, the elastic member is a spring or an elastic rope.

[0016] Furthermore, in one embodiment, the tension transmission member is a transmission rope, a transmission belt or a transmission chain.

[0017] Furthermore, in one embodiment, the force sensor is a resistive strain sensor, a piezoelectric sensor, a capacitive sensor, a photoelectric sensor or a magnetostrictive sensor.

[0018] Furthermore, in one embodiment, the inner cavity of the handle housing segment and the inner cavity of the intracavity housing segment are sealed and separated, and the force sensor is located in the inner cavity of the handle housing segment or in the inner cavity of the intracavity housing segment.

[0019] In a second aspect, an embodiment provides an ultrasound volume probe, comprising:

[0020] Probe housing;

[0021] A base, the base is disposed in the probe housing and is fixedly connected to or integrally formed with the probe housing;

[0022] A sound head support, the sound head support is rotatably arranged on the base;

[0023] An acoustic head, wherein the acoustic head is fixedly arranged on the acoustic head support or is integrally formed with the acoustic head support, and the acoustic head can be swung or rotated relative to the base through the acoustic head support; an acoustic head driving mechanism, wherein the acoustic head driving mechanism is arranged in the probe housing and is transmission-connected to the acoustic head support, and the acoustic head driving mechanism includes a driving member and a transmission member, wherein the driving member is used to generate a driving force for driving the acoustic head and the acoustic head support to swing or rotate around the base; and the transmission member is used to transmit the driving force;

[0024] and a force sensor, wherein the force sensor is arranged on the acoustic head driving mechanism and is used to detect the driving force.

[0025] Furthermore, in one embodiment, the ultrasonic volume probe is an intracavitary ultrasonic probe, the probe shell includes an intracavitary shell section and a handle shell section, the acoustic head is arranged in the intracavitary shell section, the intracavitary shell section is used to extend into the patient's body, the driving member is arranged in the handle shell section, the handle shell section is used for the user to hold the intracavitary ultrasonic probe, and the transmission member extends from the handle shell section to the intracavitary shell section.

[0026] Furthermore, in an embodiment, the force sensor is arranged on the driving member and / or the transmission member.

[0027] Furthermore, in one embodiment, the transmission member includes a first transmission member and a second transmission member, the first transmission member and the second transmission member are in transmission cooperation, and the force sensor is installed between the first transmission member and the second transmission member.

[0028] Furthermore, in one embodiment, the acoustic head driving mechanism further includes a connecting member, and the force sensor is disposed on the connecting member.

[0029] Further, in an embodiment, the connecting member includes a coupling, and the force sensor is arranged on the coupling.

[0030] Furthermore, in one embodiment, the inner cavity of the handle housing segment and the inner cavity of the intracavity housing segment are sealed and separated, and the force sensor is located in the inner cavity of the handle housing segment or in the inner cavity of the intracavity housing segment.

[0031] In a third aspect, an embodiment provides an ultrasound imaging device, comprising an ultrasound host and an ultrasound volume probe as described in any one of the above embodiments.

[0032] Furthermore, in one embodiment, the ultrasonic imaging device further includes a force display module, and the force display module is communicatively connected to the force sensor to display the detection result of the force sensor.

[0033] According to the ultrasonic volume probe of the above embodiment, since the force sensor is installed in the acoustic head driving mechanism, the force sensor in the ultrasonic volume probe can detect the driving force of the acoustic head driving mechanism. The transmission state of the acoustic head driving mechanism can be known according to the detected driving force, which provides convenience for judging whether the acoustic head driving mechanism is faulty. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a cross-sectional view of an ultrasonic volume probe in one embodiment;

[0035] Figure 2 is an axonometric diagram of an ultrasound volume probe in one embodiment;

[0036] Figure 3 A cross-sectional view of another ultrasonic volume probe in an embodiment.

[0037] List of feature names corresponding to the figure marks in the figure: 1. Probe shell; 11. Intracavity shell section; 12. Handle shell section; 13. Sealing seat; 2. Base; 3. Acoustic head support; 4. Acoustic head; 5. Acoustic head driving mechanism; 51. Driving member; 511. Output shaft; 52. Transmission member; 521. Tension transmission member; 5211. First section; 5212. Second section; 522. Active transmission wheel; 523. Active shaft; 524. Driven transmission wheel; 525. Reversing wheel; 526. First reversing gear; 527. Second reversing gear; 528. First pulley; 529. Support member pulley; 5210. Elastic member; 53. Connecting member; 530. Coupling; 531. First connecting part; 532. Second connecting part; 6. Force sensor.

[0038] Explanation on the reference numerals in brackets in the drawings: In the reference numerals in brackets in the drawings, the features referred to by the reference numerals are both the features represented by the numbers in the brackets and the features represented by the numbers outside the brackets. DETAILED DESCRIPTION

[0039] The present application is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are intended to enable the present application to be better understood. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, and methods. In some cases, some operations related to the present application are not shown or described in the specification, in order to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations based on the description in the specification and the general technical knowledge in the art.

[0040] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0041] The serial numbers of the components in this document, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0042] In response to the problem of low troubleshooting efficiency of current ultrasonic imaging equipment, the present application provides a method of setting a force sensor in an ultrasonic volume probe. The force sensor can detect the driving force of the acoustic head driving mechanism on the acoustic head, and the transmission state of the acoustic head driving mechanism can be known according to the size of the driving force, thereby facilitating the troubleshooting of the acoustic head driving mechanism and accelerating the troubleshooting of ultrasonic imaging equipment.

[0043] In one embodiment, please refer to Figure 1 and Figure 2 The ultrasonic volume probe includes a probe housing 1, a base 2, an acoustic head support 3, an acoustic head 4 and an acoustic head driving mechanism 5. The base 2 is arranged in the probe housing 1. In one embodiment, please refer to Figure 1 and Figure 2 , the base 2 is fixedly connected to the probe housing 1. The base 2 and the probe housing 1 may be fixedly connected by any feasible method such as welding, bonding or fastener connection. In some other embodiments, the base 2 and the probe housing 1 may also be integrally formed, such as injection molding, casting, etc.

[0044] The acoustic head support 3 is rotatably arranged on the base 2, and the acoustic head 4 is fixedly arranged on the acoustic head support 3 or is integrally formed with the acoustic head support 3. The acoustic head 4 can swing or rotate relative to the base 2 through the acoustic head support 3. The acoustic head driving mechanism 5 is arranged in the probe housing 1 and is transmission-connected with the acoustic head support 3 so as to drive the acoustic head 4 to move.

[0045] The acoustic head driving mechanism 5 includes a driving member 51 and a transmission member 52. The driving member 51 is used to generate a driving force to drive the acoustic head 4 and the acoustic head support member 3 to swing or rotate around the base 2. The transmission member 52 is used to transmit the driving force. The driving force generated by the driving member 51 is transmitted to the acoustic head support member 3 through the transmission member 52, driving the acoustic head support member 3 and the acoustic head 4 to swing or rotate. In one embodiment, please refer to Figure 1 and Figure 3 , the driving member 51 is a driving motor.

[0046] The ultrasonic volume probe includes a force sensor 6, which is arranged on the acoustic head driving mechanism 5 to detect the driving force generated by the driving member 51. Through the detection of the driving force by the force sensor 6, the transmission state of the acoustic head driving mechanism 5 can be known, thereby facilitating the troubleshooting of the ultrasonic volume probe. If the value detected by the force sensor 6 exceeds the normal range of normal values, it indicates that the acoustic head driving mechanism 5 has a transmission fault.

[0047] It should be noted that when the acoustic head driving mechanism 5 drives the acoustic head 4 to swing, the swing angle is usually less than 360 degrees, and the acoustic head driving mechanism 5 usually drives the acoustic head 4 to swing back and forth. Figure 1 The acoustic head 4 is located at the far end of the probe housing 1 , and the acoustic head 4 can swing back and forth relative to the base 2 .

[0048] When the acoustic head driving mechanism 5 drives the acoustic head 4 to rotate, the rotation angle of the acoustic head 4 is usually not less than 360 degrees. The acoustic head driving mechanism 5 can drive the acoustic head 4 to rotate forward or reverse. In one embodiment, the acoustic head 4 can rotate 360 ​​degrees forward and reverse, and the rotation axis of the acoustic head 4 extends along the length direction of the probe housing 1.

[0049] Further, in one embodiment, please refer to Figure 1 and Figure 2 The transmission member 52 includes a tension transmission member 521. The force sensor 6 is disposed on the tension transmission member 521 to detect the tension applied to the tension transmission member 521 when the tension transmission member 521 transmits the driving force. The tension transmission member can be a transmission rope, a transmission belt or a transmission belt.

[0050] Of course, in some other embodiments, the force sensor 6 can also be arranged on other transmission members 52 of the acoustic head driving mechanism 5. For example, in one embodiment, the transmission member 52 includes an active transmission wheel 522, and the force sensor 6 can measure the torque exerted on the active transmission wheel 522. The active transmission wheel 522 can be a transmission gear in a gear system, a transmission gear in a gear rack mechanism, or a pulley in a belt transmission mechanism. In one embodiment, the transmission member 52 can also be a transmission connecting rod, and the force sensor 6 can detect the force exerted on the transmission connecting rod.

[0051] In addition to being disposed on the transmission member 52, the force sensor 6 is also provided on the transmission member 52. Figure 1 The acoustic head driving mechanism 5 also includes a connecting member 53 , and the force sensor 6 is arranged on the connecting member 53 .

[0052] In one embodiment, please refer to Figure 1, the connecting member 53 includes a coupling 530, and the force sensor 6 is arranged on the coupling 530. The driving member 51 and the transmission member 52 are connected through the connecting member 53. In one embodiment, the coupling 530 includes a first connecting portion 531 and a second connecting portion 532. The driving member 51 is connected to the first connecting portion 531, and the transmission member 52 is connected to the second connecting portion 532.

[0053] Regarding the transmission member 52, the transmission member 52 in the present application is a part used to transmit power to the acoustic head 4, and there can be multiple transmission members 52. Regarding the connecting member 53, the connecting member 53 is used to connect the transmission member 52 and the driving member 51.

[0054] In one embodiment, please refer to Figure 1 The transmission member 52 includes a driving shaft 523, the output shaft 511 of the driving member 51 is connected to the first connecting portion 531, and the driving shaft 523 is connected to the second connecting portion 532. A driving transmission wheel 522 is fixed to the driving shaft 523, and the power of the driving member 51 is transmitted to the first connecting portion 531 of the coupling 530 through the output shaft 511, and then transmitted to the second connecting portion 532, and then transmitted to the driving transmission wheel 522 fixed to the driving shaft 523, and the driving transmission wheel 522 is driven to rotate.

[0055] In one embodiment, the force sensor 6 is located between the first connecting portion 531 and the second connecting portion 532 so as to be able to detect the force applied to the coupling 530 when transmitting the driving force.

[0056] In one embodiment, please refer to Figure 1 and Figure 2 , the tension transmission member 521 is a transmission rope. In one embodiment, please refer to Figure 3 , the tension transmission member 521 is a transmission belt. In another embodiment, the tension transmission member 521 is a transmission chain.

[0057] In one embodiment, please refer to Figure 1 and Figure 2 , the tension transmission member 521 is wound around the active transmission wheel 522. A driven transmission wheel 524 is fixed to the sound head support member 3, and the tension transmission member 521 is also wound around the driven transmission wheel 524. The active transmission wheel 522 is driven to rotate by the active shaft 523, and the power is transmitted to the driven transmission wheel 524 through the tension transmission member 521. The driven transmission wheel 524 transmits the power to the sound head support member 3, so as to drive the sound head 4 and the sound head support member 3 to swing or rotate. In one embodiment, please refer to Figure 1 and Figure 2 The transmission member 52 includes a reversing wheel 525 , and the rotation axis of the reversing wheel 525 is parallel to the rotation axis of the driven transmission wheel 524 .

[0058] In addition to the above-mentioned method, the acoustic head driving mechanism 5 can also be used in an embodiment. Figure 3 , a first reversing gear 526 is fixed on the driving shaft 523, the acoustic head driving mechanism 5 includes a second reversing gear 527 and a first pulley 528, the first reversing gear 526 is meshed with the second reversing gear 527, the first pulley 528 is coaxially fixed with the second reversing gear 527, and when the second reversing gear 527 rotates, the first pulley 528 rotates accordingly. The acoustic head driving mechanism 5 includes a support pulley 529 fixed to the acoustic head support 3, the support pulley 529 is a driven pulley, and the first pulley 528 is a driving pulley. The driving wheel generated by the driving member 51 is transmitted to the acoustic head support 3 through the output shaft 511, the coupling 530, the driving shaft 523, the first reversing gear 526, the second reversing gear 527, the first pulley 528, the tension transmission member 521 and the support pulley 529, driving the acoustic head 4 and the acoustic head support 3 to swing or rotate.

[0059] Specifically, in one embodiment, please refer to Figure 1 and Figure 2 The tension transmission member 521 includes a first section 5211 and a second section 5212, and the force sensor 6 is connected between the first section 5211 and the second section 5212, so that the force sensor 6 can detect the tension applied to the tension transmission member 521 when transmitting the driving force.

[0060] Since the transmission rope, transmission belt or transmission chain needs to be tensioned after installation, in order to facilitate the tensioning of the tension transmission member 521, in one embodiment, please refer to Figure 2 The acoustic head driving mechanism 5 further includes an elastic member 5210, which is connected between the first section 5211 and the second section 5212. The first section 5211 and the second section 5212 transmit power through the elastic member 5210, and the elastic member 5210 is elastically deformed after the tension transmission member 521 is tensioned. The elastic member 5210 deforms more after being stressed, which makes it easier to adjust the tension of the tension transmission member 521.

[0061] In addition to directly setting the elastic member 5210 in the tension transmission member 521, in one embodiment, the force sensor 6 includes an elastic member, which is connected between the first section 5211 and the second section 5212. The first section 5211 and the second section 5212 transmit power through the elastic member, and the elastic member is elastically deformed after the tension transmission member 521 is tensioned. In this way, the force sensor 6 can detect the force applied to the tension transmission member 521 and can also be used to adjust the pre-tensioning force of the tension transmission member 521.

[0062] In addition to using elastic members, in one embodiment, the tension transmission member 521 may not be provided with elastic members. In this case, the tension transmission member 521 is pre-tensioned by a tooling capable of measuring tensioning force.

[0063] In one embodiment, the elastic member is a spring or an elastic rope.

[0064] In addition to being arranged on the tension transmission member 521, in one embodiment, the transmission member 52 includes a first transmission member and a second transmission member, the first transmission member and the second transmission member are in transmission cooperation, and the force sensor 6 is installed between the first transmission member and the second transmission member. The first transmission member and the second rotating member can be any form of transmission cooperation between the driving member 51 and the sound head 4, for example, one of the first transmission member and the second rotating member is a gear, and the other is a gear shaft, and the gear is installed on the gear shaft, and for another example, one of the first transmission member and the second rotating member is a first connecting rod, and the other is a second connecting rod hinged to the first connecting rod.

[0065] In addition to being arranged on the connecting member 53 and the transmission member 52, in one embodiment, the force sensor 6 is arranged on the driving member 51. In one embodiment, the driving member 51 is a driving motor.

[0066] In one embodiment, the ultrasonic volume probe is an intracavitary ultrasonic probe, see Figure 1 The probe shell 1 includes an intracavitary shell section 11 and a handle shell section 12. The acoustic head 4 is arranged in the intracavitary shell section 11. The intracavitary shell section 11 is used to extend into the patient's body. The driving member 51 is arranged in the handle shell section 12. The handle shell section 12 is used for the user to hold the intracavitary ultrasound probe. The tension transmission member 521 extends from the handle shell section 12 to the intracavitary shell section 11.

[0067] It should be noted that the ultrasound volume probe may not be an intracavitary ultrasound probe, but may be an abdominal 3D or 4D probe.

[0068] Regarding the type of the force sensor 6, in one embodiment, the force sensor 6 can be a resistive strain sensor, a piezoelectric sensor, a capacitive sensor, a photoelectric sensor, or a magnetostrictive sensor.

[0069] In one embodiment, please refer to Figure 1 The inner cavity of the handle housing segment 12 is sealed and separated from the inner cavity of the cavity housing segment 11, and the force sensor 6 is in the inner cavity of the handle housing segment 12. When the cavity housing segment 11 is filled with a medium, the force sensor 6 is arranged in the handle housing segment 12 for higher stability and is not easily affected by the filling medium. Of course, in some other embodiments, the force sensor 6 can also be arranged in the inner cavity of the cavity housing segment 11.

[0070] In one embodiment, a sealing seat 13 is provided between the handle housing segment 12 and the cavity housing segment 11, and the sealing seat 13 seals and separates the inner cavity of the handle housing segment 12 from the inner cavity of the cavity housing segment 11. The acoustic head drive mechanism passes through the sealing seat 13 in a sealed manner.

[0071] In one embodiment, the handle housing segment 12 and the cavity housing segment 11 are split structures, and the two can be processed separately and assembled together. In some other embodiments, the handle housing segment 12 and the cavity housing segment 11 can also be integrally formed.

[0072] An embodiment of an ultrasonic imaging device includes an ultrasonic host and an ultrasonic volume probe as described in any one of the above embodiments, and the details are not repeated here.

[0073] In one embodiment, the ultrasonic imaging device further includes a force display module, which is communicatively connected to the force sensor to display the detection result of the force sensor.

[0074] The above specific examples are used to illustrate the present application, which is only used to help understand the present application and is not intended to limit the present application. For technicians in the technical field to which the present application belongs, they can also make some simple deductions, deformations or substitutions based on the ideas of the present application.

Claims

1. An ultrasonic volume probe, characterized in that: include: Probe housing; A base, the base is disposed in the probe housing and is fixedly connected to or integrally formed with the probe housing; A sound head support, the sound head support is rotatably arranged on the base; A sound head, the sound head is fixedly arranged on the sound head support or is integrally formed with the sound head support, and the sound head can swing relative to the base through the sound head support; A sound head driving mechanism, the sound head driving mechanism is arranged in the probe housing and is drivingly connected to the sound head support member, the sound head driving mechanism includes a driving member and a tension transmission member, the driving member is used to generate a driving force to drive the sound head and the sound head support member to swing around the base; the tension transmission member is used to transmit the driving force; and a force sensor, wherein the force sensor is arranged on the tension transmission member and is used to detect the tension exerted on the tension transmission member when the tension transmission member transmits the driving force.

2. The ultrasonic volume probe according to claim 1, characterized in that: The ultrasonic volume probe is an intracavitary ultrasonic probe, the probe shell includes an intracavitary shell section and a handle shell section, the acoustic head is arranged in the intracavitary shell section, the intracavitary shell section is used to extend into the patient's body, the driving member is arranged in the handle shell section, the handle shell section is used for the user to hold the intracavitary ultrasonic probe, and the tension transmission member extends from the handle shell section to the intracavitary shell section.

3. The ultrasonic volume probe according to claim 1, characterized in that: The tension transmission member includes a first section and a second section, and the sound head driving mechanism also includes an elastic member, which is connected between the first section and the second section. The first section and the second section transmit power through the elastic member, and the elastic member is elastically deformed after the tension transmission member is tensioned.

4. The ultrasonic volume probe according to claim 1, characterized in that: The tension transmission member includes a first section and a second section, the force sensor includes an elastic member, the elastic member is connected between the first section and the second section, the first section and the second section transmit power through the elastic member, and the elastic member is elastically deformed after the tension transmission member is tensioned.

5. The ultrasonic volume probe according to claim 3 or 4, characterized in that: The elastic member is a spring or an elastic rope.

6. The ultrasonic volume probe according to any one of claims 1 to 4, characterized in that: The tension transmission member is a transmission rope, a transmission belt or a transmission chain.

7. The ultrasonic volume probe according to any one of claims 1 to 4, characterized in that: The force sensor is a resistive strain sensor, a piezoelectric sensor, a capacitive sensor, a photoelectric sensor or a magnetostrictive sensor.

8. The ultrasonic volume probe according to claim 2, characterized in that: The inner cavity of the handle housing segment is sealed and separated from the inner cavity of the intracavity housing segment, and the force sensor is located in the inner cavity of the handle housing segment or in the inner cavity of the intracavity housing segment.

9. An ultrasonic volume probe, characterized in that: include: Probe housing; A base, the base is disposed in the probe housing and is fixedly connected to or integrally formed with the probe housing; A sound head support, the sound head support is rotatably arranged on the base; An acoustic head, wherein the acoustic head is fixedly arranged on the acoustic head support or is integrally formed with the acoustic head support, and the acoustic head can be swung or rotated relative to the base through the acoustic head support; an acoustic head driving mechanism, wherein the acoustic head driving mechanism is arranged in the probe housing and is transmission-connected to the acoustic head support, and the acoustic head driving mechanism includes a driving member and a transmission member, wherein the driving member is used to generate a driving force for driving the acoustic head and the acoustic head support to swing or rotate around the base; and the transmission member is used to transmit the driving force; and a force sensor, wherein the force sensor is arranged on the acoustic head driving mechanism and is used to detect the driving force.

10. The ultrasonic volume probe according to claim 9, characterized in that: The ultrasonic volume probe is an intracavitary ultrasonic probe, the probe shell includes an intracavitary shell section and a handle shell section, the acoustic head is arranged in the intracavitary shell section, the intracavitary shell section is used to extend into the patient's body, the driving member is arranged in the handle shell section, the handle shell section is used for the user to hold the intracavitary ultrasonic probe, and the transmission member extends from the handle shell section to the intracavitary shell section.

11. The ultrasonic volume probe according to claim 9 or 10, characterized in that: The force sensor is arranged on the driving member and / or the transmission member.

12. The ultrasonic volume probe according to claim 11, characterized in that: The transmission member includes a first transmission member and a second transmission member, the first transmission member and the second transmission member are in transmission cooperation, and the force sensor is installed between the first transmission member and the second transmission member.

13. The ultrasonic volume probe according to claim 9 or 10, characterized in that: The acoustic head driving mechanism further includes a connecting member, the driving member and the transmission member are connected through the connecting member, and the force sensor is arranged on the connecting member.

14. The ultrasonic volume probe according to claim 13, characterized in that: The connecting member comprises a coupling, and the force sensor is arranged on the coupling.

15. The ultrasonic volume probe according to claim 10, characterized in that: The inner cavity of the handle housing segment is sealed and separated from the inner cavity of the intracavity housing segment, and the force sensor is located in the inner cavity of the handle housing segment or in the inner cavity of the intracavity housing segment.

16. An ultrasonic imaging device, characterized in that: It comprises an ultrasound host and an ultrasound volume probe as described in any one of claims 1 to 15.

17. The ultrasonic imaging device according to claim 16, characterized in that: The ultrasonic imaging device further includes a force display module, which is communicatively connected to the force sensor to display a detection result of the force sensor.

Images