Carotid artery ultrasonic scanning robot and ultrasonic scanning imaging system

Abstract

The utility model relates to the technical field of medical instruments, and provides a carotid artery ultrasonic scanning robot and an ultrasonic scanning imaging system. The carotid artery ultrasonic scanning robot comprises a supporting frame, a mechanical arm and a pitching assembly. The head end of the mechanical arm is movably arranged on the supporting frame in the vertical direction, and the pitching assembly is arranged at the tail end of the mechanical arm and comprises a pitching driving piece, a connecting rod assembly and a crank arm; the first end of the connecting rod assembly and the first end of the crank arm are spaced from each other and rotationally arranged at the tail end of the mechanical arm. The pitching driving piece is in dynamic coupling connection with the first end of the connecting rod assembly to drive the first end of the connecting rod assembly to rotate; the second end of the connecting rod assembly is rotationally connected with the crank arm, and the second end of the crank arm is configured to install an ultrasonic probe. The carotid artery ultrasonic scanning robot is simple in structure, low in cost, convenient to carry and low in operation difficulty, the pitching angle of the ultrasonic probe can be adjusted in a large range, and ultrasonic detection can be conveniently carried out on the carotid artery on the left side and the right side of the human body.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, and in particular to a carotid artery ultrasonic scanning robot and an ultrasonic scanning imaging system. Background Art

[0002] Ultrasound scanning is a medical examination method that performs non-invasive examinations on the scanned area. For example, ultrasound scanning is often used to evaluate the structure and function of the human carotid artery to diagnose whether there are abnormalities in the carotid artery. During the examination, the operator uses an ultrasound probe to move around the neck to capture images of different areas. Compared with other examinations, neck ultrasound examination has the advantages of no radiation, high safety, simple operation, relatively low cost, real-time imaging, and immediate analysis of results. Although neck ultrasound examination is widely used in clinical practice, its imaging quality is restricted by many factors. In particular, the imaging quality depends largely on the operator's operating experience and the projection angle of the ultrasound, which may lead to a lack of consistency in the evaluation results of neck ultrasound examination.

[0003] Currently, existing ultrasonic scanning equipment is usually used in hospitals or physical examination institutions. This type of ultrasonic scanning equipment mainly uses ultrasonic probes with the assistance of industrial robotic arms to complete related ultrasonic scanning tasks. The entire set of ultrasonic scanning equipment is bulky and costly, but has few degrees of freedom and high operating requirements for testing personnel. It is difficult to use in ambulances and other field locations to perform related emergency tasks.

[0004] In the related art, although some outdoor scanning equipment can also complete ultrasonic scanning of the carotid artery, it is difficult for such scanning equipment to achieve a large-range adjustment of the pitch angle of the ultrasonic probe, and there are many inconveniences in the actual application of ultrasonic scanning of the carotid artery, which affects the accuracy of the detection results to a certain extent. Utility Model Content

[0005] The utility model provides a carotid artery ultrasound scanning robot and an ultrasound scanning imaging system, which are used to at least solve or improve the problems of existing carotid artery ultrasound scanning equipment, such as large size, high cost and difficulty in adjusting the pitch angle of the ultrasound probe over a large range.

[0006] In a first aspect, the utility model provides a carotid artery ultrasound scanning robot, comprising: a support frame, a mechanical arm and a pitch assembly;

[0007] The head end of the mechanical arm is movably arranged on the support frame along the vertical direction, and the pitch assembly is arranged at the end of the mechanical arm and includes a pitch driving member, a connecting rod assembly and a crank arm;

[0008] The first end of the connecting rod assembly and the first end of the crank arm are spaced apart from each other and are rotatably disposed at the ends of the robotic arm respectively; the pitch driving member and the first end of the connecting rod assembly are dynamically coupled to drive the first end of the connecting rod assembly to rotate; the second end of the connecting rod assembly is rotatably connected to the crank arm, and the second end of the crank arm is configured to install an ultrasonic probe.

[0009] According to a carotid artery ultrasound scanning robot provided by the utility model, the pitch drive component includes a drive motor and a worm, the output end of the drive motor is connected to one end of the worm; the first end of the connecting rod assembly is provided with a worm wheel, and the worm wheel and the worm are meshingly arranged.

[0010] According to a carotid artery ultrasound scanning robot provided by the utility model, the connecting rod assembly includes a first connecting rod and a second connecting rod; the first end of the first connecting rod is rotatably arranged at the end of the mechanical arm and is dynamically coupled to the pitch driving member; the second end of the first connecting rod is rotatably connected to the first end of the second connecting rod, and the second end of the second connecting rod is rotatably connected to the crank arm.

[0011] According to a carotid artery ultrasound scanning robot provided by the utility model, the turning arm includes a first arm segment and a second arm segment, the first end of the first arm segment is rotatably connected to the end of the mechanical arm, and the second end of the first arm segment is vertically connected to the first end of the second arm segment;

[0012] The first connecting rod and the first arm segment are arranged in parallel, and the second arm segment is configured to install the ultrasonic probe.

[0013] According to a carotid artery ultrasound scanning robot provided by the utility model, the carotid artery ultrasound scanning robot also includes a clamp, which is arranged at the second end of the crutch arm and is used to clamp the ultrasound probe.

[0014] According to a carotid artery ultrasound scanning robot provided by the utility model, a lifting mechanism is provided on the support frame, and the lifting mechanism is connected to the head end of the mechanical arm to drive the mechanical arm to rise and fall.

[0015] According to a carotid artery ultrasound scanning robot provided by the utility model, the mechanical arm comprises at least two segment arms, the at least two segment arms are rotatably connected in sequence, and a rotation joint is formed between one of the at least two segment arms located at the head end and the lifting end of the lifting mechanism and between two adjacent segment arms;

[0016] The rotation axis of the rotary joint is distributed vertically; one of the at least two joint arms located at the head end is connected to the lifting mechanism, and one of the at least two joint arms located at the tail end is connected to the pitch assembly.

[0017] According to a carotid artery ultrasound scanning robot provided by the utility model, the carotid artery ultrasound scanning robot is configured with a main control panel, a sub-control panel and a first human-computer interaction module, and each of the rotating joints is configured with an angle encoder, and the angle encoder is used to record the rotation angle of the rotating joint;

[0018] The main control panel is arranged on the support frame, the sub-control panel is arranged at the end of the mechanical arm, and the first human-machine interaction module is arranged on two opposite sides of the crank arm;

[0019] The pitch driving member and the first human-machine interaction module are electrically connected to the sub-control board respectively, and the sub-control board, each of the angle encoders and the lifting mechanism are electrically connected to the main control board respectively;

[0020] The first human-computer interaction module is used to receive a first operation instruction, and the pitch drive member can respond to the first operation instruction to control the ultrasound probe to perform a pitch movement; here refer to the above annotation

[0021] The first human-computer interaction module is further used to receive a second operation instruction, and the lifting mechanism can respond to the second operation instruction to control the ultrasonic probe to perform lifting movement.

[0022] According to a carotid artery ultrasound scanning robot provided by the utility model, the carotid artery ultrasound scanning robot is equipped with a first harness connector and a second harness connector, the first harness connector is arranged on the support frame, and the second harness connector is arranged on the lifting end of the lifting mechanism; the mechanical arm has a threading channel arranged along its extension direction;

[0023] The sub-control board and each of the angle encoders are electrically connected to the second wiring harness connector via cables passed through the wiring channel, the second wiring harness connector and the first wiring harness connector are electrically connected via cables, and the first wiring harness connector is electrically connected to the main control board.

[0024] According to a carotid artery ultrasound scanning robot provided by the utility model, the carotid artery ultrasound scanning robot is also equipped with a second human-machine interaction module; the second human-machine interaction module is arranged at the top of the support frame and is electrically connected to the main control board; the second human-machine interaction module is used to receive parameter configuration and perform fault display;

[0025] And / or, the carotid artery ultrasound scanning robot is also equipped with a start button and a zeroing button; the start button and the zeroing button are electrically connected to the main control panel respectively; the start button is used to control the carotid artery ultrasound scanning robot to start running; the zeroing button is used to control the pitch drive component and the lifting mechanism to return to their initial positions.

[0026] According to a carotid artery ultrasound scanning robot provided by the utility model, the support frame includes a base, a vertical support and an adjustment frame;

[0027] The vertical bracket is arranged on the base, and the adjustment bracket is arranged on the top end of the vertical bracket; the head end of the robotic arm is movably arranged on the vertical bracket along the vertical direction, and the adjustment bracket is configured to install the ultrasonic imaging device to adjust the installation posture of the ultrasonic imaging device.

[0028] In a second aspect, the utility model also provides an ultrasound scanning and imaging system, comprising: an ultrasound probe, an ultrasound imaging device, and the carotid artery ultrasound scanning robot as described above; the ultrasound probe is arranged on the crutch, the ultrasound imaging device is arranged on the support frame, and the ultrasound probe and the ultrasound imaging device are electrically connected.

[0029] The carotid artery ultrasound scanning robot and ultrasound scanning imaging system provided by the utility model configure a mechanical arm and a pitch assembly based on a support frame, and set an ultrasound probe based on the pitch assembly. When performing ultrasound scanning of the human carotid artery, the height of the ultrasound probe can be adjusted by controlling the lifting movement of the mechanical arm relative to the support frame, and the pitch angle of the ultrasound probe can be adjusted by controlling the rotation state of the pitch driving member corresponding to the pitch assembly. The carotid artery ultrasound scanning robot has a simple structure, low cost, is easy to carry, and has relatively low operation difficulty. In actual application, the first end of the connecting rod assembly is controlled to rotate by the pitch driving member, and the linkage effect of the connecting rod assembly can be utilized to drive the crank arm to swing relative to the end of the mechanical arm by the second end of the connecting rod assembly, thereby realizing a wide range of adjustment of the pitch angle of the ultrasound probe, facilitating ultrasound detection of the left and right carotid arteries of the human body, ensuring that the position of the ultrasound probe is compatible with multiple detection parts to be scanned, and can be conveniently used in ambulances and other field sites to perform related emergency tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 This is one of the structural schematic diagrams of the ultrasonic scanning imaging system provided by the utility model;

[0032] Figure 2 This is the second structural schematic diagram of the ultrasonic scanning imaging system provided by the utility model;

[0033] Figure 3 It is a schematic diagram of scanning the left carotid artery of a human body using an ultrasonic scanning imaging system provided by the utility model;

[0034] Figure 4 It is a schematic diagram of scanning the right carotid artery of a human body using an ultrasonic scanning imaging system provided by the utility model;

[0035] Figure 5 It is a schematic diagram of the installation structure of the lifting mechanism provided by the utility model on the support frame;

[0036] Figure 6 It is a schematic diagram of the installation structure of the mechanical arm and the pitch assembly provided by the utility model;

[0037] Figure 7 This is a schematic diagram of the structure in which the worm on the pitch drive member provided by the utility model is meshed with the worm wheel on the connecting rod assembly.

[0038] Figure 8 It is a schematic diagram of the installation structure of the ultrasonic probe provided by the utility model on the crutch arm;

[0039] Reference numerals:

[0040] 100. Ultrasonic probe; 200. Ultrasonic imaging equipment; 300. Water platform;

[0041] 1. Support frame; 11. Base; 12. Vertical bracket; 13. Adjustment frame;

[0042] 2. Robotic arm; 21. First arm section; 22. Second arm section; 23. Third arm section; 201. Rotary joint; 202. Angle encoder;

[0043] 3. Pitch assembly; 31. Pitch drive member; 32. Connecting rod assembly; 33. Crank arm; 311. Drive motor; 312. Coupling; 313. Worm; 321. First connecting rod; 322. Second connecting rod; 3201. Worm wheel;

[0044] 4. Clamp; 41. Knob; 42. Clamping seat; 43. Cover; 5. Lifting mechanism; 6. First human-machine interaction module; 7. Second human-machine interaction module; 8. First wiring harness connector; 9. Second wiring harness connector; 10. Sub-control panel; 101. Start button; 102. Zeroing button. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be clearly and completely described below in conjunction with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0046] Combine the following Figure 1-Figure 8 , the carotid artery ultrasound scanning robot and ultrasound scanning imaging system provided by the embodiment of the utility model are described in detail through specific embodiments and their application scenarios.

[0047] In the first aspect, Figure 1 and Figure 2 As shown, the embodiment of the utility model provides a carotid artery ultrasound scanning robot, comprising: a support frame 1, a mechanical arm 2 and a pitch assembly 3;

[0048] The head end of the mechanical arm 2 is movably arranged on the support frame 1 along the vertical direction, and the pitch assembly 3 is arranged at the end of the mechanical arm 2 and includes a pitch driving member 31, a connecting rod assembly 32 and a crank arm 33;

[0049] The first end of the connecting rod assembly 32 and the first end of the crank arm 33 are spaced apart from each other and are rotatably disposed at the ends of the robotic arm 2 respectively; the pitch driving member 31 and the first end of the connecting rod assembly 32 are dynamically coupled to drive the first end of the connecting rod assembly 32 to rotate; the second end of the connecting rod assembly 32 is rotatably connected to the crank arm 33, and the second end of the crank arm 33 is configured to install the ultrasonic probe 100.

[0050] It is understandable that the support frame 1, as the installation support of the entire carotid artery ultrasound scanning robot, can be stably placed on a horizontal platform 300 such as a desk or a treatment bed, so that the person to be tested can sit on one side of the horizontal platform 300 and use the ultrasound probe 100 to detect the human carotid artery.

[0051] The head end of the robot arm 2 can be movably arranged on the support frame 1 in the vertical direction by manual adjustment, or can be movably arranged on the support frame 1 in the vertical direction under the drive of a lifting mechanism such as an electric push rod and a screw drive mechanism.

[0052] The robotic arm 2 can use a robotic arm 2 with at least three degrees of freedom to ensure that the end of the robotic arm 2 can be positioned in three-dimensional space, so that on the basis of adjusting the spatial posture of the ultrasound probe 100 based on the robotic arm 2, the pitch angle of the ultrasound probe 100 is also adjusted by the pitch assembly 3.

[0053] For the carotid artery ultrasound scanning robot shown in this embodiment, by configuring the mechanical arm 2 and the pitch assembly 3 based on the support frame 1, and setting the ultrasound probe 100 based on the pitch assembly 3, when performing ultrasound scanning of the human carotid artery, the height of the ultrasound probe 100 can be adjusted by controlling the lifting and lowering movement of the mechanical arm 2 relative to the support frame 1, and the pitch angle of the ultrasound probe 100 can be adjusted by controlling the rotation state of the corresponding pitch driving member 31 of the pitch assembly 3; this carotid artery ultrasound scanning robot has a simple structure, low cost, is easy to carry, and is easy to operate. The operation difficulty is relatively low, and in actual application, the first end of the connecting rod assembly 32 is controlled to rotate by the pitch driving member 31, and the linkage effect of the connecting rod assembly 32 can be utilized, and the second end of the connecting rod assembly 32 drives the crank arm 33 to swing relative to the end of the mechanical arm 2, thereby realizing a large range of adjustment of the pitch angle of the ultrasonic probe 100, which is convenient for ultrasonic detection of the left and right carotid arteries of the human body, and can ensure that the posture of the ultrasonic probe 100 is compatible with multiple detection parts to be scanned, and can be conveniently used in ambulances and other field sites to perform related emergency tasks.

[0054] In some embodiments, Figure 2 , Figure 6 and Figure 7 As shown, the pitch drive member 31 includes a drive motor 311 and a worm 313, the output end of the drive motor 311 is connected to one end of the worm 313; the first end of the connecting rod assembly 32 is provided with a worm wheel 3201, and the worm wheel 3201 and the worm 313 are meshed.

[0055] It is understandable that the drive motor 311 can be a servo motor, the base of the drive motor 311 is fixedly arranged at the end of the robot arm 2, and the worm 313 is rotatably arranged at the end of the robot arm 2 along the axial direction of the pitch drive member 31, and the output end of the drive motor 311 is connected to the worm 313 through a coupling 312.

[0056] At the same time, a rotating shaft is configured at the first end of the connecting rod assembly 32. The rotating shaft is rotatably disposed at the end of the mechanical arm 2, and the worm gear 3201 is installed on the rotating shaft.

[0057] In this way, when the driving motor 311 rotates, the driving motor 311 can drive the worm wheel 3201 to rotate through the worm 313. When the worm wheel 3201 rotates, it will force the connecting rod assembly 32 to swing relative to the end of the robotic arm 2, so that the second end of the connecting rod assembly 32 can drive the crank arm 33 to pitch relative to the end of the robotic arm 2, thereby realizing the adjustment of the pitch angle of the ultrasonic probe 100.

[0058] The connecting rod assembly 32 may be composed of one connecting rod, or 2-3 connecting rods hinged in sequence.

[0059] In some embodiments, Figure 2 and Figure 6 As shown, in order to stably and reliably achieve a wide range of adjustment of the pitch angle of the ultrasound probe 100, the connecting rod assembly 32 is configured with a first connecting rod 321 and a second connecting rod 322; the first end of the first connecting rod 321 is rotatably disposed at the end of the robot arm 2 and is dynamically coupled to the pitch driving member 31; the second end of the first connecting rod 321 is rotatably connected to the first end of the second connecting rod 322, and the second end of the second connecting rod 322 is rotatably connected to the crank arm 33.

[0060] Specifically, the first connecting rod 321 can be configured as an "H"-shaped structure, and a first rotating shaft is installed at the first end of the first connecting rod 321. The first rotating shaft is rotatably arranged at the end of the robot arm 2, and a worm wheel 3201 meshing with the worm 313 is installed on the first rotating shaft; the first end of the first connecting rod 321 is rotatably connected to the first end of the second connecting rod 322 through a second rotating shaft.

[0061] The second connecting rod 322 can be configured as an "I"-shaped structure, and the second end of the second connecting rod 322 is rotatably connected to the corner of the crank arm 33 through the third rotating shaft; wherein the first rotating shaft, the second rotating shaft and the third rotating shaft are arranged in parallel.

[0062] In some embodiments, Figure 2 and Figure 6 As shown, the crank arm 33 includes a first arm segment and a second arm segment, the first end of the first arm segment is rotatably connected to the end of the robot arm 2, and the second end of the first arm segment is vertically connected to the first end of the second arm segment; wherein the first connecting rod 321 and the first arm segment are arranged in parallel, and the second arm segment is configured to install the ultrasonic probe 100.

[0063] It is understandable that, in actual applications, the first link 321, the second link 322, the first arm segment of the crank arm 33 and the end of the robotic arm 2 form a parallel four-bar linkage. This design can ensure that by controlling the rotation of the pitch drive 31, the shape of the parallel four-bar linkage can be stably and reliably changed, thereby achieving adjustment of the pitch angle of the ultrasound probe 100 based on the shape switching of the parallel four-bar linkage, thereby ensuring the stability and reliability of the pitch angle adjustment of the ultrasound probe 100.

[0064] In some embodiments, Figure 1 and Figure 2 As shown, in order to facilitate the installation and disassembly of the ultrasound probe 100 , the carotid artery ultrasound scanning robot also includes a clamp 4 , which is disposed at the second end of the crank arm 33 , and is used to clamp the ultrasound probe 100 .

[0065] It can be understood that the clamp 4 includes a knob 41, a clamping seat 42 and a cover 43; the end of the mechanical arm 2 has a card slot and a locking hole connected to the card slot; the upper end of the clamping seat 42 is provided with a groove, and the lower end of the clamping seat 42 is provided with a tongue; the tongue of the clamping seat 42 is clamped in the card slot, and one end of the knob 41 is passed through the locking hole and is threadedly connected with the tongue to achieve fixing the clamping seat 42 to the end of the mechanical arm 2;

[0066] At the same time, the cover 43 is detachably mounted on the notch end of the groove to form a clamping opening for clamping the ultrasonic probe 100 between the clamping seat 42 and the cover 43 .

[0067] In practical applications, the ultrasonic probe 100 is flat, and has a first installation state, a second installation state, and a third installation state relative to the second end of the crutch arm 33 .

[0068] When the ultrasonic probe 100 is in the first installation state, the bottom surface of the ultrasonic probe 100 is installed on the upper surface of the second end of the crank arm 33, and the extension direction of the ultrasonic probe 100 is parallel to the upper surface of the second end of the crank arm 33. At this time, the ultrasonic probe 100 can perform ultrasonic scanning on the part to be scanned in a cross-cutting manner.

[0069] When the ultrasonic probe 100 is in the second installation state, the side surface of the ultrasonic probe 100 is installed on the upper surface of the second end of the crank arm 33, and the extension direction of the ultrasonic probe 100 is parallel to the upper surface of the second end of the crank arm 33. At this time, the ultrasonic probe 100 can perform ultrasonic scanning on the part to be scanned in a longitudinal cutting manner.

[0070] When the ultrasonic probe 100 is in the third installation state, the bottom of the ultrasonic probe 100 is installed at the second end of the crank arm 33, and the extension direction of the ultrasonic probe 100 is perpendicular to the upper surface of the second end of the crank arm 33, so that the detection end of the ultrasonic probe 100 is set upward or downward. At this time, the ultrasonic probe 100 can perform ultrasonic scanning on the part to be scanned in a vertical posture.

[0071] In actual application, the operator can selectively determine the installation state of the ultrasonic probe 100 relative to the second end of the crutch arm 33 according to the on-site detection environment, so as to achieve ultrasonic scanning of the part to be scanned in different detection scenarios.

[0072] In some embodiments, Figure 1 and Figure 2 As shown, a lifting mechanism 5 is provided on the support frame 1, and the lifting mechanism 5 is connected to the head end of the mechanical arm 2. The lifting mechanism 5 can adopt a screw drive mechanism, and the lifting mechanism 5 is used to drive the mechanical arm 2 to rise and fall to achieve height adjustment of the ultrasonic probe 100.

[0073] Some examples include Figure 5 As shown, the lifting mechanism 5 includes a lead screw, a lead screw nut, a slide rail and a servo motor; the lead screw and the slide rail are arranged side by side and both extend in the vertical direction, the lead screw is rotatably arranged on the support frame 1, and the slide rail is fixedly arranged on the support frame 1; the servo motor is connected to the lead screw through a synchronous belt power coupling, the lead screw nut is threadedly connected to the lead screw, and is movably arranged on the slide rail in the vertical direction; the head end of the robot arm 2 is rotatably connected to the lead screw nut.

[0074] In this way, the lead screw nut serves as the lifting end of the lifting mechanism 5, and the servo motor can control the rotation of the lead screw, and the lead screw and the slide rail jointly control the lead screw nut to perform lifting operation, and then the lead screw nut drives the robot arm 2 to perform lifting movement.

[0075] In some embodiments, Figure 1 and Figure 6 As shown, the mechanical arm 2 includes at least two segment arms, which are rotatably connected in sequence, and a rotation joint 201 is formed between one of the at least two segment arms located at the head end and the lifting end of the lifting mechanism 5 and between two adjacent segment arms;

[0076] The rotation axis of the rotary joint 201 is vertically distributed; at least one of the two joint arms at the head end is connected to the lifting mechanism 5 , and at least one of the two joint arms at the tail end is connected to the pitch assembly 3 .

[0077] Specifically, each rotating joint 201 of the present embodiment can be configured as a passive joint with damping. Since the rotation axis of each rotating joint 201 is vertically distributed, in practical applications, the height of the ultrasonic probe 100 can be adjusted along the Z-axis direction by the lifting mechanism 5, and the detection personnel can drag the end of the mechanical arm 2 to adjust the layout position of the ultrasonic probe 100 in the XY plane, and the end section arm of the mechanical arm 2 can be controlled to swing horizontally to provide the ultrasonic probe 100 with the freedom of horizontal scanning. Among them, the Z-axis direction is the vertical direction, and the XY plane is the horizontal plane.

[0078] It can be seen from the above that based on the above configuration, the ultrasound probe 100 has five degrees of freedom: yaw degree of freedom, pitch degree of freedom, freedom of movement along the X-axis, freedom of movement along the Y-axis, and freedom of movement along the Z-axis.

[0079] like Figure 6 As shown, the mechanical arm 2 specifically includes a first arm 21, a second arm 22 and a third arm 23, wherein the first end of the first arm 21 is rotatably connected to the lifting end of the lifting mechanism 5, the second end of the first arm 21 is rotatably connected to the first end of the second arm 22, and the second end of the second arm 22 is rotatably connected to the first end of the third arm 23. The pitch assembly 3 is disposed on the third arm 23.

[0080] like Figure 3As shown, in actual application, after the support frame 1 of the carotid artery ultrasound scanning robot is placed on the horizontal platform 300, when performing ultrasound scanning, the operator can control the lifting and lowering of the ultrasound probe 100 through the lifting mechanism 5 according to the physical condition of the subject, and drag the ultrasound probe 100 in the horizontal plane to make the ultrasound probe 100 contact with the left skin of the human neck to perform ultrasound scanning on the left carotid artery of the human body.

[0081] like Figure 4 As shown, the operator can also control the lifting and lowering of the ultrasound probe 100 by the lifting mechanism 5 according to the physical condition of the subject, while dragging the ultrasound probe 100 in the horizontal plane, bringing the ultrasound probe 100 into contact with the right skin of the human neck, and performing an ultrasonic scan of the right carotid artery of the human body.

[0082] In some embodiments, Figure 2 and Figure 6 As shown, the carotid artery ultrasound scanning robot is equipped with a main control panel, a sub-control panel 10 and a first human-machine interaction module 6, and each rotating joint 201 is equipped with an angle encoder 202, and the angle encoder 202 is used to record the rotation angle of the rotating joint 201;

[0083] The main control panel is arranged on the support frame 1, the sub-control panel 10 is arranged at the end of the mechanical arm 2, and the first human-machine interaction module 6 is arranged on two opposite sides of the crank arm 33;

[0084] The pitch driving member 31 and the first human-machine interaction module 6 are electrically connected to the sub-control board 10 respectively, and the sub-control board 10, each angle encoder 202 and the lifting mechanism 5 are electrically connected to the main control board respectively;

[0085] The first human-machine interaction module 6 is used to receive a first operation instruction, and the pitch driving member 31 can respond to the first operation instruction to control the ultrasound probe 100 to perform a pitch movement;

[0086] The first human-machine interaction module 6 is further used to receive a second operation instruction, and the lifting mechanism 5 can respond to the second operation instruction to control the ultrasound probe 100 to perform lifting movement.

[0087] It is understandable that both the main control board and the sub-control board 10 are PCB boards, and the first human-computer interaction module 6 can be a touch screen or a control board with operation buttons.

[0088] In actual applications, the first human-computer interaction module 6 is set on two opposite sides of the crutch 33 to ensure that no matter the operator sits on the left side of the support frame 1 or the right side of the support frame 1, the relevant control instructions can be input through the first human-computer interaction module 6, so as to facilitate ultrasonic detection of the left or right side of the human neck through the ultrasonic probe 100.

[0089] At the same time, the main control board can determine the position and posture of the ultrasonic probe 100 at the end of the robotic arm 2 in real time according to the lifting height of the lifting end of the lifting mechanism 5, the rotation angle of each angle encoder 202 and the rotation angle of the pitch drive 31.

[0090] Furthermore, if Figure 5 As shown, the carotid artery ultrasound scanning robot is also equipped with a start button 101 and a zero button 102; the start button 101 and the zero button 102 are electrically connected to the main control panel respectively; the start button 101 is used to control the carotid artery ultrasound scanning robot to start running; the zero button 102 is used to control the pitch drive 31 and the lifting mechanism 5 to return to the initial position.

[0091] It can be understood that the initial position of the pitch driving member 31 is the angular position of the pitch driving member 31 before the ultrasonic probe 100 performs a pitch motion; the initial position of the lifting mechanism 5 is the height position of the lifting end of the lifting mechanism 5 before the ultrasonic probe 100 performs a lifting motion; wherein, the initial position of the lifting mechanism 5 can generally be set to the position of the lifting end of the lifting mechanism 5 when it descends to the lowest point.

[0092] In actual application, when the ultrasonic probe 100 completes an ultrasonic detection and the operator presses the zeroing button 102, the main control board will obtain the angle information of the servo motor of the lifting mechanism 5 that has currently rotated when receiving the pressing input instruction fed back by the zeroing button 102, determine the target angle information that the servo motor needs to rotate when the lifting end of the lifting mechanism 5 moves to the initial position, and then drive and control the servo motor according to the target angle information so that the lifting end of the lifting mechanism 5 returns to the initial position; accordingly, the main control board can also control the pitch driving component 31 to return to the initial position according to the angle information of the pitch driving component 31 before the ultrasonic probe 100 performs the pitch motion, so as to prepare for the next ultrasonic detection.

[0093] In some examples, such as Figure 8 As shown, the specific configuration of the first human-computer interaction module 6 includes a control panel and a left button, a right button, an upper button, a lower button and a middle button arranged on the control panel. The control panel is electrically connected to the sub-control panel 10. The left button and the right button are respectively arranged on the left and right sides of the middle button, and the upper button and the lower button are respectively arranged on the upper and lower sides of the middle button.

[0094] The following describes the operation of the carotid artery ultrasound scanning robot in combination with the configuration structure of the first human-machine interaction module 6:

[0095] First, a pressing input command is executed to the zero return button 102, and the main control board controls the pitch drive member 31 and the lifting end of the lifting mechanism 5 to return to the initial position according to the pressing input command fed back by the zero return button 102;

[0096] Next, the operator presses the up button, and the main control panel can control the lifting end of the lifting mechanism 5 to drive the robotic arm 2 to rise according to the trigger instruction fed back by the upper button; the operator presses the down button, and the main control panel can control the lifting end of the lifting mechanism 5 to drive the robotic arm 2 to descend according to the trigger instruction fed back by the lower button. That is, the operator can fine-tune the height of the lifting end of the lifting mechanism 5 by pressing the up button and the down button, and combine with the dragging adjustment of the ultrasonic probe 100 to finally move the ultrasonic probe 100 to the initial position of the human neck (such as the internal clavicle artery).

[0097] Next, the operator presses the left button, and the control panel can control the pitch drive member 31 to rotate along the first rotation direction according to the trigger instruction fed back by the left button, so that the ultrasound probe 100 moves upward; the operator presses the right button, and the control panel can control the pitch drive member 31 to rotate along the second rotation direction according to the trigger instruction fed back by the right button, so that the ultrasound probe 100 moves downward. That is, the operator can fine-tune the pitch angle of the ultrasound probe 100 by pressing the left button and the right button, so that the detection end of the ultrasound probe 100 better fits the carotid artery of the human body.

[0098] After completing the above-mentioned fine-tuning action, press the middle button to start the scanning task. During the ultrasonic scanning process, the operator can drag the ultrasonic probe 100 to make each rotating joint 201 on the robotic arm 2 adaptively adjust the rotation angle, so that the detection end of the ultrasonic probe 100 is always in contact with the skin of the human neck, and fine-tune the end section of the robotic arm 2 according to the ultrasonic imaging effect, so as to achieve better ultrasonic imaging effect.

[0099] Of course, the first human-computer interaction module 6 can also be a touch screen, and the touch screen is provided with a left virtual button, a right virtual button, an upper virtual button, a lower virtual button and a middle virtual button. The left virtual button, the right virtual button, the upper virtual button, the lower virtual button and the middle virtual button have one-to-one corresponding functions with the left button, the right button, the upper button, the lower button and the middle button, respectively, and they will not be described one by one here.

[0100] In some embodiments, Figure 5 As shown, the carotid artery ultrasound scanning robot is equipped with a first wiring harness connector 8 and a second wiring harness connector 9, the first wiring harness connector 8 is arranged on the support frame 1, and the second wiring harness connector 9 is arranged at the lifting end of the lifting mechanism 5; the robot arm 2 has a threading channel arranged along its extension direction; the sub-control board 10 and each angle encoder 202 are electrically connected to the second wiring harness connector 9 through cables inserted in the threading channel, the second wiring harness connector 9 and the first wiring harness connector 8 are electrically connected through cables, and the first wiring harness connector 8 is electrically connected to the main control board.

[0101] It is understandable that both the first wiring harness connector 8 and the second wiring harness connector 9 can adopt aviation plugs. After the head end of the robotic arm 2 is rotatably installed on the lifting end of the lifting mechanism 5, it is only necessary to connect the first wiring harness connector 8 and the second wiring harness connector 9 through a cable to complete the connection of the electrical circuit of the entire carotid artery ultrasound scanning robot. The operation is simple and convenient.

[0102] At the same time, for each section arm of the robot arm 2, each section arm is provided with a connection channel and a first opening and a second opening connected to the connection channel, the connection channel is extended along the extension direction of the corresponding section arm, and the first opening or the second opening is respectively connected to the hollow shaft on the corresponding rotating joint 201. Based on these structural designs, it can be ensured that the robot arm 2 forms a threading channel along its extension direction, and the threading channel can realize the hidden design of the cables corresponding to the bisection control board 10 and each angle encoder 202, while ensuring the beautiful appearance of the robot arm 2, it also prevents the relevant cables from being pulled during the state switching process of the robot arm 2.

[0103] In some embodiments, the carotid artery ultrasound scanning robot is also equipped with a second human-machine interaction module 7, which can use a touch screen; the second human-machine interaction module 7 is arranged at the top of the support frame 1 and is electrically connected to the main control board; the second human-machine interaction module 7 is used to receive parameter configuration and display faults.

[0104] In some embodiments, Figure 1 As shown, the support frame 1 includes a base 11, a vertical bracket 12 and an adjustment bracket 13; the vertical bracket 12 is arranged on the base 11, and the adjustment bracket 13 is arranged on the top of the vertical bracket 12; the head end of the robot arm 2 is movably arranged on the vertical bracket 12 along the vertical direction, and the adjustment bracket 13 is configured to install the ultrasonic imaging device 200 to adjust the installation posture of the ultrasonic imaging device 200.

[0105] Specifically, the adjustment frame 13 can be configured to include a support arm and a bracket. The first end of the support arm is rotatably disposed on the top of the vertical bracket 12, and the bracket is connected to the second end of the support arm. The bracket is used to support the ultrasonic imaging device 200. The ultrasonic imaging device 200 can use a tablet computer. By changing the inclination angle of the support arm relative to the horizontal plane, the inclination angle of the display surface of the ultrasonic imaging device 200 relative to the horizontal plane can be changed.

[0106] The second human-machine interaction module 7 may be disposed on the vertical bracket 12 or the adjustment bracket 13 .

[0107] In the second aspect, Figure 1 and Figure 2As shown, an embodiment of the utility model further provides an ultrasound scanning imaging system, comprising: an ultrasound probe 100, an ultrasound imaging device 200 and the carotid artery ultrasound scanning robot as described above; the ultrasound probe 100 is arranged on the crutch 33, the ultrasound imaging device 200 is arranged on the support frame 1, the ultrasound probe 100 and the ultrasound imaging device 200 are electrically connected, and the ultrasound imaging device 200 is used to display the image of the carotid artery scanned by the ultrasound probe 100 in real time.

[0108] It can be understood that, since the ultrasound scanning and imaging system includes a carotid artery ultrasound scanning robot, the specific structure of the carotid artery ultrasound scanning robot refers to the above embodiment, and the ultrasound scanning and imaging system shown in this embodiment includes all the technical solutions of the above embodiment. Therefore, it has at least all the beneficial effects achieved by all the technical solutions of the above embodiment, which will not be repeated here one by one.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A carotid artery ultrasound scanning robot, characterized in that: include: Support frame, robotic arm and pitch assembly; The head end of the mechanical arm is movably arranged on the support frame along the vertical direction, and the pitch assembly is arranged at the end of the mechanical arm and includes a pitch driving member, a connecting rod assembly and a crank arm; The first end of the connecting rod assembly and the first end of the crank arm are spaced apart from each other and are rotatably disposed at the ends of the robotic arm respectively; the pitch driving member and the first end of the connecting rod assembly are dynamically coupled to drive the first end of the connecting rod assembly to rotate; the second end of the connecting rod assembly is rotatably connected to the crank arm, and the second end of the crank arm is configured to install an ultrasonic probe.

2. The carotid artery ultrasound scanning robot according to claim 1, characterized in that: The pitch drive member comprises a drive motor and a worm, wherein the output end of the drive motor is connected to one end of the worm; a worm wheel is disposed at the first end of the connecting rod assembly, and the worm wheel is meshed with the worm wheel.

3. The carotid artery ultrasound scanning robot according to claim 1, characterized in that: The connecting rod assembly includes a first connecting rod and a second connecting rod; the first end of the first connecting rod is rotatably disposed at the end of the robotic arm and is dynamically coupled to the pitch driving member; the second end of the first connecting rod is rotatably connected to the first end of the second connecting rod, and the second end of the second connecting rod is rotatably connected to the crank arm.

4. The carotid artery ultrasound scanning robot according to claim 3, characterized in that: The crank arm comprises a first arm segment and a second arm segment, wherein the first end of the first arm segment is rotatably connected to the end of the mechanical arm, and the second end of the first arm segment is vertically connected to the first end of the second arm segment; The first connecting rod and the first arm segment are arranged in parallel, and the second arm segment is configured to install the ultrasonic probe.

5. The carotid artery ultrasound scanning robot according to claim 1, characterized in that: The carotid artery ultrasound scanning robot also includes a clamp, which is arranged at the second end of the crank arm and is used to clamp the ultrasound probe.

6. The carotid artery ultrasound scanning robot according to any one of claims 1 to 5, characterized in that: The support frame is provided with a lifting mechanism, and the lifting mechanism is connected to the head end of the mechanical arm to drive the mechanical arm to move up and down.

7. The carotid artery ultrasound scanning robot according to claim 6, characterized in that: The mechanical arm comprises at least two joint arms, the at least two joint arms are rotatably connected in sequence, and a rotation joint is formed between one of the at least two joint arms located at the head end and the lifting end of the lifting mechanism and between two adjacent joint arms; The rotation axis of the rotary joint is distributed vertically; one of the at least two joint arms located at the head end is connected to the lifting mechanism, and one of the at least two joint arms located at the tail end is connected to the pitch assembly.

8. The carotid artery ultrasound scanning robot according to claim 7, characterized in that: The carotid artery ultrasound scanning robot is equipped with a main control panel, a sub-control panel and a first human-machine interaction module, and each of the rotating joints is equipped with an angle encoder, and the angle encoder is used to record the rotation angle of the rotating joint; The main control panel is arranged on the support frame, the sub-control panel is arranged at the end of the mechanical arm, and the first human-machine interaction module is arranged on two opposite sides of the crank arm; The pitch driving member and the first human-machine interaction module are electrically connected to the sub-control board respectively, and the sub-control board, each of the angle encoders and the lifting mechanism are electrically connected to the main control board respectively; The first human-computer interaction module is used to receive a first operation instruction, and the pitch driving member can respond to the first operation instruction to control the ultrasound probe to perform a pitch movement; The first human-computer interaction module is further used to receive a second operation instruction, and the lifting mechanism can respond to the second operation instruction to control the ultrasonic probe to perform lifting movement.

9. The carotid artery ultrasound scanning robot according to claim 8, characterized in that: The carotid artery ultrasound scanning robot is equipped with a first harness connector and a second harness connector, wherein the first harness connector is arranged on the support frame, and the second harness connector is arranged on the lifting end of the lifting mechanism; the robot arm has a threading channel arranged along its extension direction; The sub-control board and each of the angle encoders are electrically connected to the second wiring harness connector via cables passed through the wiring channel, the second wiring harness connector and the first wiring harness connector are electrically connected via cables, and the first wiring harness connector is electrically connected to the main control board.

10. The carotid artery ultrasound scanning robot according to claim 8, characterized in that: The carotid artery ultrasound scanning robot is also equipped with a second human-machine interaction module; the second human-machine interaction module is arranged at the top of the support frame and is electrically connected to the main control board; the second human-machine interaction module is used to receive parameter configuration and perform fault display; And / or, the carotid artery ultrasound scanning robot is also equipped with a start button and a zeroing button; the start button and the zeroing button are electrically connected to the main control panel respectively; the start button is used to control the carotid artery ultrasound scanning robot to start running; the zeroing button is used to control the pitch drive component and the lifting mechanism to return to their initial positions.

11. The carotid artery ultrasound scanning robot according to any one of claims 1 to 5, characterized in that: The support frame includes a base, a vertical support and an adjustment frame; The vertical bracket is arranged on the base, and the adjustment bracket is arranged on the top end of the vertical bracket; the head end of the robotic arm is movably arranged on the vertical bracket along the vertical direction, and the adjustment bracket is configured to install the ultrasonic imaging device to adjust the installation posture of the ultrasonic imaging device.

12. An ultrasonic scanning imaging system, characterized in that: include: An ultrasonic probe, an ultrasonic imaging device, and a carotid artery ultrasonic scanning robot as described in any one of claims 1 to 11; the ultrasonic probe is arranged on the crutch, the ultrasonic imaging device is arranged on the support frame, and the ultrasonic probe and the ultrasonic imaging device are electrically connected.

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