Manipulator shell for treating breast fibroadenoma

Abstract

The utility model belongs to the technical field of mechanical arm shells for treating breast fibroadenoma, and discloses a mechanical arm shell for treating breast fibroadenoma. The manipulator shell for breast fibroadenoma treatment comprises a fixing plate and a shell assembly, a penetrating groove is formed in the fixing plate, the shell assembly comprises a shell body and a manipulator inspection window, and the shell body is detachably connected to the fixing plate in a sleeving mode. The fixing plate and the shell assembly play a role in protecting and fixing the manipulator; the inner cavity of the shell body is matched with the peripheral shape of the manipulator, so that the position of the ultrasonic probe mounted on the manipulator relative to the shell body is accurate; the shell main body is sleeved on the fixing plate, so that the position of the ultrasonic probe relative to the fixing plate is accurate; the penetrating groove of the fixing plate directly faces the notch of the mammary gland coil, it is guaranteed that the position of the ultrasonic probe relative to the notch of the mammary gland coil is accurate, and therefore the accuracy of the treatment range of the ultrasonic probe is guaranteed. And the manipulator is convenient to inspect and maintain by disassembling the manipulator inspection window.

Description

Technical Field

[0001] The utility model relates to the technical field of a manipulator shell for treating breast fibroadenoma, in particular to a manipulator shell for treating breast fibroadenoma. Background Art

[0002] Magnetic resonance-guided high-intensity focused ultrasound (MRgHIFU) has become a focus of increasing attention in modern medical research and practice. This technology cleverly combines the advantages of magnetic resonance imaging (MRI) and high-intensity focused ultrasound (HIFU), offering patients a non-invasive, environmentally friendly, and reusable treatment option. MRgHIFU has shown broad application prospects, particularly in the treatment of breast fibroadenomas.

[0003] In the prior art, a high-intensity focused ultrasound treatment system guided by magnetic resonance is used to treat breast fibroadenomas. The high-intensity focused ultrasound treatment system guided by magnetic resonance includes a radio frequency transceiver, a manipulator, and an ultrasound probe. The radio frequency transceiver is used to accommodate the patient's breast and provide magnetic resonance imaging. It includes a breast coil and a breast water bag. The breast water bag is installed in the breast coil and is used to accommodate the ultrasound medium. The manipulator is arranged outside the breast coil. The ultrasound probe is arranged at the output end of the manipulator and is connected to the breast water bag. The manipulator is used to adjust the posture of the ultrasound probe. The ultrasound probe is used to perform ultrasound focusing treatment on the lesion. However, in the prior art, the manipulator is exposed to the outside of the breast coil, and the surface of the manipulator structure is prone to dust. When dust accumulates a lot, it will affect the normal operation of the manipulator. Therefore, there is an urgent need for a manipulator shell for treating breast fibroadenomas to protect the manipulator and meet the requirements of installation, use, and adjustment of the manipulator. Utility Model Content

[0004] The purpose of the utility model is to provide a manipulator shell for treating breast fibroadenoma, which protects and fixes the manipulator, ensures the accuracy of the treatment range of the ultrasonic probe, and facilitates the inspection and maintenance of the manipulator.

[0005] To achieve this purpose, the present invention adopts the following technical solutions:

[0006] A robot housing for treating breast fibroadenoma, comprising:

[0007] A fixing plate is configured to be mounted on the breast coil, the fixing plate being used to mount the manipulator; the fixing plate is provided with a penetration slot for the output end of the manipulator to penetrate therethrough, and the penetration slot is directly opposite to the notch of the breast coil;

[0008] The shell assembly includes a shell body and a manipulator inspection window. The shell body is mounted on and detachably connected to the fixed plate. The inner cavity of the shell body is configured to follow the outer shape of the manipulator, so as to accurately limit the installation position of the internal structure of the manipulator; the manipulator inspection window is detachably connected to the shell body for inspecting the manipulator.

[0009] Preferably, the shape of the inner wall of the penetration groove is the same as the shape of the inner wall of the notch.

[0010] Preferably, reinforcing ribs are provided in the shell body.

[0011] Preferably, the shell assembly further includes a connecting rod, a plug-in slot is provided in the shell body, one end of the connecting rod is connected to the fixing plate, and the other end of the connecting rod is plugged into the plug-in slot.

[0012] Preferably, the housing assembly further comprises a wiring harness inspection window, which is detachably connected to the housing body and is used for passing the wiring harness through and inspecting the wiring harness.

[0013] Preferably, a first wire guide groove is provided on the wire harness inspection window, and a second wire guide groove is provided on the shell body. The first wire guide groove and the second wire guide groove together form a wire guide cavity, and the wire guide cavity is used for the wire harness to pass through.

[0014] Preferably, the wiring harness inspection window is provided with a wire hole for the wiring harness to pass through.

[0015] Preferably, a through hole is provided on the side wall of the shell body, and a plurality of connecting parts are provided circumferentially around the inner wall of the through hole, and the manipulator inspection window is detachably connected to the side wall through the plurality of connecting parts.

[0016] Preferably, the outer shape of the housing of the manipulator for treating breast fibroadenoma is an inverted trapezoid.

[0017] Preferably, the fixing plate is made of bakelite, and the shell assembly is made of non-magnetic material.

[0018] Beneficial effects of the utility model:

[0019] The utility model provides a manipulator housing for treating breast fibroadenomas, which includes a fixing plate and a shell assembly. The fixing plate and the shell assembly are provided to protect and fix the manipulator. During the installation process, the inner cavity of the shell body is shaped in accordance with the outer shape of the manipulator to ensure the accuracy of the installation position between the internal structure of the manipulator, so that the position of the ultrasound probe installed on the manipulator is accurate relative to the shell body; the shell body is sleeved on the fixing plate to ensure the accuracy of the position of the shell body relative to the fixing plate, thereby ensuring the accuracy of the position of the ultrasound probe installed on the manipulator relative to the fixing plate. On this basis, the through groove of the fixing plate is aligned with the notch of the breast coil to ensure the accuracy of the ultrasound probe relative to the notch of the breast coil, thereby ensuring the accuracy of the treatment range of the ultrasound probe. The manipulator inspection window is detachably connected to the shell body. By disassembling the manipulator inspection window, it is convenient to inspect and repair the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the assembly structure of the manipulator housing and the breast coil for treating breast fibroadenoma provided by the present invention from a first perspective;

[0021] Figure 2 This is a schematic diagram of the assembly structure of the robot housing and the breast coil for treating breast fibroadenoma provided by the present invention from a second perspective;

[0022] Figure 3 This is a schematic diagram of the assembly structure of the manipulator housing and the breast coil for treating breast fibroadenoma provided by the present invention from a third perspective;

[0023] Figure 4 This is a schematic diagram of the assembly structure of the robot housing and the breast coil for treating breast fibroadenoma provided by the present invention from a fourth perspective;

[0024] Figure 5 This is a schematic structural diagram of the housing of the manipulator for treating breast fibroadenoma provided by the present invention;

[0025] Figure 6 This is a schematic structural diagram of the first part of the housing of the manipulator for treating breast fibroadenoma provided by the present invention;

[0026] Figure 7 This is a schematic structural diagram of the second part of the outer shell of the manipulator for treating breast fibroadenoma provided by the present invention.

[0027] In the picture:

[0028] 100. Housing of a manipulator for treating breast fibroadenoma; 1. Fixing plate; 11. Insertion slot; 12. First positioning hole; 13. Second positioning hole; 2. Housing assembly; 21. Housing body; 211. Reinforcement rib; 212. Insertion slot; 213. Second lead slot; 214. Through hole; 215. Connecting portion; 216. Avoidance slot; 22. Wiring inspection window; 221. First lead slot; 23. Connecting rod; 24. Manipulator inspection window;

[0029] 200. Breast coil; 201. Notch. DETAILED DESCRIPTION

[0030] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all of its components.

[0031] In the description of this utility model, unless otherwise specified or limited, the terms "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0032] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0033] In the description of this embodiment, the terms "upper," "lower," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0034] like Figures 1 to 7 As shown, the present invention provides a manipulator housing 100 for treating breast fibroadenoma. Both ends of a breast coil 200 are equipped with a manipulator and a manipulator housing 100 for treating breast fibroadenoma. The manipulator can be adapted to achieve more accurate and efficient treatment, thereby providing patients with a better treatment experience and effect. The manipulator housing 100 for treating breast fibroadenoma includes a fixing plate 1 and a shell assembly 2. The fixing plate 1 is configured to be installed on the breast coil 200 and is used to install the manipulator. The fixing plate 1 is provided with a penetration groove 11 for the output end of the manipulator to pass through, and the penetration groove 11 is directly opposite the notch 201 of the breast coil 200. The shell assembly 2 includes a shell body 21 and a manipulator inspection window 24. The shell body 21 is sleeved and detachably connected to the fixing plate 1. The inner cavity of the shell body 21 is configured to follow the outer shape of the manipulator to accurately limit the installation position of the internal structure of the manipulator. The manipulator inspection window 24 is detachably connected to the shell body 21 for inspecting the manipulator.

[0035] The fixing plate 1 and the shell assembly 2 are provided to protect and secure the manipulator. When installing the internal structure of the manipulator, the manipulator is placed in the inner cavity of the shell body 21 to adjust the accurate position of the manipulator's internal structure, so that the installation position of the manipulator's internal structure is accurate. The manipulator is then removed and fixed to the fixing plate 1. The shell body 21 is then placed over the manipulator and mounted on the fixing plate 1. Finally, the entire structure is mounted on the breast coil 200 through the fixing plate 1, with the penetration groove 11 facing the notch 201 of the breast coil 200, thereby completing the installation of the manipulator shell 100 for treating breast fibroadenoma. During installation, the inner cavity of the housing 21 conforms to the outer shape of the manipulator, ensuring accurate installation between the manipulator's internal structures and the accurate positioning of the ultrasound probe mounted on the manipulator relative to the housing 21. The housing 21 is then placed over the fixing plate 1, ensuring accurate positioning of the housing 21 relative to the fixing plate 1, thereby ensuring accurate positioning of the ultrasound probe mounted on the manipulator relative to the fixing plate 1. Furthermore, the through-groove 11 of the fixing plate 1 is aligned with the notch 201 of the breast coil 200, ensuring accurate positioning of the ultrasound probe relative to the notch 201 of the breast coil 200 and, therefore, ensuring the accuracy of the ultrasound probe's treatment range. A manipulator inspection window 24 is mounted on the housing 21 to protect the manipulator. When inspecting the manipulator, the manipulator inspection window 24 can be removed to observe its operation and perform repairs.

[0036] Optionally, in this embodiment, the shape of the inner wall of the penetration groove 11 is the same as the shape of the inner wall of the notch 201. When installing the fixing plate 1, the shape of the inner wall of the penetration groove 11 is the same as the shape of the inner wall of the notch 201. The notch 201 can be used to position the fixing plate 1, or the alignment of the shapes of the inner wall of the penetration groove 11 and the inner wall of the notch 201 can be used to determine whether the fixing plate 1 is installed at an angle.

[0037] Alternatively, as Figure 3 and Figure 5 As shown, the fixing plate 1 is provided with a plurality of first positioning holes 12, and the breast coil 200 is provided with a plurality of corresponding threaded holes, through which screws are threadedly connected. This arrangement allows the fixing plate 1 to be positioned when installed, and the threaded connection is secure.

[0038] Alternatively, as Figure 7 As shown, the shell body 21 is provided with reinforcing ribs 211. On the one hand, by providing the reinforcing ribs 211, the overall strength and rigidity of the shell body 21 can be enhanced. On the other hand, by providing the reinforcing ribs 211, the thickness or weight of the shell can be reduced while ensuring the original strength remains unchanged. Optionally, in this embodiment, the reinforcing ribs 211 are a frame structure and cover the entire inner wall of the shell body 21. This structure is simple and does not affect the inner cavity of the shell body 21 and the outer shape of the manipulator. Optionally, the shell body 21 is provided with an avoidance groove 216 for avoiding breast water sacs.

[0039] Alternatively, as Figure 7 As shown, the shell assembly 2 also includes a connecting rod 23, and a plug-in slot 212 is provided in the shell body 21. One end of the connecting rod 23 is connected to the fixed plate 1, and the other end of the connecting rod 23 is plugged into the plug-in slot 212. Through the connecting rod 23, one end of the shell body 21 is connected to the fixed plate 1, thereby improving the accuracy of the installation position of the shell body 21 and the stability of the installation. Optionally, in this embodiment, one end of the connecting rod 23 is fixed to the fixed plate 1 by a screw. During installation, one end of the connecting rod 23 can be fixed to the fixed plate 1 by a screw first, and then the plug-in slot 212 of the shell body 21 can be plugged into the other end of the connecting rod 23. In other embodiments, one end of the connecting rod 23 can be welded to the fixed plate 1 or snap-fitted. Optionally, as Figure 5 As shown, the fixing plate 1 is provided with two second positioning holes 13, and a mounting seat is correspondingly provided in the shell body 21. The mounting seat is provided with a threaded hole. The screw is threadedly connected with the threaded hole through the second positioning hole 13 to connect the other end of the shell body 21 to the fixing plate 1, so that the installation is secure.

[0040] In order to ensure as much inspection space as possible for the staff during the inspection, it is optional to Figure 6As shown, a through hole 214 is provided on the side wall of the housing body 21. Multiple connecting portions 215 are circumferentially provided around the inner wall of the through hole 214. The manipulator inspection window 24 is detachably connected to the side wall via the multiple connecting portions 215. Optionally, in this embodiment, bolts are passed through the manipulator inspection window 24 and the connecting portions 215 to securely connect the manipulator inspection window 24 to the housing body 21. Furthermore, the connecting portion 215 may be provided with a protrusion, and the manipulator inspection window 24 may be provided with a corresponding groove. The groove and the protrusion may engage, thereby achieving connection between the housing body 21 and the manipulator inspection window 24. This embodiment is not limited thereto.

[0041] Optionally, the housing assembly 2 further includes a wiring harness inspection window 22, which is detachably connected to the housing body 21 and is used for threading and inspecting the wiring harness. The wiring harness inspection window 22 is detachably connected to the housing body 21. The wiring harness is threaded through the wiring harness inspection window 22, and the wiring harness condition is inspected by removing the wiring harness inspection window 22, which facilitates installation, maintenance, and inspection of the wiring harness. Figure 6 As shown, in this embodiment, a first wire guide groove 221 is provided on the wire harness inspection window 22, and a second wire guide groove 213 is provided on the shell body 21. The first wire guide groove 221 and the second wire guide groove 213 together form a wire guide cavity, and the wire guide cavity is used for the wire harness to pass through. When installing the wire harness, the wire harness is placed in the second wire guide groove 213, and then the first wire guide groove 221 on the wire harness inspection window 22 is aligned with the second wire guide groove 213, and then the wire harness inspection window 22 is connected to the shell body 21, ensuring that the wire harness will not be scratched. Optionally, in this embodiment, the first wire guide groove 221 and the second wire guide groove 213 are both semicircular grooves, and the wire guide cavity formed by the first wire guide groove 221 and the second wire guide groove 213 is a cylindrical structure, which can guide the wire harness to pass smoothly. Furthermore, the wire guide cavity formed by the first wire guide slot 221 and the second wire guide slot 213 may also be a rectangular parallelepiped structure, a conical structure, or other irregular structure, as long as the wiring harness can be passed through it, and is not limited to this embodiment. Optionally, in other embodiments, the wiring harness inspection window 22 is provided with a wire guide hole for passing the wiring harness therethrough. Optionally, in this embodiment, the wiring harness inspection window 22 is securely connected to the housing body 21 via screws.

[0042] Optionally, the outer shape of the breast fibroadenoma treatment robot housing 100 is an inverted trapezoid, which is convenient for embedding into the treatment bed.

[0043] Optionally, the shell assembly 2 is made of a non-magnetic material to ensure that the shell assembly 2 is not disturbed or affected by the magnetic field and meets the requirements for normal operation in a magnetic resonance environment. For example, the shell assembly 2 can be made of non-magnetic materials such as acrylonitrile butadiene styrene (ABS), fiberglass, carbon fiber, and polyoxymethylene. Optionally, in this embodiment, the shell assembly 2 is made of ABS material, which has high strength and good toughness. Optionally, the shell assembly 2 can also be made of a weakly magnetic material.

[0044] Optionally, the material of fixing plate 1 is a high-strength, shock-absorbing material. Since the manipulator is fixed to fixing plate 1, using a high-strength, shock-absorbing material for fixing plate 1 can effectively bear the dynamic loads generated during the operation of the manipulator and improve transmission stability. Optionally, in this embodiment, fixing plate 1 is made of bakelite.

[0045] Obviously, the above-described embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the manner in which the present invention is to be implemented. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A robot housing for treating breast fibroadenoma, characterized in that: include: A fixing plate (1) is configured to be mounted on a breast coil (200), and the fixing plate (1) is used to mount a manipulator; the fixing plate (1) is provided with a penetration groove (11) for the output end of the manipulator to penetrate therethrough, and the penetration groove (11) is directly opposite to the notch (201) of the breast coil (200); A shell assembly (2) comprises a shell body (21) and a manipulator inspection window (24); the shell body (21) is sleeved on and detachably connected to the fixing plate (1); the inner cavity of the shell body (21) is configured to follow the outer shape of the manipulator, so as to accurately limit the installation position of the internal structure of the manipulator; the manipulator inspection window (24) is detachably connected to the shell body (21) and is used to inspect the manipulator.

2. The breast fibroadenoma treatment manipulator housing according to claim 1, characterized in that: The shape of the inner wall of the penetration groove (11) is the same as the shape of the inner wall of the notch (201).

3. The breast fibroadenoma treatment manipulator housing according to claim 1, characterized in that: A reinforcing rib (211) is provided inside the shell body (21).

4. The breast fibroadenoma treatment manipulator housing according to claim 1, characterized in that: The housing assembly (2) further comprises a connecting rod (23), a plug-in slot (212) is provided in the housing body (21), one end of the connecting rod (23) is connected to the fixing plate (1), and the other end of the connecting rod (23) is plugged into the plug-in slot (212).

5. The breast fibroadenoma treatment manipulator housing according to claim 1, characterized in that: The housing assembly (2) further comprises a wire harness inspection window (22), which is detachably connected to the housing body (21) and is used for passing the wire harness through and inspecting the wire harness.

6. The breast fibroadenoma treatment manipulator housing according to claim 5, characterized in that: The harness inspection window (22) is provided with a first lead groove (221), and the housing body (21) is provided with a second lead groove (213). The first lead groove (221) and the second lead groove (213) together form a lead cavity, and the lead cavity is used for the harness to pass through.

7. The breast fibroadenoma treatment manipulator housing according to claim 5, characterized in that: The wire harness inspection window (22) is provided with a wire lead hole for the wire harness to pass through.

8. The breast fibroadenoma treatment manipulator housing according to claim 1, characterized in that: A through hole (214) is provided on the side wall of the shell body (21), and a plurality of connecting parts (215) are provided around the inner wall of the through hole (214) along the circumferential direction. The manipulator inspection window (24) is detachably connected to the side wall via the plurality of connecting parts (215).

9. The breast fibroadenoma treatment manipulator housing according to any one of claims 1 to 8, characterized in that: The outer shape of the breast fibroadenoma treatment manipulator housing (100) is an inverted trapezoid.

10. The breast fibroadenoma treatment manipulator housing according to any one of claims 1 to 8, characterized in that: The material of the fixing plate (1) is bakelite material, and the material of the housing component (2) is non-magnetic material.

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