Intelligent mechanical arm shock wave stone crusher
The intelligent robotic arm shockwave lithotripter independently controls the movement of the probe and wave source through its operating and following transmission components, solving the problem of inaccurate probe positioning, improving the efficiency of stone treatment and wave source coupling effect, simplifying the structure and reducing costs.
Patent Information
- Application Number
- CN202422737618.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-09
- Publication Date
- 2025-10-31
- Estimated Expiration
- 2034-11-09
AI Technical Summary
In existing shock wave lithotripters, the probe installation method leads to inaccurate stone location and affects wave source coupling, making it difficult to efficiently locate stones and achieve the best treatment effect during the treatment process.
The intelligent robotic arm shockwave lithotripter controls the movement of the probe by operating the transmission components. The probe automatically adjusts the posture of the wave source to achieve independent movement between the probe and the wave source, ensuring that the probe can accurately locate the stone and automatically align with the focus of the wave source.
This facilitates stone localization during treatment, improves treatment efficiency and wave source coupling effect, simplifies structural design, and reduces production costs.
Smart Images
Figure CN223489795U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of medical devices, and in particular to an intelligent robotic arm shockwave lithotripter. Background Technology
[0002] Extracorporeal shock wave lithotripsy (ESWL) is a treatment method that is largely non-invasive, making it easily acceptable to patients. It also boasts a high success rate and minimal damage to human tissues, leading to its widespread clinical application. Ultrasonic positioning devices are commonly used in ESWL. These devices utilize ultrasound (B-mode or color Doppler ultrasound) to locate and position stones at the focal point of the shock wave source for fragmentation. Therefore, the performance of the ultrasonic positioning device often determines the overall performance of the lithotripter.
[0003] In related technologies, there are two types of structures for the connection between the ultrasonic positioning device and the wave source. One type is where the probe is on the outer wall of the wave source and there is an angle between the axis of the probe and the axis of the wave source. The other type is where the probe is built into the wave source and the probe and the wave source are coaxially arranged.
[0004] Regarding the aforementioned technologies, there are methods where the probe is mounted on the outer wall of the wave source. However, because the detection surface is at an angle, it is very easy to lose the stone in the image when the focus of the wave source is moved vertically. Furthermore, this angle will also affect the coupling of the shock wave when the patient is treating the stone. On the other hand, if the probe is built into the wave source, the image clarity will be affected to some extent because the probe is in water. At the same time, the positioning device must also move with the wave source, which is not very convenient for finding the stone. Summary of the Invention
[0005] In order to facilitate the location of stones without affecting the coupling of the wave source to achieve the best treatment effect, this application provides an intelligent robotic arm shock wave lithotripter.
[0006] The intelligent robotic arm shockwave stone crusher provided in this application adopts the following technical solution:
[0007] A smart robotic arm shockwave lithotripter includes:
[0008] The probe is connected to an operating transmission assembly, which is used to change the posture and position of the probe under handheld operation.
[0009] A wave source is connected to a follower drive assembly, which is used to self-adjust the attitude and position of the wave source according to the detection position of the probe.
[0010] By adopting the above technical solution, during treatment, the operating transmission component can move the probe outside the body to find the target stone under the doctor's operation. When the stone is found, the following transmission component is activated, and the focus of the wave source is automatically aligned with the stone for treatment. In this process, there is no related motion relationship between the operating transmission component and the following transmission component, and the two do not interfere with each other. Therefore, it is convenient to find the stone and does not affect the coupling of the wave source to achieve the best treatment effect.
[0011] Preferably, the device also includes a treatment bed located below the probe and the wave source, and the treatment bed is equipped with casters on its underside.
[0012] By adopting the above technical solution, since the motion relationship between the operating transmission component and the following transmission component is unrelated, it is necessary to provide the required motion space for each. Therefore, the movable setting of the treatment bed can fully examine different organs of the patient even when the motion space of the operating transmission component is small.
[0013] Preferably, the operating transmission assembly and the following transmission assembly are located on the same side of the treatment bed.
[0014] By adopting the above technical solution, doctors can treat patients from the opposite side of the following transmission component and the operating transmission component. Patients can enter the treatment bed from the opposite side of the following transmission component and the operating transmission component, which makes the treatment work more convenient.
[0015] Preferably, both the operating transmission component and the following transmission component are multi-degree-of-freedom robotic arm structures.
[0016] By adopting the above technical solution, a smaller structural form can be selected to achieve the required movement space for the wave source and probe, thus allowing doctors sufficient space to perform treatment work.
[0017] Preferably, it also includes a main unit, which is disposed on the treatment bed and connected to the follow-transmission assembly; the operation transmission assembly is connected to the external frame.
[0018] By adopting the above technical solution, the follower transmission component is connected to the host, and the host can act as the control unit of the follower transmission component, thereby making the structure of the shock wave crusher simpler.
[0019] Preferably, both the operation transmission assembly and the following transmission assembly include four booms, which are divided into two rotating booms and two swing booms. The rotating booms rotate about their own length. One of the swing booms is located between two adjacent rotating booms to change the angle between the two rotating booms. The other swing boom is connected to the wave source or the probe.
[0020] By adopting the above technical solution, firstly, by using two self-rotating arms, the angle between the wave source and the treatment bed along the length direction can be changed, and the wave source can be positioned directly above the treatment bed; secondly, by using two swing arms, the height difference between the wave source and the treatment bed can be changed, as well as the pitch angle of the wave source can be changed, thus enabling the wave source to achieve the required motion space with a simpler structure.
[0021] Preferably, the probe is detachably connected to the operating transmission assembly.
[0022] By adopting the above technical solutions, the production cost of shock wave crushers can be reduced.
[0023] Preferably, a probe clamp is provided between the probe and the operating transmission assembly. The probe clamp has a U-shaped structure and clamps the probe tightly.
[0024] By adopting the above technical solution, the probe can be installed and removed directly from the opening of the probe clip, making it more convenient to connect and disconnect the probe from the operating transmission component.
[0025] In summary, this application includes at least one of the following beneficial technical effects:
[0026] 1. During treatment, the operating transmission component allows the probe to move outside the body to locate the target stone under the doctor's operation. When the stone is found, the following transmission component is activated, and the focus of the wave source is automatically aligned with the stone for treatment. During this process, there is no related movement relationship between the operating transmission component and the following transmission component, and the two do not interfere with each other. Therefore, it is convenient to find the stone and does not affect the coupling of the wave source to achieve the best treatment effect.
[0027] 2. Then the doctor can treat the patient from the opposite side of the following transmission component and the operating transmission component. The patient can enter the treatment bed from the opposite side of the following transmission component and the operating transmission component, which makes the treatment work more convenient.
[0028] 3. Firstly, by using two self-rotating arms, the angle between the wave source and the treatment bed along the length direction can be changed, and the wave source can be positioned directly above the treatment bed. Secondly, by using two swing arms, the height difference between the wave source and the treatment bed can be changed, as well as the pitch angle of the wave source, thus enabling the wave source to achieve the required motion space through a simpler structure. Attached Figure Description
[0029] Figure 1 This is a schematic diagram of the structure of the intelligent robotic arm shockwave stone crusher in the embodiments of this application.
[0030] Figure 2 This is a schematic diagram illustrating the specific structure of the operating transmission component and the following transmission component in the embodiments of this application.
[0031] Figure 3 This is a schematic diagram of the radial cross-section of the probe clip in an embodiment of this application.
[0032] Explanation of reference numerals in the attached diagram: 1. Probe; 2. Operation transmission assembly; 3. Wave source; 4. Follow transmission assembly; 5. Treatment bed; 6. Main unit; 7. Motion arm; 71. Rotating arm; 72. Swinging arm; 8. Probe clamp. Detailed Implementation
[0033] The following is in conjunction with the appendix Figure 1-3 This application will be described in further detail.
[0034] This application discloses an intelligent robotic arm shockwave rock crusher.
[0035] Reference Figure 1 and Figure 2 The intelligent robotic arm shockwave lithotripter includes a probe 1 and a wave source 3. The probe 1 is connected to an operating transmission component 2, which can change the posture and position of the probe 1 under handheld operation. The wave source 3 is connected to a following transmission component 4, which can automatically adjust the posture and position of the wave source 3 according to the detection position of the probe 1. During treatment, the operating transmission component 2 can move the probe 1 outside the body to find the target stone under the doctor's operation. When the stone is found, the following transmission component 4 is activated, and the focus of the wave source 3 is automatically aligned with the stone for treatment. During this process, there is no related movement relationship between the operating transmission component 2 and the following transmission component 4, and they do not interfere with each other. Therefore, it is convenient to find the stone and does not affect the coupling of the wave source 3 to achieve the best treatment effect.
[0036] Reference Figure 1 and Figure 2In this embodiment, the shock wave lithotripter also includes a treatment bed 5, which is located below the probe 1 and the wave source 3. The treatment bed 5 is equipped with casters on its lower side, which can move the horizontal treatment bed 5 so that even with a small movement space for the operation transmission component 2, different organs of the patient can still be fully examined.
[0037] Reference Figure 1 and Figure 2 To provide sufficient space for doctors to operate the lithotripter, the following settings are implemented: First, the operating transmission component 2 and the following transmission component 4 are located on the same side of the treatment bed 5, allowing doctors to treat patients from the opposite side of the following transmission component 4 and the operating transmission component 2. Patients can enter the treatment bed 5 from the opposite side of the following transmission component 4 and the operating transmission component 2, making treatment easier. Second, both the operating transmission component 2 and the following transmission component 4 are multi-degree-of-freedom robotic arms, allowing for a smaller volume to accommodate the movement space required for the wave source 3 and the probe 1, thus providing more space for doctors to perform treatment.
[0038] Reference Figure 1 and Figure 2 To simplify the structure of the lithotripter, the following configuration is included: Firstly, the lithotripter also includes a main unit 6, which is mounted on the treatment bed 5. The main unit 6 is connected to the follower transmission assembly 4, making the main unit 6 the control unit of the follower transmission assembly 4. Simultaneously, the operating transmission assembly 2 is connected to the external frame, eliminating the need for installation space for the operating transmission assembly 2 within the lithotripter itself, thus allowing for a simpler structure of the shock wave lithotripter.
[0039] Reference Figure 1 and Figure 2 Secondly, both the operation transmission component 2 and the follow transmission component 4 include four moving arms 7. The four moving arms 7 are divided into two rotating arms 71 and two swing arms 72. The rotating arms 71 rotate around their own length. One swing arm 72 is located between two adjacent rotating arms 71. This swing arm 72 can change the angle between the two rotating arms 71. The other swing arm 72 is connected to the wave source 3 or the probe 1. Through the two rotating arms 71, the angle between the wave source 3 and the treatment bed 5 along the length direction can be changed, and the wave source 3 can be allowed to enter and leave directly above the treatment bed 5. Through the two swing arms 72, the height difference between the wave source 3 and the treatment bed 5 can be changed, and the pitch angle of the wave source 3 can also be changed, so that the required motion space of the wave source 3 can be achieved with a simpler structure.
[0040] Reference Figure 2 and Figure 3To further reduce the production cost of the crusher, the probe 1 and the operating transmission assembly 2 are detachably connected. Specifically, the probe 1 and the operating transmission assembly 2 are provided with a probe clamp 8. The probe clamp 8 has a U-shaped structure and tightly clamps the probe 1. The probe 1 can be installed and removed directly from the opening of the probe clamp 8, making it more convenient to connect and disconnect the probe 1 and the operating transmission assembly 2.
[0041] The implementation principle of the intelligent robotic arm shock wave lithotripter in this application embodiment is as follows: During treatment, the operating transmission component 2 can move the probe 1 outside the human body to find the target stone under the operation of the doctor. When the stone is found, the following transmission component 4 is activated, so that the focus of the wave source 3 is automatically aligned with the stone for treatment. In this process, there is no related motion relationship between the operating transmission component 2 and the following transmission component 4, and the two do not interfere with each other. Therefore, it is convenient to find the stone and does not affect the coupling of the wave source 3 to achieve the best treatment effect.
[0042] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.
Claims
1. An intelligent robotic arm shockwave crusher, characterized in that: include: The probe (1) is connected to an operation transmission assembly (2), which is used to change the posture and position of the probe (1) under hand operation. The wave source (3) is connected to a follower transmission component (4), which is used to adjust the attitude and position of the wave source (3) according to the detection position of the probe (1).
2. The intelligent robotic arm shockwave crusher according to claim 1, characterized in that: It also includes a treatment bed (5), which is located below the probe (1) and the wave source (3), and the treatment bed (5) is provided with casters on its lower side.
3. The intelligent robotic arm shockwave crusher according to claim 2, characterized in that: The operating transmission assembly (2) and the following transmission assembly (4) are located on the same side of the treatment bed (5).
4. The intelligent robotic arm shockwave crusher according to claim 3, characterized in that: Both the operation transmission component (2) and the following transmission component (4) are multi-degree-of-freedom robotic arm structures.
5. The intelligent robotic arm shockwave crusher according to claim 4, characterized in that: It also includes a host (6), which is mounted on the treatment bed (5) and connected to the follow transmission assembly (4); the operation transmission assembly (2) is connected to the external frame.
6. The intelligent robotic arm shockwave crusher according to claim 4, characterized in that: The operation transmission assembly (2) and the following transmission assembly (4) each include four moving arms (7). The four moving arms (7) are divided into two rotating arms (71) and two swing arms (72). The rotating arms (71) rotate around their own length. One of the swing arms (72) is located between two adjacent rotating arms (71) and is used to change the angle between the two rotating arms (71). The other swing arm (72) is connected to the wave source (3) or the probe (1).
7. The intelligent robotic arm shockwave crusher according to claim 4, characterized in that: The probe (1) is detachably connected to the operation transmission assembly (2).
8. The intelligent robotic arm shockwave crusher according to claim 7, characterized in that: A probe clamp (8) is provided between the probe (1) and the operation transmission assembly (2). The probe clamp (8) has a U-shaped structure and tightly clamps the probe (1).