Ultrasonic robot servo tracking error testing device

Abstract

The utility model discloses an ultrasonic robot servo tracking error testing device. The device comprises a movement assembly and a measurement assembly. The movement assembly comprises a base, a sliding mechanism, a body mold and a body mold supporting plate; the sliding mechanism can drive the phantom supporting plate to slide horizontally; the phantom is placed on the phantom supporting plate; the measuring assembly comprises a first laser range finder, a second laser range finder, a first mounting plate, a second mounting plate and an adjusting mechanism; the first laser range finder is arranged on the first mounting plate, and a laser emission port of the first laser range finder is opposite to the phantom; the height of the second mounting plate is adjustable; and the adjusting mechanism is arranged on the second mounting plate and can adjust the position and angle of the second laser range finder, so that a laser emission port of the second laser range finder can be aligned with an ultrasonic probe of the ultrasonic robot. According to the device, the difference value between the phantom displacement and the probe displacement can be measured, and the accuracy and convenience of servo tracking error measurement of the ultrasonic robot are improved.

Description

Technical Field

[0001] This utility model relates to an ultrasonic robot servo tracking error testing device. Background Technology

[0002] In the field of ultrasound examination technology, the use of ultrasound robots is becoming increasingly common. These robots can perform ultrasound examination tasks automatically or semi-automatically, significantly improving the consistency and standardization of ultrasound diagnosis.

[0003] An ultrasound robot can adjust the position of the ultrasound probe in real time based on the ultrasound images acquired, enabling autonomous scanning of different organs. When using an ultrasound robot, the accuracy of its probe position adjustment based on changes in the ultrasound images needs to be considered. Utility Model Content

[0004] To ensure the accuracy of autonomous scanning by ultrasonic robots and improve the precision and convenience of measuring ultrasonic robot servo tracking errors, this invention provides an ultrasonic robot servo tracking error testing device.

[0005] This utility model provides an ultrasonic robot servo tracking error testing device, including a motion component and a measurement component;

[0006] The motion components include a base, a sliding mechanism, a phantom, and a phantom support plate;

[0007] The sliding mechanism is mounted on the base;

[0008] The body mold support plate is disposed above the sliding mechanism; the sliding mechanism can drive the body mold support plate to slide horizontally.

[0009] The phantom is placed on the phantom support plate;

[0010] The measuring components include a first laser rangefinder, a second laser rangefinder, a first mounting plate, a second mounting plate, and an adjustment mechanism;

[0011] The first mounting plate is horizontally connected to the base, the first laser rangefinder is mounted on the first mounting plate, and the laser emission port of the first laser rangefinder is opposite to the phantom.

[0012] The second mounting plate is disposed above the first mounting plate, and the height of the second mounting plate is adjustable;

[0013] The adjustment mechanism is mounted on the second mounting plate, and the second laser rangefinder is mounted on the adjustment mechanism;

[0014] The adjustment mechanism can adjust the position and angle of the second laser rangefinder so that the laser emission port of the second laser rangefinder can be aligned with the ultrasonic probe of the ultrasonic robot.

[0015] In one or more alternative embodiments, the second mounting plate includes a vertical support plate and an L-shaped connecting plate;

[0016] The first mounting plate is horizontally positioned, the lower end of the vertical support plate is fixedly connected to the first mounting plate, and the upper end of the vertical support plate is detachably connected to the vertical plate of the L-shaped connecting plate.

[0017] The adjustment mechanism is mounted on the horizontal plate of the L-shaped connecting plate.

[0018] In one or more alternative embodiments, the second mounting plate further includes a plurality of first fasteners;

[0019] The vertical support plate is provided with a plurality of longitudinally distributed first screw holes, and the vertical plate of the L-shaped connecting plate is provided with a plurality of longitudinally distributed second screw holes.

[0020] The first fastener can pass through the corresponding first screw hole and second screw hole.

[0021] In one or more alternative embodiments, the adjustment mechanism includes a rotary table and a slide rail;

[0022] The rotary table is mounted on the second mounting plate;

[0023] The slide rail is mounted on the rotary table;

[0024] The second laser rangefinder is movably mounted on the slide rail.

[0025] In one or more alternative embodiments, the sliding mechanism includes a slide table, a slider, a drive shaft, at least one support shaft, and a rocker arm;

[0026] Both ends of the support shaft are fixed to the inner side of the slide table;

[0027] The slider is movably disposed within the slide table, and the support shaft passes through the slide table;

[0028] The rocker arm is located on the outside of the slide table, and the drive shaft is located inside the slide table. The drive shaft passes through the slider and the slide table and is fixedly connected to the rocker arm.

[0029] In one or more alternative embodiments, the locking structure includes a connected handle and a locking element;

[0030] The locking element is inserted into the slider.

[0031] In one or more alternative embodiments, the motion component further includes a pad;

[0032] The pad is disposed on the slider;

[0033] The phantom support plate is disposed on the pad.

[0034] In one or more alternative embodiments, the motion component further includes a plurality of fixing plates disposed around the phantom support plate;

[0035] The phantom is placed between the plurality of fixed plates.

[0036] In one or more alternative embodiments, the motion component further includes a plurality of second fasteners;

[0037] Multiple adjustment plates are arranged around the support plate of the phantom;

[0038] The adjustment plate is provided with multiple third screw holes;

[0039] The plurality of second fasteners pass vertically through the fixing plate and the corresponding third screw holes.

[0040] In one or more alternative embodiments, the ultrasonic robot servo tracking error testing device further includes a third fastener;

[0041] The third fastener passes through the first mounting plate and the base, fixing the first mounting plate and the base together.

[0042] The beneficial effects of the above-mentioned technical solutions provided by the embodiments of this utility model include at least the following:

[0043] The ultrasonic robot servo tracking error testing device provided by this utility model drives the phantom to move horizontally through a sliding mechanism. The horizontal displacement of the phantom is accurately measured by a first laser rangefinder. By setting a height-adjustable second mounting plate and adjustment mechanism, it is ensured that the laser beam of the second laser rangefinder can hit the ultrasonic probe of the ultrasonic robot. Thus, the horizontal displacement of the ultrasonic probe following the movement of the phantom can be accurately measured by the second laser rangefinder. Based on the difference between the measured phantom displacement and the probe displacement, the magnitude of the ultrasonic robot servo tracking error can be obtained. This improves the accuracy and convenience of ultrasonic robot servo tracking error measurement and helps to evaluate the autonomous scanning performance of ultrasonic robots.

[0044] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0045] The technical solution of this utility model will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0046] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0047] Figure 1 This is a schematic diagram of the ultrasonic robot servo tracking error testing device provided in an embodiment of the present invention;

[0048] Figure 2 An exploded view of the ultrasonic robot servo tracking error testing device provided in this embodiment of the utility model.

[0049] Figure label:

[0050] 1. Base; 2. Sliding mechanism; 21. Slide table; 22. Slider; 23. Support shaft; 24. Rocker arm; 25. Handle; 3. Model; 4. Model support plate; 5. Pad; 6. Fixing plate; 7. Third fastener; 8. First laser rangefinder; 9. Second laser rangefinder; 91. Slide groove; 10. First mounting plate; 11. Second mounting plate; 111. Vertical support plate; 112. L-shaped connecting plate; 113. First fastener; 12. Second fastener; 13. Adjustment mechanism; 131. Rotary table; 132. Slide rail; 14. Adjustment plate. Detailed Implementation

[0051] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0052] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," "far," "near," "front," and "rear," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0053] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0054] The inventors discovered that the accuracy of the ultrasound robot's probe position adjustment based on changes in ultrasound images is crucial to the accuracy of ultrasound examinations, but there is a lack of a device that can intuitively measure the accuracy of the ultrasound robot's probe position adjustment.

[0055] This utility model provides an ultrasonic robot servo tracking error testing device, referring to... Figure 1 and Figure 2 As shown, it includes motion components and measurement components;

[0056] The motion assembly includes a base 1, a sliding mechanism 2, a body mold 3, and a body mold support plate 4;

[0057] The sliding mechanism 2 is mounted on the base 1;

[0058] The body mold support plate 4 is disposed above the sliding mechanism 2; the sliding mechanism 2 can drive the body mold support plate 4 to slide horizontally.

[0059] The phantom 3 is placed on the phantom support plate 4;

[0060] The measuring components include a first laser rangefinder 8, a second laser rangefinder 9, a first mounting plate 10, a second mounting plate 11, and an adjustment mechanism 13;

[0061] The first mounting plate 10 is horizontally connected to the base 1, and the first laser rangefinder 8 is disposed on the first mounting plate 10. The laser emission port of the first laser rangefinder 8 is opposite to the phantom 3.

[0062] The second mounting plate 11 is disposed above the first mounting plate 10, and the height of the second mounting plate 11 is adjustable;

[0063] The adjustment mechanism 13 is disposed on the second mounting plate 11, and the second laser rangefinder 9 is disposed on the adjustment mechanism 13;

[0064] The adjustment mechanism 13 can adjust the position and angle of the second laser rangefinder 9 so that the laser emission port of the second laser rangefinder 9 can be aligned with the ultrasonic probe of the ultrasonic robot.

[0065] In this embodiment, the height of the second mounting plate 11 is adjustable, and the adjustment mechanism 13 can adjust the horizontal position and angle of the second laser rangefinder 9, thereby realizing the adjustment of the height, angle and horizontal position of the second laser rangefinder 9, so that the laser beam emitted by the second laser rangefinder 9 can hit the ultrasonic probe (not shown in the figure) of the ultrasonic robot.

[0066] In this embodiment, the laser emission port of the first laser rangefinder 8 is opposite to the phantom 3 so that the laser beam of the first laser rangefinder 8 can hit the phantom 3 perpendicularly, thereby enabling the first laser rangefinder 8 to accurately measure the displacement of the phantom 3.

[0067] The ultrasonic robot servo tracking error testing device provided by this utility model drives the phantom 3 to move horizontally through the sliding mechanism 2. The horizontal displacement of the phantom 3 is accurately measured by the first laser rangefinder 8. By setting the height-adjustable second mounting plate 11 and the adjustment mechanism 13, it is ensured that the laser beam of the second laser rangefinder 9 can hit the ultrasonic probe of the ultrasonic robot. Thus, the horizontal displacement of the ultrasonic probe following the movement of the phantom 3 can be accurately measured by the second laser rangefinder 9. Based on the difference between the measured displacement of the phantom 3 and the displacement of the probe, the magnitude of the ultrasonic robot servo tracking error can be obtained, which improves the accuracy and convenience of ultrasonic robot servo tracking error measurement and helps to evaluate the autonomous scanning performance of the ultrasonic robot.

[0068] In an optional implementation, refer to Figure 1 and Figure 2 As shown, the second mounting plate 11 includes a vertical support plate 111 and an L-shaped connecting plate 112. The first mounting plate 10 is horizontally positioned. The lower end of the vertical support plate 111 is fixedly connected to the first mounting plate 10, and the upper end of the vertical support plate 111 is detachably connected to the vertical plate of the L-shaped connecting plate 112. The horizontal plate of the L-shaped connecting plate 112 is located directly above the first mounting plate 10 and is used to support the adjustment mechanism 13 and the second laser rangefinder 9. The adjustment mechanism 13 is located on the horizontal plate of the L-shaped connecting plate 112 and is used to adjust the angle and horizontal position of the second laser rangefinder 9.

[0069] In an optional implementation, refer to Figure 1 and Figure 2As shown, the second mounting plate 11 also includes multiple first fasteners 113. The vertical support plate 111 has multiple sets of longitudinally distributed first screw holes, each set consisting of two or more screw holes of equal height. The vertical plate of the L-shaped connecting plate 112 has correspondingly multiple sets of longitudinally distributed second screw holes. The shape, position, and distribution of the multiple second screw holes correspond to the first screw holes. Multiple first fasteners 113 can pass through and lock the corresponding sets of first and second screw holes, thus fixing the L-shaped connecting plate 112 to the vertical support plate 111. By using sets of first and second screw holes of different heights for fixing, the height of the second mounting plate 11 can be adjusted; that is, the height of the L-shaped connecting plate 112 relative to the first mounting plate 10 is adjustable, thereby making the height of the second laser rangefinder 9 adjustable.

[0070] In an optional implementation, refer to Figure 1 and Figure 2 As shown, the adjustment mechanism 13 includes a rotating platform 131 and a slide rail 132. The rotating platform 131 is mounted on the horizontal plate of the L-shaped connecting plate 112, and the slide rail 132 is positioned above the rotating platform 131. The second laser rangefinder 9 is movably mounted on the slide rail 132. Specifically, the bottom of the second laser rangefinder 9 has a groove 91 that mates with the slide rail 132. The slide rail 132 engages with the groove 91, allowing the second laser rangefinder 9 to slide stably on the slide rail 132. The slide rail 132 and the second laser rangefinder 9 can rotate together with the rotating platform 131. The length direction of the slide rail 132 is perpendicular to the length direction of the first mounting plate 10.

[0071] The ultrasonic robot servo tracking error testing device provided by this utility model has an adjustable height for the second mounting plate 11, a rotary table 131 that can rotate at any angle, a slide rail 132 that is perpendicular to the first mounting plate 10, and a second laser rangefinder 9 that is slidably connected to the slide rail 132. This allows for the adjustment of the height, angle, and horizontal position of the second laser rangefinder 9, thereby ensuring that the laser beam emitted by the second laser rangefinder 9 can hit the ultrasonic probe of the ultrasonic robot.

[0072] In an optional implementation, refer to Figure 1 and Figure 2As shown, the sliding mechanism 2 specifically includes a slide table 21, a slider 22, a transmission shaft (not shown in the figure), at least one support shaft 23, and a rocker arm 24. The two ends of the support shaft 23 are fixed to the inner side of the slide table 21. The slider 22 is movably disposed within the slide table 21, and the support shaft 23 passes through the slide table 21, providing support for the slider 22. Preferably, two support shafts can be symmetrically arranged on both sides of the slider. The rocker arm 24 is disposed on the outer side of the slide table 21, and the transmission shaft is disposed inside the slide table 21. The sliding shaft passes through the slider 22 and the slide table 21 and is fixedly connected to the rocker arm 24, so that the rocker arm 24 can drive the transmission shaft to rotate. The transmission shaft can convert the rotation into horizontal movement and transmit the horizontal movement to the slider, realizing the horizontal sliding of the slider. The model support plate 4 is disposed on the slider 22. By rotating the rocker arm 24, the slider 22 is driven to slide, thereby causing the model support plate 4 and the model 3 on the model support plate 4 to slide horizontally.

[0073] In an optional implementation, refer to Figure 1 and Figure 2 As shown, the motion assembly also includes a pad 5. The pad 5 is disposed between the slider 22 and the mold support plate 4 to elevate the mold support plate 4, avoid interference between the mold support plate 4 and the rocker arm 24, and facilitate the rotation of the rocker arm 24.

[0074] In an optional implementation, refer to Figure 1 and Figure 2 As shown, the sliding mechanism 2 also includes a locking structure. The locking structure includes a connected handle 25 and a locking element (not shown in the figure). The locking element is inserted into the slider 22. By rotating the handle 25, the direction of the locking element can be changed so that the locking element can be engaged between the slider 22 and the lead screw, preventing the slider 22 from sliding and thus locking the slider 22. This prevents the slider 22 from slightly sliding after displacement measurement and ensures the accuracy of error testing.

[0075] In an optional implementation, refer to Figure 1 and Figure 2 As shown, the motion assembly also includes multiple fixing plates 6 disposed around the phantom support plate 4 to fix the phantom 3. The phantom 3 is placed between the multiple fixing plates 6, thereby preventing the phantom 3 from sliding off the edge of the phantom support plate 4 and falling off, and preventing the phantom 3 from sliding on the phantom support plate 4 under inertia, thus ensuring the accuracy of the displacement measurement results. Preferably, the phantom support plate 4 is a rectangular plate, and the number of fixing plates 6 is set to four, respectively disposed at the four edges of the phantom support plate 4.

[0076] In an optional implementation, refer to Figure 1 and Figure 2As shown, the motion assembly also includes multiple second fasteners 12. Multiple adjusting plates 14 for connecting the fixing plate 6 are arranged around the body mold support plate 4. Each adjusting plate 14 has multiple third screw holes. Multiple second fasteners 12 pass vertically through the fixing plate 6 and the corresponding third screw holes, thereby fixing the fixing plate 6 to the body mold support plate 4. By fixing the fixing plate 6 to different third screw holes on the adjusting plate 14, the position of the fixing plate 6 on the body mold support plate 4 can be adjusted. This allows the fixing plate 6 to be installed at different positions on the adjusting plate 14 according to the size of the body mold 3, ensuring that the space between the fixing plates 6 can accommodate the body mold 3.

[0077] In an optional implementation, refer to Figure 1 and Figure 2 As shown, the ultrasonic robot servo tracking error testing device also includes a third fastener 7, which passes through the first mounting plate 10 and the base 1 to fix the first mounting plate 10 and the base 1 in place.

[0078] In an optional embodiment, the first fastener 113, the second fastener 12, and the third fastener 7 are all combinations of bolts and nuts to achieve a tight threaded connection.

[0079] In this embodiment, the specific process of using the ultrasonic robot servo tracking error testing device to perform ultrasonic robot servo tracking error testing may include:

[0080] The ultrasonic robot servo tracking error test was placed in the same space as the ultrasonic robot, and the ultrasonic probe was placed above the phantom 3;

[0081] Adjust the height of the second mounting plate 11 so that the height of the laser emission port of the second laser rangefinder 9 is consistent with the height of the ultrasonic probe;

[0082] Adjust the rotary table 131 and the position of the second laser rangefinder 9 on the slide rail 132 so that the laser beam of the second laser rangefinder 9 can hit the ultrasonic probe and be parallel to the direction of movement of the ultrasonic probe.

[0083] Rotate the rocker arm 24 to make the phantom 3 slide horizontally, and the ultrasonic robot controls the robotic arm to move the ultrasonic probe a corresponding distance.

[0084] The horizontal displacement of the phantom 3 is measured using the first laser rangefinder 8;

[0085] The horizontal displacement of the ultrasonic probe was measured using the second laser rangefinder 9.

[0086] The servo tracking error of the ultrasonic robot is obtained by calculating the difference between the displacement of phantom 3 and the displacement of the ultrasonic probe.

[0087] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. This disclosure is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims. Thus, if these modifications and variations of this utility model fall within the scope of the claims of this utility model and their equivalents, this utility model is also intended to include these modifications and variations.

Claims

1. An ultrasonic robot servo tracking error testing device, characterized in that, Includes motion components and measurement components; The motion components include a base, a sliding mechanism, a phantom, and a phantom support plate; The sliding mechanism is disposed on the base; The body mold support plate is disposed above the sliding mechanism; the sliding mechanism can drive the body mold support plate to slide horizontally. The phantom is placed on the phantom support plate; The measuring components include a first laser rangefinder, a second laser rangefinder, a first mounting plate, a second mounting plate, and an adjustment mechanism; The first mounting plate is horizontally connected to the base, the first laser rangefinder is mounted on the first mounting plate, and the laser emission port of the first laser rangefinder is opposite to the phantom. The second mounting plate is disposed above the first mounting plate, and the height of the second mounting plate is adjustable; The adjustment mechanism is mounted on the second mounting plate, and the second laser rangefinder is mounted on the adjustment mechanism; The adjustment mechanism can adjust the position and angle of the second laser rangefinder so that the laser emission port of the second laser rangefinder can be aligned with the ultrasonic probe of the ultrasonic robot.

2. The ultrasonic robot servo tracking error testing device according to claim 1, characterized in that, The second mounting plate includes a vertical support plate and an L-shaped connecting plate; The first mounting plate is horizontally positioned, the lower end of the vertical support plate is fixedly connected to the first mounting plate, and the upper end of the vertical support plate is detachably connected to the vertical plate of the L-shaped connecting plate. The adjustment mechanism is mounted on the horizontal plate of the L-shaped connecting plate.

3. The ultrasonic robot servo tracking error testing device according to claim 2, characterized in that, The second mounting plate also includes a plurality of first fasteners; The vertical support plate is provided with a plurality of longitudinally distributed first screw holes, and the vertical plate of the L-shaped connecting plate is provided with a plurality of longitudinally distributed second screw holes. The first fastener can pass through the corresponding first screw hole and second screw hole.

4. The ultrasonic robot servo tracking error testing device according to claim 1, characterized in that, The adjustment mechanism includes a rotary table and a slide rail; The rotary table is mounted on the second mounting plate; The slide rail is mounted on the rotary table; The second laser rangefinder is movably mounted on the slide rail.

5. The ultrasonic robot servo tracking error testing device according to claim 1, characterized in that, The sliding mechanism includes a slide table, a slider, a drive shaft, at least one support shaft, and a rocker arm; Both ends of the support shaft are fixed to the inner side of the slide table; The slider is movably disposed within the slide table, and the support shaft passes through the slide table; The rocker arm is located on the outside of the slide table, and the drive shaft is located inside the slide table. The drive shaft passes through the slider and the slide table and is fixedly connected to the rocker arm.

6. The ultrasonic robot servo tracking error testing device according to claim 5, characterized in that, The sliding mechanism also includes a locking structure; The locking structure includes a connected handle and a locking element; The locking element is inserted into the slider.

7. The ultrasonic robot servo tracking error testing device according to claim 5, characterized in that, The motion component also includes a pad; The pad is disposed on the slider; The phantom support plate is disposed on the pad.

8. The ultrasonic robot servo tracking error testing device according to claim 1, characterized in that, The motion assembly also includes a plurality of fixing plates disposed around the phantom support plate; The phantom is placed between the plurality of fixed plates.

9. The ultrasonic robot servo tracking error testing device according to claim 8, characterized in that, The motion component also includes a plurality of second fasteners; Multiple adjustment plates are arranged around the support plate of the phantom; The adjustment plate is provided with multiple third screw holes; The plurality of second fasteners pass vertically through the fixing plate and the corresponding third screw holes.

10. The ultrasonic robot servo tracking error testing device according to claim 1, characterized in that, It also includes a third fastener; The third fastener passes through the first mounting plate and the base, fixing the first mounting plate and the base together.

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