Medical ultrasonic scanning mechanical arm flexible joint based on spherical parallel connection

Abstract

The utility model provides a medical ultrasonic scanning mechanical arm flexible joint based on spherical parallel connection, and particularly belongs to the technical field of medical ultrasonic machine automation. By optimizing the spherical parallel mechanism, the whole structure is more compact and simple, operation under various working conditions can be achieved while the spherical parallel mechanism is more convenient to disassemble through the arrangement of the flange plate base, the whole mechanism can efficiently achieve the functions of a traditional spherical parallel mechanical arm through the central motor, the structure can be simplified, and control is convenient. And under the working condition that the tail end load is not large, tail end positioning and pose adjustment can be accurately achieved, and the method is extremely suitable for autonomous ultrasonic scanning of the mechanical arm. The movable platform comprises a top-layer movable platform base, a bottom-layer static platform base and a flange connecting disc, a bottom-layer static platform base is arranged on the top face of the flange connecting disc, a hollow rotating motor is arranged on the top face of the middle position of the flange connecting disc and located on the inner side of the bottom-layer static platform base, and a top-layer movable platform is arranged above the hollow rotating motor.

Description

Technical Field

[0001] This utility model relates to a flexible joint of a medical ultrasound scanning robotic arm based on spherical parallel connection, specifically belonging to the field of medical ultrasound machine automation technology. Background Technology

[0002] With the rapid development of medical imaging technology, ultrasound imaging has become a widely used non-invasive diagnostic method in clinical practice. In medical ultrasound examinations, the adjustment of the scanning angle, position, and depth of the ultrasound probe directly affects the accuracy and quality of the diagnosis.

[0003] Existing handheld ultrasound probes often result in unstable image quality due to improper operation or inconvenience of doctors. The quality requirements of ultrasound scans are highly dependent on the position and angle control of the ultrasound probe. However, due to its instability and limitations, the traditional handheld method often fails to provide consistent and high-quality scan results. Utility Model Content

[0004] The purpose of this invention is to provide a flexible joint for a medical ultrasound scanning robotic arm based on spherical parallel connection, so as to ensure that complex posture adjustments and controls can be completed with a simpler structure, reducing the difficulty of mechanism design and control, making the autonomous ultrasound scanning process of the robotic arm easier to realize, and further expanding the application scope.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: the new model includes a top moving platform and a bottom static platform base, and also includes a flange connecting plate;

[0006] The flange connection plate has a bottom static platform base on its top surface, and a hollow rotary motor is installed on the top surface of the middle position of the flange connection plate. The hollow rotary motor is located below the bottom static platform base, and the bottom static platform base is connected to the top moving platform above through a connecting rod.

[0007] Furthermore, the bottom static platform base and above are relatively fixed by the flange connection plate, while the upper part can be rotated as a whole by the hollow rotary motor, which increases the working space of the top platform and enriches the position and posture of the overall joint. The top moving platform is connected by a spherical parallel structure composed of two sets of two-stage connecting rods. Based on the design of the spherical parallel structure, the driving method of the traditional SPM structure is optimized and the mechanism is simplified.

[0008] The flange connection plate has flange holes and reinforcing ribs at equal angles. The flange connection plate is connected to external equipment through the flange holes. The outer wall of the hollow rotary motor has a first base mounting hole at equal angles. The flange connection plate has a second base mounting hole corresponding to the first base mounting hole. The flange connection plate is used to install the hollow rotary motor through the first base mounting hole and the second base mounting hole.

[0009] Furthermore, it allows the flange connection plate to be easily installed at the end of other equipment and is easy to disassemble.

[0010] The bottom static platform base has connection holes at equal angles, and a rotary encoder is provided on the outside of the hollow rotary motor. The bottom static platform base is fixedly installed on the outside of the hollow rotary motor through the connection holes and the rotary encoder.

[0011] Furthermore, a hollow rotary motor can be used to stably drive the bottom static platform base.

[0012] Two motor mounting slots are opened on the inner annular surface of the bottom static platform base. Servo motors are installed in the motor mounting slots. The output end of the servo motor is set as the motor output shaft. The servo motor is coaxially connected to the second-stage connecting rod of the moving platform and the first-stage connecting rod of the static platform through the motor output shaft. The first-stage connecting rod of the static platform and the second-stage connecting rod of the moving platform are connected together by bearings.

[0013] Furthermore, the torque output by the servo motor can control the rotation of the secondary linkage of the moving platform, thereby driving the tilting motion of the top moving platform.

[0014] A pin is provided on the outside of the motor output shaft. The motor output shaft is fixedly connected to the second-stage linkage of the moving platform through the pin. One end of the second-stage linkage of the moving platform is connected to the edge of the top moving platform. The top moving platform is connected to a connecting rod through a bearing. One end of the connecting rod is connected to an end cap.

[0015] Furthermore, pins ensure a more stable connection between the secondary linkages of the moving platform, and end caps limit the movement of the connecting rods. This enhances the stability of the mechanism's installation.

[0016] A central column of the static platform is fixedly installed at the middle position of the top surface of the bottom static platform base. The output shaft of the hollow rotary motor is fixedly connected to the central column of the static platform. A central shaft fixing cover is installed above the central column of the static platform. A first-stage connecting rod of the static platform is installed between the central shaft fixing cover and the central column of the static platform.

[0017] Furthermore, the installation of the first-stage connecting rod of the static platform is stabilized by the central shaft fixing cover.

[0018] The beneficial effects of this utility model are:

[0019] 1. By optimizing the spherical parallel mechanism, the overall structure is made more compact and simple. The flange base makes it easier to disassemble and allows for operation under various working conditions. The central motor enables the overall mechanism to efficiently realize the functions of traditional spherical parallel robotic arms while simplifying the structure for easy control. It can accurately position and adjust the posture of the end effector when the end load is not large, making it extremely suitable for autonomous ultrasonic scanning of robotic arms. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall three-dimensional structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the central column structure of the static platform of this utility model;

[0022] Figure 3 This is a schematic diagram of the hollow rotary motor structure of this utility model;

[0023] Figure 4 This is a schematic diagram of the first-stage linkage structure of the static platform of this utility model.

[0024] 1. Flange connecting plate; 2. Bottom stationary platform base; 3. Secondary connecting rod of the moving platform; 4. End cover; 5. Connecting rod; 6. Top moving platform; 7. Primary connecting rod of the stationary platform; 8. Pin; 9. Motor output shaft; 10. Servo motor; 11. Motor mounting slot; 12. Connecting hole; 13. Hollow rotary motor; 14. First base mounting hole; 15. Second base mounting hole; 16. Flange hole; 17. Central shaft fixing cover; 18. Central column of the stationary platform. Detailed Implementation

[0025] The following will be combined with the appendix Figure 1-4 The technical solutions in the embodiments are described clearly and completely.

[0026] Specific implementation method one: as follows Figure 1-3 As shown, the overall structure consists of a flange connecting plate 1, a bottom static platform base 2, and a top moving platform 6. The flange connecting plate 1 has flange holes 16 and reinforcing ribs at equal angles. The flange connecting plate 1 is connected to external equipment through the flange holes 16. As the base of the entire structure, the flange connecting plate 1 remains stationary during the operation of the entire equipment. A hollow rotary motor 13 is installed on the top surface of the flange connecting plate 1 at its center, serving as the central motor of the mechanism.

[0027] After the flange connecting plate 1 is fixedly installed, the first base mounting hole 14 is set at the same angle on the outer side wall of the hollow rotary motor 13, and the second base mounting hole 15 is opened on the flange connecting plate 1 corresponding to the first base mounting hole 14. The flange connecting plate 1 is fitted with the first base mounting hole 14 and the second base mounting hole 15 to install the hollow rotary motor 13, thereby completing the installation of the bottom base of the overall structure.

[0028] The bottom static platform base 2 has connection holes 12 at equal angles, and a rotary encoder is provided on the outside of the hollow rotary motor 13. The inner annular surface of the bottom static platform base 2 has two motor mounting slots 11, and a servo motor 10 is installed in the motor mounting slots 11 to complete the installation of the static platform part.

[0029] Specific implementation method two: such as Figure 4As shown, the output end of the servo motor 10 is set as the motor output shaft 9. The servo motor 10 is coaxially connected to the moving platform secondary connecting rod 3 and the stationary platform primary connecting rod 7 through the motor output shaft 9. The stationary platform primary connecting rod 7 and the moving platform secondary connecting rod 3 are connected together by bearings. A pin 8 is provided on the outside of the motor output shaft 9. The motor output shaft 9 is fixedly connected to the moving platform secondary connecting rod 3 through the pin 8. The torque output by the servo motor 10 can control the rotation of the moving platform secondary connecting rod 3, thereby driving the tilting movement of the top moving platform 6. The stationary platform primary connecting rod 7 is provided between the central shaft fixing cover 17 and the central column 18 of the stationary platform. The central shaft fixing cover 17 is used to press and fix the stationary platform primary connecting rod 7, thereby completing the installation of the middle connecting rod part.

[0030] One end of the secondary connecting rod 3 of the moving platform is connected to the edge of the top moving platform 6. The top moving platform 6 is connected to the connecting rod 5 through the bearing. One end of the connecting rod 5 is connected to the end cap 4. At this time, the connecting rod 5, the end cap 4 and the mounting hole on the edge of the top moving platform 6 are coaxially connected, thus completing the construction of the top platform.

[0031] Two servo motors 10 provide two degrees of freedom for the movement of the top moving platform 6, while the hollow rotary motor 13 located in the middle of the bottom static platform base 2 provides a third degree of freedom; the two servo motors 10 of the bottom static platform base 2 are responsible for controlling the tilting movement of the top moving platform 6 in a certain direction, while the hollow rotary motor 13 enables the top moving platform 6 to achieve different poses in various directions.

[0032] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model's technical solution. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present utility model's technical solution, based on the technical essence of the present utility model and within the spirit and principles of the present utility model, shall still fall within the protection scope of the present utility model's technical solution.

Claims

1. A flexible joint of a medical ultrasonic scanning mechanical arm based on spherical parallel, comprising a top layer moving platform (6) and a bottom layer static platform base (2), characterized in that, Also include flange connecting disc (1); The top surface of the flange connecting disc (1) is provided with a bottom static platform base (2), and the top surface of the flange connecting disc (1) is provided with a hollow rotary motor (13) at the middle position, and the hollow rotary motor (13) is located below the bottom static platform base (2), and the bottom static platform base (2) is connected with the upper top layer dynamic platform (6) through a connecting rod.

2. The flexible joint of a spherical parallel-based medical ultrasonic scanning mechanical arm according to claim 1, wherein, The flange connecting disc (1) is provided with a flange hole (16) and a reinforcing rib at an equal angle, the flange connecting disc (1) is connected to external equipment through the flange hole (16), the outer side wall of the hollow rotary motor (13) is provided with a first base mounting hole (14) at an equal angle, and the flange connecting disc (1) is provided with a second base mounting hole (15) corresponding to the first base mounting hole (14), and the flange connecting disc (1) is installed in the hollow rotary motor (13) through the cooperation of the first base mounting hole (14) and the second base mounting hole (15).

3. The flexible joint of a spherical parallel-based medical ultrasonic scanning mechanical arm according to claim 1, wherein, The bottom static platform base (2) is provided with a connecting hole (12) at an equal angle, and the outer side of the hollow rotary motor (13) is provided with a rotary code disc, and the bottom static platform base (2) is fixedly installed outside the hollow rotary motor (13) through the cooperation of the connecting hole (12) and the rotary code disc.

4. The flexible joint of a spherical parallel based medical ultrasonic scanning mechanical arm according to claim 1, wherein, The inner side of the bottom static platform base (2) is provided with two motor mounting grooves (11), the motor mounting grooves (11) are provided with servo motors (10), the output end of the servo motor (10) is provided with a motor output shaft (9), the servo motor (10) is coaxially connected with a dynamic platform secondary connecting rod (3) and a static platform primary connecting rod (7) through the motor output shaft (9), and the static platform primary connecting rod (7) and the dynamic platform secondary connecting rod (3) are connected together through a bearing.

5. The flexible joint of a spherical parallel based medical ultrasonic scanning mechanical arm according to claim 4, wherein, The outer side of the motor output shaft (9) is provided with a pin (8), the motor output shaft (9) is fixedly connected with the dynamic platform secondary connecting rod (3) through the pin (8), one end of the dynamic platform secondary connecting rod (3) is connected with the edge position of the top layer dynamic platform (6), and the top layer dynamic platform (6) is connected with a connecting rod (5) through a bearing.

6. The flexible joint of a spherical parallel based medical ultrasonic scanning mechanical arm according to claim 1, wherein, The top surface of the bottom static platform base (2) is fixedly provided with a static platform central column (18) at the middle position, the static platform central column (18) is fixedly connected with the output shaft of the hollow rotary motor (13), and the upper side of the static platform central column (18) is provided with a middle shaft fixing cover (17), and the static platform primary connecting rod (7) is arranged between the middle shaft fixing cover (17) and the static platform central column (18).

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