Intracavity ultrasonic probe

Abstract

The utility model provides an intracavity ultrasonic probe which comprises an angle detection module and a position detection module at the same time, and a first trigger piece of the angle detection module is fixedly connected with an output shaft of a motor and is driven by the motor to rotate. The first trigger piece is provided with a zero reference part, and the first detection assembly can recognize the zero reference part. A second trigger piece of the position detection module is in transmission connection with the rotating shaft through a second speed reduction transmission mechanism so as to be driven by the rotating shaft to rotate. The second detection assembly can identify the second trigger piece. Wherein the angular velocity of the second trigger piece is smaller than that of the first trigger piece, and the structure enables the zero reference part to pass through and trigger the first detection assembly at least twice and the second trigger piece to pass through and trigger the second detection assembly only once in the maximum rotation stroke of the rotation shaft in the forward direction and / or the reverse direction. Therefore, a structural basis is provided for zero position determination of a subsequent probe.

Description

Technical Field

[0001] This application relates to the field of medical devices, specifically to a zero-position determination structure for an intracavitary ultrasound probe. Background Technology

[0002] Intracavitary ultrasound probes are primarily used for ultrasonic testing within body cavities. During the examination, a built-in motor drives the acoustic head to rotate at a large angle, thus achieving a wider detection range. Typically, in some intracavitary ultrasound probes, the motor is connected to the acoustic head via a reduction gear mechanism, resulting in a motor angular velocity much greater than the acoustic head angular velocity. In traditional intracavitary ultrasound probes, the acoustic head rotation angle is relatively small, meaning the motor's rotation angle is less than 360°. In this case, an encoder mounted on the motor can accurately determine the zero position of both the motor and the acoustic head. However, with increasing demands for larger detection ranges, some scenarios require a larger acoustic head rotation angle, such as a maximum rotation angle greater than or equal to 360°. In such cases, due to the transmission ratio design, the motor rotation angle will inevitably exceed 360°, potentially even exceeding 720°. During this process, the encoder will pass through the zero position multiple times, but in reality, the motor and acoustic head are only at the zero position once; otherwise, they are in non-zero positions. Therefore, the existing structure struggles to help the probe accurately determine the zero position. Summary of the Invention

[0003] This application provides an intracavitary ultrasound probe to provide a probe structure that provides a structural basis for probe null positioning.

[0004] To achieve one of the above objectives, some embodiments of this application provide an intracavitary ultrasound probe, comprising:

[0005] A sound head, used to emit and receive ultrasonic signals;

[0006] A rotating shaft, on which the sound head is mounted;

[0007] The motor has its output shaft connected to the rotating shaft via a first reduction transmission mechanism to drive the rotating shaft and the sound head to rotate. The maximum rotation angle of the rotating shaft in the forward and / or reverse directions is greater than or equal to 360°. The first reduction transmission mechanism is a single-stage transmission structure.

[0008] An angle detection module includes a first trigger and a first detection component for detecting the first trigger. The first trigger is fixedly connected to the output shaft of the motor and rotates under the drive of the motor. The first trigger has a zero-position reference part.

[0009] A position detection module, comprising a second trigger and a second detection component for detecting the second trigger, wherein the second trigger is connected to the rotating shaft via a second reduction transmission mechanism to rotate under the drive of the rotating shaft;

[0010] The angle detection module and the position detection module are both electrically connected to the control unit.

[0011] The angular velocity of the second trigger is less than that of the first trigger, such that during the maximum rotational stroke of the rotating shaft in the positive and / or negative directions, the zero-position reference portion can pass through and trigger the first detection component at least twice, while the second trigger passes through and triggers the second detection component only once.

[0012] The intracavitary ultrasound probe according to the above embodiment includes both an angle detection module and a position detection module. The first trigger of the angle detection module is fixedly connected to the output shaft of a motor and rotates under the drive of the motor. The first trigger has a zero-position reference portion, which can pass through and trigger the first detection component during movement. The second trigger of the position detection module is connected to the rotating shaft via a second reduction gear mechanism, and rotates under the drive of the rotating shaft. This second trigger can pass through and trigger the second detection component during movement. The angular velocity of the second trigger is less than that of the first trigger. This structure ensures that during the maximum rotational stroke of the rotating shaft in the forward and / or reverse directions, the zero-position reference portion can pass through and trigger the first detection component at least twice, while the second trigger only passes through and triggers the second detection component once, providing a structural basis for subsequent probe zero-position determination. Furthermore, in this embodiment, the output shaft of the motor is connected to the rotating shaft via a first reduction gear mechanism, which is a single-stage transmission structure. Compared to existing intracavitary ultrasound probes where the motor's output shaft is connected to the rotating shaft via a two- or more-stage reduction transmission structure, this single-stage transmission structure can reduce transmission accuracy errors in the transmission structure, thereby reducing backlash in the transmission fit and improving transmission precision.

[0013] In some embodiments, the second trigger has an arc-shaped trigger portion that extends along the rotation direction of the trigger to increase the triggering time of the second trigger on the second detection component.

[0014] In some embodiments, the second reduction transmission mechanism is a gear reduction mechanism, which includes a small gear fixedly mounted on the rotating shaft and a large gear serving as the output end of the gear reduction mechanism. The second trigger is disposed on the large gear and can rotate with the large gear. The second detection component is disposed on the rotation path of the second trigger and is used to detect the second trigger.

[0015] In some embodiments, the transmission ratio of the second reduction gear is greater than or equal to 2.

[0016] In some embodiments, the position detection module is at least one of a photoelectric detection module, a magnetic signal detection module, and a force signal detection module.

[0017] In some embodiments, the angle detection module is mounted at the rear end of the motor.

[0018] In some embodiments, the degree detection module is an encoder.

[0019] In some embodiments, the first speed reduction transmission mechanism is a pulley transmission mechanism, which includes a driving pulley, a driven pulley, and a transmission belt. The driving pulley is fixedly mounted on the output shaft of the motor, the driven pulley is fixedly mounted on the rotating shaft, and the transmission belt is sleeved on the driving pulley and the driven pulley.

[0020] In some embodiments, the transmission ratio of the first reduction gear is greater than or equal to 1.4.

[0021] In some embodiments, the maximum rotation angle of the rotation axis in the forward and / or reverse directions is greater than or equal to 720°.

[0022] To achieve one of the above objectives, some embodiments of this application provide an intracavitary ultrasound probe, comprising:

[0023] A sound head, used to emit and receive ultrasonic signals;

[0024] A rotating shaft, on which the sound head is mounted;

[0025] An electric motor is connected to the rotating shaft for driving the rotating shaft and the sound head to rotate;

[0026] An angle detection module includes a first trigger and a first detection component for detecting the first trigger. The first trigger is connected to the motor and rotates under the drive of the motor. The first trigger has a zero-position reference part.

[0027] The position detection module includes a second trigger and a second detection component for detecting the second trigger. The second trigger is connected to the motor and rotates under the drive of the motor. The second detection component can identify the second trigger and obtain a second zero-position reference signal.

[0028] The angle detection module and the position detection module are both electrically connected to the control unit.

[0029] Wherein, the angular velocity of the second trigger is less than that of the first trigger, such that during the maximum rotational stroke of the rotating shaft in the forward and / or reverse directions, the zero-position reference part can pass through and trigger the first detection component at least twice, while the second trigger passes through and triggers the second detection component only once.

[0030] The intracavitary ultrasound probe according to the above embodiment includes both an angle detection module and a position detection module. The first trigger and the acoustic head of the angle detection module are simultaneously driven and rotated by a motor. The first trigger has a zero-position reference section, which can pass through and trigger the first detection component during movement. The second trigger of the position detection module is connected to the rotating shaft via a second reduction transmission mechanism, and rotates under the drive of the rotating shaft. This second trigger can pass through and trigger the second detection component during movement. The angular velocity of the second trigger is less than that of the first trigger. This structure ensures that during the maximum rotational stroke of the rotating shaft in the forward and / or reverse directions, the zero-position reference section can pass through and trigger the first detection component at least twice, while the second trigger only passes through and triggers the second detection component once, providing a structural basis for subsequent probe zero-position determination.

[0031] In some embodiments, the second trigger has an arc-shaped trigger portion that extends along the rotation direction of the trigger to increase the triggering time of the second trigger on the second detection component.

[0032] In some embodiments, the second trigger is connected to the rotating shaft via a second speed reduction transmission mechanism to rotate under the drive of the rotating shaft.

[0033] In some embodiments, the second reduction transmission mechanism is a gear reduction mechanism, which includes a small gear fixedly mounted on the rotating shaft and a large gear serving as the output end of the gear reduction mechanism. The second trigger is disposed on the large gear and can rotate with the large gear. The second detection component is disposed on the rotation path of the second trigger and is used to detect the second trigger.

[0034] In some embodiments, the transmission ratio of the second reduction gear is greater than or equal to 2.

[0035] In some embodiments, the position detection module is at least one of a photoelectric detection module, a magnetic signal detection module, and a force signal detection module.

[0036] In some embodiments, the first trigger is fixedly connected to the output shaft of the motor and rotates under the drive of the motor.

[0037] In some embodiments, the angle detection module is mounted at the rear end of the motor.

[0038] In some embodiments, the angle detection module is an encoder.

[0039] In some embodiments, the output shaft of the motor is connected to the rotating shaft via a first reduction gear mechanism to drive the rotating shaft and the head to rotate; the first reduction gear mechanism is a single-stage transmission structure.

[0040] In some embodiments, the first speed reduction transmission mechanism is a pulley transmission mechanism, which includes a driving pulley, a driven pulley, and a transmission belt. The driving pulley is fixedly mounted on the output shaft of the motor, the driven pulley is fixedly mounted on the rotating shaft, and the transmission belt is sleeved on the driving pulley and the driven pulley.

[0041] In some embodiments, the transmission ratio of the first reduction gear is greater than or equal to 1.4.

[0042] Some embodiments of this application also provide an intracavitary ultrasound probe, including:

[0043] A sound head, used to emit and receive ultrasonic signals;

[0044] A rotating shaft, on which the sound head is mounted;

[0045] The motor, wherein the output shaft of the motor is connected to the rotating shaft via a first reduction transmission mechanism to drive the rotating shaft and the sound head to rotate, and the first reduction transmission mechanism is a single-stage transmission structure.

[0046] According to the intracavitary ultrasound probe shown in the above embodiment, the output shaft of the motor is connected to the rotating shaft via a first reduction gear transmission mechanism, which is a single-stage transmission structure. Compared to existing intracavitary ultrasound probes where the motor output shaft is connected to the rotating shaft via a two-stage or more reduction gear transmission structure, this single-stage transmission structure can reduce transmission accuracy errors in the transmission structure, thereby reducing backlash in the transmission fit and improving transmission precision.

[0047] In some embodiments, the first speed reduction transmission mechanism is a pulley transmission mechanism, which includes a driving pulley, a driven pulley, and a transmission belt. The driving pulley is fixedly mounted on the output shaft of the motor, the driven pulley is fixedly mounted on the rotating shaft, and the transmission belt is sleeved on the driving pulley and the driven pulley.

[0048] In some embodiments, the transmission ratio of the first reduction gear is greater than or equal to 1.4.

[0049] In some embodiments, the output torque of the motor is more than three times the static torque. Attached Figure Description

[0050] Figure 1 This is a schematic diagram of the internal structure of an intracavitary ultrasound probe in some embodiments of this application;

[0051] Figure 2 This is a schematic diagram of the drive structure between the motor and the rotating shaft in some embodiments of this application. In this case, the position detection module is installed at the rear end of the motor.

[0052] Figure 3 This is a schematic diagram of the drive structure between the motor and the rotating shaft in some embodiments of this application. In this case, the position detection module is installed at the rear end of the rotating shaft.

[0053] Figure 4 This is a schematic diagram of the structure in some embodiments of this application, showing the second trigger element disposed on the large gear of the second reduction transmission mechanism;

[0054] Figure 5 This is a partial enlarged view of the drive structure between the motor and the rotating shaft in some embodiments of this application. In this case, the position detection module is installed at the rear end of the motor.

[0055] Figure 6 This is a schematic diagram of the housing of an intracavitary ultrasound probe in some embodiments of this application. Detailed Implementation

[0056] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of this application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to this application are not shown or described in the specification. This is to avoid obscuring the core parts of this application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0057] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0058] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0059] During the use of intracavitary ultrasound probes, the probe head needs to rotate a certain angle along its rotation axis. Existing probe rotation angles are typically less than 360°. Therefore, during the motor-driven rotation of the probe head, the encoder (angle detection module) only passes through and triggers the 0 position once, which can be considered the zero position (i.e., zero point position) of the motor and probe head. However, as the required probe rotation angle increases, for example, when the required angle is greater than or equal to 360°, the encoder will pass through the 0 position multiple times during the motor-driven rotation, making it difficult to determine the current zero position of the motor and probe head using the encoder alone. To solve these problems, this application proposes a combined structure of the angle detection module's detection signal and a position detection module to provide a structural basis for probe zero-position determination.

[0060] Please refer to Figure 1 In some embodiments of this application, the intracavitary ultrasound probe includes a sound head 100, a rotating shaft 200, a motor 300, an angle detection module 400, a position detection module 500, and a control unit (not shown in the figure). Of course, in other embodiments, the intracavitary ultrasound probe may also include other related components based on other functional requirements, such as a housing 600 (e.g., Figure 6 (as shown in the figure), these structures can be referenced from existing intracavitary ultrasound probes.

[0061] The acoustic probe 100, used to emit and receive ultrasonic signals, is mounted on the rotating shaft 200. The motor 300 is connected to the rotating shaft 200 to drive both the shaft and the acoustic probe 100 to rotate. This connection is capable of transmitting both motion and force. The connection between the motor 300 and the rotating shaft 200 can be, but is not limited to, gear transmission, pulley transmission, or rope transmission. For specific examples of the connection between the motor 300 and the rotating shaft 200, refer to existing intracavitary ultrasonic probes.

[0062] The angle detection module 400 is used to prevent a target object (such as a motor 300, rotating shaft 200, sound head 100, or other components) from colliding at its maximum rotation angle. For example, it prevents collisions by detecting the rotation angle of the target object (such as a motor 300, rotating shaft 200, sound head 100, or other components). The angle detection module 400 may employ, for example, but is not limited to, components such as an encoder. The angle detection module 400 may include a first trigger 410 and a first detection component 420 for detecting the first trigger 410. In some embodiments, the first trigger 410 is drive-connected to the motor 300 and rotates under the drive of the motor 300. The first trigger 410 may rotate synchronously with the output shaft of the motor 300, for example, by being directly connected to the output shaft of the motor 300. Alternatively, in some embodiments, the first trigger 410 can also be connected to the output shaft of the motor 300 via a transmission mechanism. In this case, the angular velocity of the first trigger 410 can be less than the angular velocity of the output shaft of the motor 300. During the movement of the first trigger 410, the first trigger 410 can trigger the first detection component 420 to generate different signals. Based on these different signals, the position of the first trigger 410 can be determined, and thus the rotation angle of the first trigger 410 can be determined (the specific determination process can refer to the prior art). Based on the angular velocity relationship between the first trigger 410 and the target object (such as the motor 300, the rotating shaft 200, the sound head 100, or other components), the rotation angle and position of the corresponding target object can be obtained. For example, when the angle detection module 400 is an encoder, the first trigger 410 may include a code disk, and the first detection component 420 may include a light emitting unit and a light receiving unit. Different signals can be generated on the light receiving unit when the code disk rotates, and the position and rotation angle of the code disk can be determined based on these signals.

[0063] The first trigger 410 has a zero-position reference section (such as a zero-position optical aperture on a code disk or other forms of structure used to help determine the zero point). When the rotation angle of the first trigger 410 is less than 360°, if the zero-position reference section triggers the first detection component 420, the first trigger 410 can be identified as being in the zero position. However, as mentioned above, since the first trigger 410 is directly or indirectly driven by the motor 300, when the rotation angle of the output shaft of the motor 300 is large, it may also cause the rotation angle of the first trigger 410 to be greater than or equal to 360°. During this rotation process, the zero-position reference section will enter the detection area of ​​the first detection component 420 multiple times, thereby triggering the first detection component 420 multiple times. However, not every trigger corresponds to the zero position.

[0064] The aforementioned angle detection module 400 is used to acquire the rotation angle of the motor 300, rotating shaft 200, sound head 100, or other target objects. The position detection module 500 differs from the angle detection module 400; it is primarily used to acquire specific position signals to aid in determining the zero position. In some embodiments, the position detection module 500 may employ at least one of existing photoelectric detection modules, magnetic signal detection modules, and force signal detection modules.

[0065] The position detection module 500 can be connected to the rotating shaft 200 or other components driven by the motor 300, or it can be connected to the motor 300 via an independent transmission mechanism. The position detection module 500 includes a second trigger element 510 (such as a stop that can trigger a photoelectric switch or a trigger element with a notch) and a second detection component 520 (such as a photoelectric switch) for detecting the second trigger element 510. The second trigger element 510 is connected to the motor 300 and rotates under the drive of the motor 300. When the second trigger element 510 triggers the second detection component 520, the second detection component 520 receives a corresponding detection signal. This position detection module 500 is a structure in the prior art capable of realizing specific position detection, such as a photoelectric switch, position switch, limit switch, etc., and its specific detection principle can be found in the prior art.

[0066] Both the angle detection module 400 and the position detection module 500 are electrically connected to the control unit to send the obtained detection signals to the control unit. The first trigger 410 and the second trigger 510 are ultimately driven by the motor 300. Therefore, by setting the transmission ratio of the first trigger 410 relative to the motor 300, and the transmission ratio of the second trigger 510 to the motor 300, the angular velocity of the second trigger 510 can be made less than that of the first trigger 410. That is, when the first trigger 410 rotates in the same direction, the rotation angle of the second trigger 510 is less than that of the first trigger 410. For example, in some embodiments, by setting the transmission ratio, when the first trigger 410 rotates to its maximum angle in the same direction, the second trigger 510 only triggers the second detection component 520 once during this process.

[0067] By setting the transmission ratio, the zero-position reference unit of the angle detection module 400 is ultimately triggered once during the maximum rotational stroke of the motor, rotating shaft, or sound head in the forward (e.g., clockwise) and / or reverse (e.g., counterclockwise) directions, corresponding to a trigger time in the zero-position reference unit. For example, the trigger times overlap or differ within a specified time. At this time, the motor 300, rotating shaft 200, and sound head 100 are at the zero position during that trigger time of the zero-position reference unit. That is, in these embodiments, by adding a position detection module 500 and simultaneously designing the transmission ratio, the trigger time of one position detection module 500 can be related to a trigger time of the zero-position reference unit. This can be achieved entirely through mechanical structure design using the transmission ratio, providing a structural basis for subsequent probe zero-position determination. Therefore, this structure can provide a structural basis for subsequent probe zero-position determination. The trigger time of the zero-position reference unit is the time corresponding to the probe zero position. Regarding how to determine the relationship between the trigger time of the zero-position reference unit and the trigger time of the position detection module 500, existing technologies can be referenced. For example, existing technologies employ methods that determine whether the two trigger times overlap or differ by a specific time by knowing the trigger times of the two detection modules and then comparing the times. Such methods are common in existing technologies, and therefore will not be elaborated upon here. Once it is determined which trigger time of the zero-position reference unit corresponds to the zero position, the probe can perform corresponding operations for that zero position, as can be seen in the operation of existing ultrasonic probes.

[0068] Furthermore, in some embodiments, the motor 300 drives the rotating shaft 200 to rotate, thereby driving the sound head 100 to rotate. During the maximum rotational stroke of the rotating shaft 200 in the forward and / or reverse direction, the zero-position reference part of the first trigger 410 triggers the first detection component 420 at least twice, while the second trigger 420 can only trigger the second detection component 520 once.

[0069] Furthermore, in some embodiments, the maximum rotation angle of the rotating shaft 200 in the forward and / or reverse directions is greater than or equal to 360°. That is, the maximum rotation angle of the head 100 about the axial direction of the rotating shaft 200 is greater than or equal to 360°. When the maximum rotation angle of the rotating shaft 200 in the forward and / or reverse directions is greater than or equal to 360°, due to the design of the reduction transmission mechanism between the motor 300 and the rotating shaft 200, the rotation angle of the output shaft of the motor 300 will typically be greater than 360°, and may even reach more than 720°.

[0070] Furthermore, in order to reduce the requirements for the structural assembly and component manufacturing precision of the transmission mechanism, in some embodiments, please refer to... Figure 4 and 5 In some embodiments, the second trigger 510 has an arc-shaped trigger portion 511 arranged along its rotation direction to increase the triggering time of the position detection module 500. Figure 4 In the illustrated embodiment, the arc-shaped trigger part 511 is an arc-shaped stop, but in other embodiments, the arc-shaped trigger part 511 can also be an arc-shaped notch, as long as it can trigger the second detection component 520.

[0071] Further, please refer to Figure 1 , 2 In some embodiments, the angle detection module 400 is connected to the motor 300, and the output shaft of the motor 300 is connected to the rotating shaft 200 through the first reduction transmission mechanism 700 to drive the rotating shaft 200 and the head 100 to rotate, thereby increasing the speed and torque.

[0072] Based on this, in order to utilize the existing first reduction transmission mechanism 700 to achieve the angular velocity relationship between the second trigger 510 and the first trigger 410, in some embodiments, the second trigger 510 is connected to the rotating shaft 200 via the second reduction transmission mechanism 800, so that it rotates under the drive of the rotating shaft 200. Through the deceleration effect of the first reduction transmission mechanism 700 and the second reduction transmission mechanism 800, the angular velocity of the second trigger 510 is made less than that of the first trigger 410, and when the first trigger 410 rotates to its maximum angle in the same direction, the second trigger 510 only triggers the second zero-position reference signal once. In this embodiment, the existing structure of the first reduction transmission mechanism 700 can be fully utilized to achieve the deceleration purpose of the second trigger 510, making the entire structure more compact and simplified, which is beneficial for miniaturization of the overall size.

[0073] Furthermore, in some embodiments, the transmission ratio of the first reduction gear 700 is greater than or equal to 1.4. In some embodiments, the transmission ratio of the second reduction gear 800 is greater than or equal to 2.

[0074] Of course, in other embodiments, the second trigger 510 may not be connected to the rotating shaft 200, but may be connected to the output end of the motor 300 through a separately provided second reduction transmission structure, as long as the aforementioned angular velocity relationship between the second trigger 510 and the second trigger 510 can be satisfied.

[0075] Furthermore, the first reduction transmission mechanism 700 and / or the second reduction transmission mechanism 800 may adopt, but are not limited to, a single-stage transmission structure, a two-stage transmission structure, and more levels of transmission structure. The transmission method of the first reduction transmission mechanism 700 and / or the second reduction transmission mechanism 800 may adopt, but is not limited to, gear meshing transmission, pulley transmission, rope transmission, or other methods.

[0076] Further, please refer to Figure 5In some embodiments, the first reduction transmission mechanism 700 is a pulley transmission mechanism, which includes a driving pulley 710, a driven pulley 720 and a transmission belt 730. The driving pulley 710 is fixedly mounted on the output shaft of the motor 300, the driven pulley 720 is fixedly mounted on the rotating shaft 200, and the transmission belt 730 is sleeved on the driving pulley 710 and the driven pulley 720.

[0077] Typically, in gear reduction transmission mechanisms using meshing engagement, the backlash between teeth can easily lead to backlash, which in turn causes inaccurate control. Therefore, please refer to [further details needed]. Figure 5 ,exist Figure 5 In the illustrated embodiment, the first reduction transmission mechanism 700 is a single-stage transmission structure. Compared to existing intracavitary ultrasonic probes where the output shaft of the motor 300 is connected to the rotating shaft 200 via a two- or more-stage reduction transmission structure, this single-stage transmission structure reduces transmission accuracy errors in the transmission structure, thereby reducing backlash in the transmission engagement and improving transmission precision. Of course, besides... Figure 5 In addition to the single-stage reduction belt pulley transmission mechanism shown, the first reduction transmission mechanism 700 can also be a single-stage transmission gear meshing structure, etc.

[0078] In some further embodiments, based on the single-stage transmission structure, in order to increase the torque acting on the rotating shaft 200, the output torque of the motor 300 can be more than three times the static torque.

[0079] Further, please refer to Figure 4 and 5 In some embodiments, the second reduction transmission mechanism 800 is a gear reduction mechanism, which includes a small gear 810 fixedly mounted on the rotating shaft 200 and a large gear 820 serving as the output end of the gear reduction mechanism. The second trigger member 510 is disposed on the large gear 820 and can rotate with the large gear 820. The second detection component 520 is disposed on the movement path of the second trigger member 510. When the second trigger member 510 moves to the detection area of ​​the second detection component 520, it is triggered. In this embodiment, the second reduction transmission mechanism 800 can reduce the speed of the second trigger member 510 to achieve the desired angular velocity relationship between the second trigger member 510 and the first trigger member 410.

[0080] Further, please refer to Figure 2 and 5 In some embodiments, the position detection module 500 is mounted at the rear end of the motor 300. Alternatively, the position detection module 500 can be mounted not only at the rear end of the motor 300, but also at the front end of the motor 300 (i.e., the end from which its output shaft extends). Or, in some embodiments, please refer to... Figure 3The position detection module 500 can also be mounted on the rotating shaft 200. Of course, the position detection module 500 can be fixed to the rotating shaft 200 to form a direct connection, or it can be connected to the shaft via a speed reduction transmission mechanism.

[0081] In some embodiments, the first trigger 410 of the position detection module 500 can be connected to the output shaft of the motor 300 via a reduction gear mechanism, thereby reducing the angular velocity of the first trigger 410. However, the meshing structure in the reduction gear mechanism is prone to backlash, which can easily lead to incorrect detection by the position detection module 500. Therefore, please refer to... Figure 2 and 5 In some embodiments, the first trigger 410 is fixedly connected to the output shaft of the motor 300, forming a direct connection. In this structure, the direct connection between the first trigger 410 and the output shaft of the motor 300 eliminates the backlash problem associated with a speed reduction transmission mechanism.

[0082] The above examples illustrate the present invention only to aid in understanding it and are not intended to limit the scope of the invention. Those skilled in the art can make various simple deductions, modifications, or substitutions based on the principles of this invention.

Claims

1. An intracavitary ultrasound probe, characterized in that, include: A sound head, used to emit and receive ultrasonic signals; A rotating shaft, on which the sound head is mounted; The motor has its output shaft connected to the rotating shaft via a first reduction transmission mechanism to drive the rotating shaft and the sound head to rotate. The maximum rotation angle of the rotating shaft in the forward and / or reverse directions is greater than or equal to 360°. The first reduction transmission mechanism is a single-stage transmission structure. An angle detection module, the angle detection module includes a first trigger and a first detection component for detecting the first trigger, the first trigger is fixedly connected to the output shaft of the motor and rotates under the drive of the motor; The first trigger has a zero-position reference section; A position detection module, comprising a second trigger and a second detection component for detecting the second trigger, wherein the second trigger is connected to the rotating shaft via a second reduction transmission mechanism to rotate under the drive of the rotating shaft; The angle detection module and the position detection module are both electrically connected to the control unit. The angular velocity of the second trigger is less than that of the first trigger, such that during the maximum rotational stroke of the rotating shaft in the positive and / or negative directions, the zero-position reference portion can pass through and trigger the first detection component at least twice, while the second trigger passes through and triggers the second detection component only once.

2. The intracavitary ultrasound probe as described in claim 1, characterized in that, The second trigger has an arc-shaped trigger portion that extends along the rotation direction of the trigger to increase the triggering time of the second trigger on the second detection component.

3. The intracavitary ultrasound probe as described in claim 1, characterized in that, The second reduction transmission mechanism is a gear reduction mechanism, which includes a small gear fixedly mounted on the rotating shaft and a large gear serving as the output end of the gear reduction mechanism. The second trigger is located on the large gear and can rotate with the large gear. The second detection component is located on the rotation path of the second trigger and is used to detect the second trigger.

4. The intracavitary ultrasound probe as described in claim 1, characterized in that, The transmission ratio of the second reduction transmission mechanism is greater than or equal to 2.

5. The intracavitary ultrasound probe as described in claim 1, characterized in that, The position detection module is at least one of a photoelectric detection module, a magnetic signal detection module, and a force signal detection module.

6. The intracavitary ultrasound probe as described in claim 1, characterized in that, The angle detection module is installed at the rear end of the motor.

7. The intracavitary ultrasound probe as described in claim 1, characterized in that, The degree detection module is an encoder.

8. The intracavitary ultrasound probe as described in claim 1, characterized in that, The first speed reduction transmission mechanism is a pulley transmission mechanism, which includes a driving pulley, a driven pulley, and a transmission belt. The driving pulley is fixedly installed on the output shaft of the motor, the driven pulley is fixedly installed on the rotating shaft, and the transmission belt is sleeved on the driving pulley and the driven pulley.

9. The intracavitary ultrasound probe as described in claim 1, characterized in that, The transmission ratio of the first speed reduction transmission mechanism is greater than or equal to 1.

4.

10. The intracavitary ultrasound probe according to any one of claims 1-9, characterized in that, The maximum rotation angle of the rotating shaft in the forward and / or reverse directions is greater than or equal to 720°.

11. An intracavitary ultrasound probe, characterized in that, include: A sound head, used to emit and receive ultrasonic signals; A rotating shaft, on which the sound head is mounted; An electric motor is connected to the rotating shaft for driving the rotating shaft and the sound head to rotate; An angle detection module, the angle detection module includes a first trigger and a first detection component for detecting the first trigger, the first trigger is connected to the motor and rotates under the drive of the motor; The first trigger has a zero-position reference section; A position detection module, comprising a second trigger and a second detection component for detecting the second trigger, wherein the second trigger is connected to the motor and rotates under the drive of the motor; The angle detection module and the position detection module are both electrically connected to the control unit. Wherein, the angular velocity of the second trigger is less than that of the first trigger, such that during the maximum rotational stroke of the rotating shaft in the forward and / or reverse directions, the zero-position reference part can pass through and trigger the first detection component at least twice, while the second trigger passes through and triggers the second detection component only once.

12. The intracavitary ultrasound probe as described in claim 11, characterized in that, The maximum rotation angle of the rotating shaft in the forward and / or reverse directions is greater than or equal to 360°.

13. The intracavitary ultrasound probe as described in claim 11, characterized in that, The second trigger has an arc-shaped trigger portion that extends along the rotation direction of the trigger to increase the triggering time of the second trigger on the second detection component.

14. The intracavitary ultrasound probe as described in claim 11, characterized in that, The second trigger is connected to the rotating shaft via a second speed reduction transmission mechanism, so that it rotates under the drive of the rotating shaft.

15. The intracavitary ultrasound probe as described in claim 14, characterized in that, The second reduction transmission mechanism is a gear reduction mechanism, which includes a small gear fixedly mounted on the rotating shaft and a large gear serving as the output end of the gear reduction mechanism. The second trigger is located on the large gear and can rotate with the large gear. The second detection component is located on the rotation path of the second trigger and is used to detect the second trigger.

16. The intracavitary ultrasound probe as described in claim 14, characterized in that, The transmission ratio of the second reduction transmission mechanism is greater than or equal to 2.

17. The intracavitary ultrasound probe as described in claim 11, characterized in that, The position detection module is at least one of a photoelectric detection module, a magnetic signal detection module, and a force signal detection module.

18. The intracavitary ultrasound probe as described in claim 11, characterized in that, The first trigger is fixedly connected to the output shaft of the motor and rotates under the drive of the motor.

19. The intracavitary ultrasound probe as described in claim 18, characterized in that, The angle detection module is installed at the rear end of the motor.

20. The intracavitary ultrasound probe as described in claim 18, characterized in that, The angle detection module is an encoder.

21. The intracavitary ultrasound probe as described in claim 11, characterized in that, The output shaft of the motor is connected to the rotating shaft via a first reduction transmission mechanism to drive the rotating shaft and the sound head to rotate; the first reduction transmission mechanism is a single-stage transmission structure.

22. The intracavitary ultrasound probe as described in claim 21, characterized in that, The first speed reduction transmission mechanism is a pulley transmission mechanism, which includes a driving pulley, a driven pulley, and a transmission belt. The driving pulley is fixedly installed on the output shaft of the motor, the driven pulley is fixedly installed on the rotating shaft, and the transmission belt is sleeved on the driving pulley and the driven pulley.

23. The intracavitary ultrasound probe as described in claim 22, characterized in that, The transmission ratio of the first speed reduction transmission mechanism is greater than or equal to 1.

4.

24. An intracavitary ultrasound probe, characterized in that, include: A sound head, used to emit and receive ultrasonic signals; A rotating shaft, on which the sound head is mounted; The motor, wherein the output shaft of the motor is connected to the rotating shaft via a first reduction transmission mechanism to drive the rotating shaft and the sound head to rotate, and the first reduction transmission mechanism is a single-stage transmission structure.

25. The intracavitary ultrasound probe as described in claim 24, characterized in that, The first speed reduction transmission mechanism is a pulley transmission mechanism, which includes a driving pulley, a driven pulley, and a transmission belt. The driving pulley is fixedly installed on the output shaft of the motor, the driven pulley is fixedly installed on the rotating shaft, and the transmission belt is sleeved on the driving pulley and the driven pulley.

26. The intracavitary ultrasound probe as described in claim 24, characterized in that, The transmission ratio of the first speed reduction transmission mechanism is greater than or equal to 1.

4.

27. The intracavitary ultrasound probe according to any one of claims 24-26, characterized in that, The output torque of the motor is more than three times the static torque.

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