Automatic scanning mechanism of ultrasonic probe

Abstract

The utility model discloses an ultrasonic probe automatic scanning mechanism which comprises a probe clamping mechanism, the probe clamping mechanism comprises a mounting plate and a probe mounting support, a probe is fixedly mounted on the probe mounting support, and the mounting plate is connected with the probe mounting support through a linear floating assembly; a force sensor is fixedly arranged on the mounting plate, the probe mounting bracket is fixedly connected with a pressing rod, and the other end of the pressing rod is contacted with the force sensor; the device further comprises a servo driving mechanism, the servo driving mechanism comprises an X-axis movement mechanism and a Z-axis movement mechanism, the probe clamping mechanism is fixed to a sliding base of the Z-axis movement mechanism, the Z-axis movement mechanism drives the probe clamping mechanism to move up and down along the Z axis, and the X-axis movement mechanism drives the Z-axis movement mechanism to move linearly along the X axis. According to the utility model, the contact pressure of the probe and the back of a human body can be monitored in real time in the automatic scanning process, the probe is always kept in contact with the back of the human body, the probe is protected from overlarge force, and the reliability of automatic scanning is improved.

Description

Technical Field

[0001] This utility model relates to the field of medical equipment technology, specifically to an automatic scanning mechanism for an ultrasound probe. Background Technology

[0002] Currently, the market mainly relies on the following methods for screening and diagnosing spinal problems: 1. Physical examination, where doctors visually observe the degree and position of the patient's spine; 2. X-ray, the primary means of diagnosing scoliosis, which clearly shows the shape and angle of the spine; 3. MRI and CT scans, where doctors perform MRI or CT scans, providing more detailed images of the spine to help determine if any lesions are present. However, screening for minor spinal problems using these methods is inconvenient, and X-ray, MRI, or CT scans incur high examination costs.

[0003] Ultrasound imaging is an important examination method for the spine, providing a direct view of its structure and any lesions. Currently, existing ultrasound diagnostic methods are primarily manual, which presents two main problems: 1. Examination results depend heavily on the doctor's experience and technique; 2. It increases the workload for doctors. Advances in science and technology have spurred the development of automated scanning methods to replace manual scanning, and there are already relevant cases and patented technologies for automated ultrasound scanning. For example, Chinese utility model patent CN207707938U (authorization announcement date: August 10, 2018) discloses an automatic scanning device for long-distance three-dimensional ultrasound probes. This device includes a first vertical support and a second vertical support hinged to one side of the first vertical support, forming a space between the first and second vertical supports for a patient with scoliosis to stand in. A vertical sliding mechanism is provided on the opposite side of the hinged side of the second vertical support. The vertical sliding mechanism includes a linear slide, a ball screw rotatably mounted on the linear slide, a slider mounted on the ball screw that can slide up and down along its axial direction, and a motor mounted on the top of the linear slide for driving the ball screw to rotate. A spring hinge is provided on the slider for applying a restoring force towards the patient's body, and a retractable rotating clamping mechanism is provided on the spring hinge for clamping the ultrasound probe. This utility model can automatically control the speed and displacement of the ultrasound probe's uniform linear motion, avoiding errors caused by human operation and improving the accuracy of diagnostic results. However, in the aforementioned patent, the retractable rotating clamping mechanism for holding the ultrasound probe is adjusted and fixed in length and angle before use, and a restoring force is applied to the patient's body through the spring hinge. During use, the angle of the ultrasound probe may rotate due to the rotation of the spring hinge, resulting in inaccurate detection results and unstable force value between the ultrasound probe and the human skin. Utility Model Content

[0004] To address the shortcomings of the existing technology, this invention provides an automatic scanning mechanism for an ultrasonic probe, which can monitor and adjust the pressure of the probe in contact with the back of the human body in real time, ensuring the reliability of automatic scanning.

[0005] To achieve the above-mentioned technical objectives, the technical solution adopted by this utility model is as follows:

[0006] An automatic scanning mechanism for an ultrasonic probe includes a probe clamping mechanism. The probe clamping mechanism includes a mounting plate and a probe mounting bracket. The probe is fixedly mounted on the probe mounting bracket. The mounting plate and the probe mounting bracket are connected by a linear floating component. A force sensor is fixedly mounted on the mounting plate. A pressure rod is fixedly connected to the probe mounting bracket. The other end of the pressure rod is in contact with the force sensor.

[0007] It also includes a servo drive mechanism, which includes an X-axis motion mechanism and a Z-axis motion mechanism. The mounting plate of the probe clamping mechanism is fixed on the slide of the Z-axis motion mechanism. The Z-axis motion mechanism is located above the X-axis motion mechanism. The Z-axis motion mechanism drives the probe clamping mechanism to move up and down along the Z-axis, and the X-axis motion mechanism drives the Z-axis motion mechanism to move linearly along the X-axis.

[0008] Furthermore, the linear floating assembly includes a linear bearing, a guide rod, and a spring. The linear bearing is fixed on the mounting plate, one end of the guide rod passes through the linear bearing, and the other end is fixed to the probe mounting bracket. The spring is sleeved on the guide rod and is positioned between the linear bearing and the probe mounting bracket.

[0009] Furthermore, the probe clamping mechanism is also equipped with a displacement sensor, which is communicatively connected to the X-axis motion mechanism.

[0010] Furthermore, it also includes a bottom support mechanism, with an X-axis motion mechanism located above the bottom support mechanism; the bottom support mechanism includes a support plate, with a first slide rail located above the support plate; the X-axis motion mechanism includes a slide saddle and an X-axis linear motion module, the X-axis linear motion module drives the slide saddle to move linearly along the X-axis, and a slider adapted to the first slide rail is located below the slide saddle.

[0011] Preferably, the X-axis linear motion module includes a first servo motor, a first lead screw, and a first nut assembly. The output shaft of the first servo motor is fixedly connected to the first lead screw, and the first nut assembly is threadedly connected to the first lead screw. The first nut assembly is fixedly located below the slide saddle.

[0012] Preferably, the first slide rail and slider are provided in two sets, which are arranged in parallel on both sides of the X-axis linear motion module.

[0013] Furthermore, the Z-axis motion mechanism includes a slide block, a Z-axis linear motion module, and a support frame. The support frame is vertically mounted above the X-axis motion mechanism, the Z-axis linear motion module is mounted on the support frame, and a second slide rail is vertically mounted on the support frame. The slide block is slidably connected to the second slide rail, and the Z-axis linear motion module drives the slide block to move up and down along the Z-axis.

[0014] Preferably, the Z-axis linear motion module includes a second servo motor, a second lead screw, and a second nut assembly. The output shaft of the second servo motor is fixedly connected to the second lead screw, the second nut assembly is threadedly connected to the second lead screw, and the second nut assembly is fixedly connected to a slide. The Z-axis linear motion module drives the slide to move up and down linearly.

[0015] Preferably, the second slide rail is provided in two sets, which are respectively located on both sides of the Z-axis linear motion module.

[0016] Furthermore, it also includes a control system, which is communicatively connected to the force sensor and the first servo motor. The control system receives the pressure value fed back by the force sensor and controls the working state of the first servo motor based on the comparison result between the pressure value and the preset value.

[0017] The beneficial effects of this utility model are:

[0018] The automatic scanning mechanism for an ultrasonic probe of this invention includes a force sensor in the probe clamping mechanism, which can monitor the pressure of the probe in contact with the back of the human body in real time. The X-axis motion mechanism drives the probe clamping mechanism to move along the X-axis, which can control the pressure value within a preset range. The Z-axis motion mechanism drives the probe clamping mechanism to move up and down along the Z-axis to achieve automatic scanning. This ensures that the probe always maintains contact with the back of the human body during the automatic scanning process while protecting the probe from excessive force, thus improving the reliability of automatic scanning.

[0019] The automatic ultrasound probe scanning mechanism of this invention is used for scanning the human spine in a standing position. It can reduce the labor intensity of ultrasound doctors and technicians, reduce the testing costs for patients or those being screened, and improve screening efficiency. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present utility model;

[0022] Figure 2 This is a schematic diagram of the probe clamping mechanism;

[0023] Figure 3 This is a schematic diagram of the X-axis motion mechanism;

[0024] Figure 4 This is a schematic diagram of the Z-axis motion mechanism;

[0025] Figure 5 This is a schematic diagram of the workflow of this utility model;

[0026] Figure 6 This is a schematic diagram of the application state of an embodiment of this utility model.

[0027] Reference numerals: 1-Probe clamping structure, 2-X-axis motion mechanism, 3-Z-axis motion mechanism, 4-Bottom support mechanism, 5-Probe, 11-Mounting plate, 12-Probe mounting bracket, 13-Force sensor, 14-Pressure rod, 15-Linear bearing, 16-Guide rod, 17-Spring, 18-Displacement sensor; 21-Sliding saddle plate, 22-X-axis linear motion module, 23-Slider, 31-Sliding seat, 32-Z-axis linear motion module, 33-Support frame, 41-Support plate, 42-First slide rail, 43-Cast wheel. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0029] An automatic scanning mechanism for an ultrasonic probe, such as Figures 1-4As shown, the device includes a probe clamping mechanism 1, which includes a mounting plate 11 and a probe mounting bracket 12. The probe 5 is fixedly mounted on the probe mounting bracket 12, and the mounting plate 11 and the probe mounting bracket 12 are connected by a linear floating assembly. A force sensor 13 is fixedly mounted on the mounting plate 11, and a pressure rod 14 is fixedly connected to the probe mounting bracket 12. The other end of the pressure rod 14 is in contact with the force sensor 13. The device also includes a servo drive mechanism, which includes an X-axis motion mechanism 2 and a Z-axis motion mechanism 3. The X-axis motion mechanism 2 includes a sliding saddle plate 21 and an X-axis linear motion module 22. The X-axis linear motion module drives the sliding saddle plate 21 to move linearly along the X-axis. The Z-axis motion mechanism 3 is mounted on the sliding saddle plate 21 and includes a slide block 31 and a Z-axis linear motion module 32. The Z-axis linear motion module 32 drives the slide block 31 to move up and down along the Z-axis. The probe clamping mechanism 1 is mounted on the slide block 31 of the Z-axis motion mechanism. The X-axis motion mechanism 2 drives the probe clamping mechanism 1 to move linearly along the X-axis, adjusting the distance between the probe and the human body. The Z-axis motion mechanism 3 drives the probe clamping mechanism 1 to move up and down along the Z-axis, realizing automatic scanning of the spine of the human body in a standing position. The pressure rod 14 of the probe clamping mechanism 1 and the probe mounting bracket 12 move synchronously with the probe 4. The pressure rod 14 transmits the force to the force sensor 13, which measures the pressure of the probe in contact with the back of the human body in real time.

[0030] Preferably, the linear floating assembly includes a linear bearing 15, a guide rod 16, and a spring 17. The linear bearing 15 is fixed on the mounting plate 11. One end of the guide rod 16 passes through the linear bearing 15, and the other end is fixed to the probe mounting bracket 12. The spring 17 is sleeved on the guide rod 16 and is disposed between the linear bearing 15 and the probe mounting bracket 12.

[0031] Furthermore, the probe clamping mechanism 1 is also equipped with a displacement sensor 18, which is used to measure the distance between itself and the patient's back. The displacement sensor 18 is communicatively connected to the X-axis motion mechanism 2. Figure 6 As shown, when the test subject or patient stands in the testing position, the initial distance D between the probe clamping mechanism 1 and the patient's back varies due to differences in body size. This means that the probe clamping mechanism 1 moves differently in the X-axis direction to ensure the probe contacts the patient's back. To prevent the probe clamping mechanism 1 from moving too quickly and impacting the patient's back, the X-axis motion mechanism 2's speed is reduced as it approaches the patient's back. At this time, the displacement sensor 18 detects the distance between the X-axis motion mechanism 2 and the patient's back. When this distance reaches a preset value, the speed of the X-axis motion mechanism 2 is reduced. For example, the system presets that when the displacement sensor detects a distance of 100mm from the patient's back, the X-axis motion mechanism 2 begins to decelerate.

[0032] Preferably, the mechanism further includes a bottom support mechanism 4, with the X-axis motion mechanism 2 positioned above the bottom support mechanism 4. The bottom support mechanism 4 includes a support plate 41, a first slide rail 42 positioned above the bottom support mechanism 4, and a slider 23 adapted to the first slide rail 42 positioned below the slide saddle plate 21. Furthermore, casters 43 are provided at the four corners of the lower part of the support plate 41 to facilitate overall movement of the mechanism.

[0033] The X-axis linear motion module 22 includes a first servo motor, a first lead screw, and a first nut assembly. The output shaft of the first servo motor is fixedly connected to the first lead screw, and the first nut assembly is threadedly connected to the first lead screw. The first nut assembly is fixed below the slide saddle plate 21. Preferably, the first slide rail 42 and the slider 23 are provided in two sets, which are parallel to each other on both sides of the X-axis linear motion module 22.

[0034] The Z-axis motion mechanism 3 includes a support frame 33, which is vertically mounted above the slide saddle 21. A Z-axis linear motion module 32 is mounted on the support frame 33. A second slide rail is vertically mounted on the support frame 33, and a slide block 31 is slidably connected to the second slide rail. The Z-axis linear motion module 32 includes a second servo motor, a second lead screw, and a second nut assembly. The output shaft of the second servo motor is fixedly connected to the second lead screw, and the second nut assembly is threadedly connected to the second lead screw. The second nut assembly is fixedly connected to the slide block 31. The Z-axis linear motion module 32 drives the slide block 31 to move linearly up and down. Preferably, two sets of the second slide rail are provided, located on both sides of the Z-axis linear motion module.

[0035] Furthermore, it also includes a control system, which is communicatively connected to the force sensor and the first servo motor. The control system receives the pressure value fed back by the force sensor and controls the working state of the first servo motor based on the comparison result between the pressure value and the preset value.

[0036] The process of performing a standing spinal scan using the automatic ultrasound probe scanning mechanism of this invention is as follows: Figure 5 As shown:

[0037] The patient stands on the platform, the doctor enters the patient's basic information, applies the appropriate medium to the patient's back, and activates the scanning function. The X-axis motion mechanism moves the probe clamping mechanism along the X-axis until the displacement sensor detects that the distance between the probe and the patient's back reaches a preset value. The X-axis motion mechanism then decelerates, allowing the probe to continue moving until it contacts the patient's back skin, and continues moving until the pressure value monitored by the force sensor reaches a preset value. The control system determines whether the current monitored pressure value exceeds the preset pressure value. If so, the system pauses. If not, the second servo motor of the Z-axis motion mechanism starts working, moving the probe clamping mechanism downwards for scanning. During this process, the force sensor provides real-time feedback on the pressure value, and the control system continuously checks whether the current pressure value exceeds the preset pressure value. If so, the system pauses; if not, compensation is made to the X-axis based on the difference between the current pressure value and the preset pressure value, i.e., the first servo motor is activated, moving the probe clamping mechanism along the X-axis. This process is repeated until the scan is complete, and the patient leaves the platform.

[0038] This invention relates to an automatic ultrasound probe scanning mechanism. The probe clamping mechanism is equipped with a force sensor that monitors the pressure of the probe against the back of the human body in real time. An X-axis motion mechanism drives the probe clamping mechanism to move along the X-axis, controlling the pressure value within a preset range. A Z-axis motion mechanism moves the probe clamping mechanism up and down along the Z-axis to achieve automatic scanning. Using this automatic ultrasound probe scanning mechanism for standing spinal scanning can reduce the workload of ultrasound doctors and technicians, lower testing costs for patients or those being screened, and improve screening efficiency.

[0039] Of course, there may be other embodiments of this utility model. Without departing from the spirit and essence of this utility model, those skilled in the art can make various corresponding changes and modifications based on this utility model, but these corresponding changes and modifications should all fall within the protection scope of the appended claims of this utility model.

Claims

1. An automatic scanning mechanism for an ultrasonic probe, characterized in that: The device includes a probe clamping mechanism (1), which includes a mounting plate (11) and a probe mounting bracket (12). The probe (5) is fixedly mounted on the probe mounting bracket (12), and the mounting plate (11) and the probe mounting bracket (12) are connected by a linear floating assembly. A force sensor (13) is fixedly mounted on the mounting plate (11), and a pressure rod (14) is fixedly connected to the probe mounting bracket (12). The other end of the pressure rod (14) is in contact with the force sensor (13). It also includes a servo drive mechanism, which includes an X-axis motion mechanism (2) and a Z-axis motion mechanism (3). The mounting plate (11) of the probe clamping mechanism (1) is fixed on the slide (31) of the Z-axis motion mechanism. The Z-axis motion mechanism (3) is located above the X-axis motion mechanism (2). The Z-axis motion mechanism (3) drives the probe clamping mechanism (1) to move up and down along the Z-axis, and the X-axis motion mechanism (2) drives the Z-axis motion mechanism (3) to move linearly along the X-axis.

2. The automatic scanning mechanism for an ultrasonic probe according to claim 1, characterized in that: The linear floating assembly includes a linear bearing (15), a guide rod (16), and a spring (17). The linear bearing (15) is fixed on the mounting plate (11). One end of the guide rod (16) passes through the linear bearing (15), and the other end is fixed to the probe mounting bracket (12). The spring (17) is sleeved on the guide rod (16) and is located between the linear bearing (15) and the probe mounting bracket (12).

3. The automatic scanning mechanism for an ultrasonic probe according to claim 2, characterized in that: The probe clamping mechanism (1) is also equipped with a displacement sensor (18), which is communicatively connected to the X-axis motion mechanism (2).

4. The automatic scanning mechanism for an ultrasonic probe according to claim 1, characterized in that: It also includes a bottom support mechanism (4), and an X-axis motion mechanism (2) is located above the bottom support mechanism (4); the bottom support mechanism (4) includes a support plate (41), and a first slide rail (42) is provided above the support plate (41); the X-axis motion mechanism (2) includes a slide saddle plate (21) and an X-axis linear motion module (22), the X-axis linear motion module (22) drives the slide saddle plate (21) to move linearly along the X-axis, and a slider (23) adapted to the first slide rail (42) is provided below the slide saddle plate (21).

5. The automatic scanning mechanism for an ultrasonic probe according to claim 4, characterized in that: The X-axis linear motion module (22) includes a first servo motor, a first lead screw, and a first nut assembly. The output shaft of the first servo motor is fixedly connected to the first lead screw, and the first nut assembly is threadedly connected to the first lead screw. The first nut assembly is fixedly located below the slide saddle plate (21).

6. The automatic scanning mechanism for an ultrasonic probe according to claim 5, characterized in that: The first slide rail (42) and slider (23) are provided in two sets, which are arranged in parallel on both sides of the X-axis linear motion module (22).

7. The automatic scanning mechanism for an ultrasonic probe according to claim 1, characterized in that: The Z-axis motion mechanism (3) includes a slide (31), a Z-axis linear motion module (32), and a support frame (33). The support frame (33) is vertically mounted above the X-axis motion mechanism (2). The Z-axis linear motion module (32) is mounted on the support frame (33). A second slide rail is vertically mounted on the support frame (33). The slide (31) is slidably connected to the second slide rail. The Z-axis linear motion module (32) drives the slide (31) to move up and down along the Z-axis.

8. The automatic scanning mechanism for an ultrasonic probe according to claim 7, characterized in that: The Z-axis linear motion module (32) includes a second servo motor, a second lead screw, and a second nut assembly. The output shaft of the second servo motor is fixedly connected to the second lead screw, and the second nut assembly is threadedly connected to the second lead screw. The second nut assembly is fixedly connected to the slide (31). The Z-axis linear motion module (32) drives the slide (31) to move up and down linearly.

9. The automatic scanning mechanism for an ultrasonic probe according to claim 8, characterized in that: The second slide rail has two sets, which are located on both sides of the Z-axis linear motion module.

10. The automatic scanning mechanism for an ultrasonic probe according to any one of claims 1-9, characterized in that: It also includes a control system, which is communicatively connected to the force sensor and the first servo motor. The control system receives the pressure value fed back by the force sensor and controls the working state of the first servo motor based on the comparison result between the pressure value and the preset value.

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