Ultrasonic probe clamping device for ultrasonic surgical robot

Abstract

The utility model relates to an ultrasonic probe clamping device for an ultrasonic surgical robot, and the device comprises a connecting base which comprises a mechanical arm connecting plate and a mounting seat fixed at the lower part of the mechanical arm connecting plate; the clamping assembly comprises a fixed clamping piece and a rotary clamping piece, the fixed clamping piece is detachably and fixedly connected with the mounting base, and the rotary clamping piece is rotationally connected with the fixed clamping piece on one side; on the other opposite side, a first screw rotationally connected to one rotary clamping piece is rotationally arranged in a first screw positioning groove correspondingly formed in the other rotary clamping piece and then is locked from the tail end through a first locking nut to be fixedly connected, and a clamping cavity used for clamping an ultrasonic probe is defined by the rotary clamping piece and the fixed clamping piece. The ultrasonic probe clamping device adapts to ultrasonic probes of different models by only replacing the clamping assembly, operation is easy and convenient, and tedious disassembly caused by connection with a mechanical arm is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to medical devices, more particularly to an ultrasonic probe clamping device for an ultrasonic surgical robot. BACKGROUND

[0002] Ultrasound diagnosis is a diagnostic method that applies ultrasound detection technology to the human body, measures physiological or tissue structure data and morphology, discovers diseases, and makes suggestions. Ultrasound diagnosis is a non-invasive, painless, convenient, and intuitive effective examination method, especially B-ultrasound, which is widely used.

[0003] Traditional ultrasonic diagnosis is performed by a doctor holding an ultrasonic probe and moving it on the patient's body for scanning. The doctor's operation is intensive, and the experience of the ultrasonic doctor is highly dependent. With the development of network technology and collaborative robots, ultrasonic surgical robots are becoming more and more popular. The ultrasonic surgical robot controls the ultrasonic probe to move on the patient's body for scanning through a mechanical hand. The probe fixing device is a key component for connecting the ultrasonic probe and the mechanical hand. Since the shapes of ultrasonic probes of various manufacturers and various models are different, the existing probe fixing device can only clamp one special probe, has poor versatility, and has high cost. When replacing other models of probes, the disassembly and assembly process is relatively cumbersome, inconvenient to operate, and increases the time of the replacement process. CONTENT OF THE INVENTION

[0004] The technical problem to be solved by the present application is to provide an ultrasonic probe clamping device for an ultrasonic surgical robot that can adapt to different models of ultrasonic probes and is easy to replace, in view of the above-mentioned defects of the prior art.

[0005] The technical solution adopted by the present application to solve its technical problem is: an ultrasonic probe clamping device for an ultrasonic surgical robot is provided, comprising: a connecting base, the connecting base comprising a mechanical arm connecting plate and a mounting seat fixed to the lower part of the mechanical arm connecting plate; a clamping assembly, the clamping assembly comprising a fixed clamping piece and a rotating clamping piece, the fixed clamping piece being detachably fixedly connected with the mounting seat, the rotating clamping piece being rotatably connected with the fixed clamping piece on one side, being rotatably connected with a first screw rod on the other side, being placed in a first screw rod positioning groove corresponding to the other side, and being fixedly connected by a first locking nut from the tail end, and the rotating clamping piece and the fixed clamping piece form a clamping cavity for clamping an ultrasonic probe.

[0006] According to one embodiment of the ultrasonic probe clamping device for the ultrasonic surgical robot, the fixed clamping piece is detachably fixedly installed on the front side of the mounting seat, the rotating clamping piece is rotatably connected with the fixed clamping piece on one side of the left and right sides, the other side of the rotating clamping piece is rotatably connected with the first screw, the other side of the fixed clamping piece is provided with a first screw positioning slot extending in the front-rear direction, the corresponding other side of the mounting seat is provided with a second screw positioning slot extending in the front-rear direction and opposite to the first screw positioning slot, and the first screw is rotatably arranged in the first screw positioning slot and the second screw positioning slot and then locked at the tail end by the first locking nut, so as to fixedly connect the rotating clamping piece with the fixed clamping piece and the mounting seat.

[0007] According to one embodiment of the ultrasonic probe clamping device for the ultrasonic surgical robot, the other side of the fixed clamping piece is also fixedly installed with a second screw extending rearward, the corresponding other side of the mounting seat is provided with a third screw positioning slot extending in the front-rear direction, the second screw passes through the third screw positioning slot and then is locked at the tail end by the second locking nut, so as to fixedly connect the fixed clamping piece with the mounting seat.

[0008] According to one embodiment of the ultrasonic probe clamping device for the ultrasonic surgical robot, the rear side of the mounting seat is formed with a first locking surface and a second locking surface at the rear ends of the second screw positioning slot and the third screw positioning slot respectively for abutting and locking the first locking nut and the second locking nut.

[0009] According to one embodiment of the ultrasonic probe clamping device for the ultrasonic surgical robot, the front side of the mounting seat is provided with a first assembly limiting surface, and the rear side of the fixed clamping piece is provided with a second assembly limiting surface; when the fixed clamping piece is fixedly connected with the mounting seat, the first assembly limiting surface and the second assembly limiting surface are tightly attached.

[0010] According to one embodiment of the ultrasonic probe clamping device for the ultrasonic surgical robot, a first limiting groove is formed in the first assembly limiting surface, and at least one limiting boss matched with the first limiting groove is arranged on the second assembly limiting surface in the extension direction of the first limiting groove.

[0011] According to one embodiment of the ultrasonic probe clamping device for the ultrasonic surgical robot, first and second auxiliary hanging bosses are correspondingly arranged on the upper part of the other side of the fixed clamping piece and the rotating clamping piece, and a second limiting groove extending in the front-rear direction is formed in the upper part of the corresponding other side of the mounting seat for inserting the first and second auxiliary hanging bosses.

[0012] According to one embodiment of the ultrasonic surgical robot ultrasonic probe clamping device described in the application, the one side upper part of the mounting seat is further provided with a avoiding gap for the cable of the ultrasonic probe.

[0013] According to one embodiment of the ultrasonic surgical robot ultrasonic probe clamping device described in the application, the opposite inner sides of the fixed clamping part and the rotating clamping part form a first profiled wrapping surface and a second profiled wrapping surface respectively, and the first profiled wrapping surface and the second profiled wrapping surface enclose the clamping cavity.

[0014] According to one embodiment of the ultrasonic surgical robot ultrasonic probe clamping device described in the application, the rotating clamping part is further provided with an observation hole or an ultrasonic probe model marking.

[0015] The ultrasonic surgical robot ultrasonic probe clamping device of the application has the following beneficial effects: the ultrasonic surgical robot ultrasonic probe clamping device according to the embodiment of the application is detachably assembled by a universal connecting base and different types of clamping assemblies, the fixed clamping part and the rotating clamping part of the clamping assembly are rotatably connected on one side and are locked by the cooperation of the rotatable first screw and the first locking nut on the other side, the ultrasonic probe can be removed by slightly loosening the first locking nut and rotating the first screw to open the rotating clamping part, if a different type of ultrasonic probe needs to be replaced, the clamping assembly needs to be replaced, which can adapt to different types of ultrasonic probes and is simple to operate, reducing the cumbersome disassembly of the mechanical arm connection. BRIEF DESCRIPTION OF DRAWINGS

[0016] The application will be further described below in combination with the drawings and embodiments, in which:

[0017] Figure 1 is a front structure schematic diagram of the ultrasonic surgical robot ultrasonic probe clamping device according to one embodiment of the application clamping an ultrasonic probe;

[0018] Figure 2 is Figure 1 a back structure schematic diagram of the ultrasonic probe clamping device shown clamping an ultrasonic probe;

[0019] Figure 3 is a structure schematic diagram of the connecting base in one embodiment of the application;

[0020] Figure 4 is a structure schematic diagram of the clamping assembly in one embodiment of the application;

[0021] Figure 5 is Figure 4 a structure schematic diagram of the fixed clamping part in

[0022] Figure 6 is Figure 4A structure diagram of a rotating clamping piece in the ultrasonic probe clamping device.

[0023] BRIEF DESCRIPTION OF DRAWINGS 100-ultrasonic probe clamping device; 10-connection base; 11-mechanical arm connecting plate; 111-positioning hole; 112-connection hole; 12-mounting seat; 121-first assembly limiting surface; 122-outer convex curved surface; 123-first limiting groove; 124-second limiting groove; 125-avoidance notch; 13-second screw positioning groove; 131-first locking surface; 14-third screw positioning groove; 141-second locking surface; 20-clamping assembly; 21-fixed clamping piece; 211-first screw positioning groove; 212-second assembly limiting surface; 213-limiting boss; 214-first auxiliary suspension boss; 215-first profile wrapping surface; 216-mounting hole; 217-first pin; 22-rotating clamping piece; 221-second auxiliary suspension boss; 222-second profile wrapping surface; 223-U-shaped seat; 224-second pin; 225-observation hole; 23-first screw; 24-first locking nut; 25-second screw; 26-second locking nut; 27-rotating shaft; 28-clamping cavity. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application. Moreover, the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0025] Figure 1 and Figure 2 respectively show the front and back structure schematic diagrams of the ultrasonic probe clamping device 100 clamping the ultrasonic probe 30 according to an embodiment of the present application. Referring to Figure 1 and Figure 2As shown, the ultrasonic probe clamping device 100 is composed of two parts of a connecting base 10 and a clamping assembly 20. The connecting base 10 further comprises a mechanical arm connecting plate 11 for connecting the mechanical arm of the ultrasonic surgical robot and a mounting seat 12 fixed to the lower part of the mechanical arm connecting plate 11 for fixing the clamping assembly 20. The clamping assembly 20 further comprises a fixed clamping piece 21 and a rotating clamping piece 22. The fixed clamping piece 21 is detachably fixedly connected with the mounting seat 12, and the rotating clamping piece 22 is rotatably connected with the fixed clamping piece 21 on one side, and is fixedly connected with the fixed clamping piece 21 on the opposite side by rotating the first screw rod 23 into the first screw rod positioning groove 211 correspondingly arranged on the fixed clamping piece 21 and the third screw rod positioning groove 13 correspondingly arranged on the mounting seat 12 and then locking from the tail end by the first locking nut 24. The rotating clamping piece 22 and the fixed clamping piece 21 form a clamping cavity 28 for clamping the ultrasonic probe 30.

[0026] Specifically referring to Figure 3 As shown, the center of the mechanical arm connecting plate 11 is provided with a positioning hole 111 corresponding to the mechanical arm of the ultrasonic surgical robot, and a plurality of connecting holes 112 corresponding to the mechanical arm of the ultrasonic surgical robot are arranged around the positioning hole 111. After aligning the positioning hole 111 with the mechanical arm, the mechanical arm is fixed by screwing through the connecting hole 112 and then locking with a nut, so that the installation of the connecting base 10 and the mechanical arm of the ultrasonic surgical robot is completed. Further referring to Figure 3 As shown, the front side of the mounting seat 12 is provided with a first assembly limiting surface 121, and a first limiting groove 123 extending upward and downward is arranged at the middle position of the first assembly limiting surface 121. The left upper part of the mounting seat 12 forms a second limiting groove 124 extending in the front-rear direction, and these limiting features are used to limit the installation of the fixed clamping piece 21 of the clamping assembly 20. In addition, the left and right sides of the mounting seat 12 are further provided with a second screw rod positioning groove 13 and a third screw rod positioning groove 14, respectively, which are through in the front-rear direction, for installing and fixing the clamping assembly 20.

[0027] Further referring to Figure 4 , Figure 5 and Figure 6 As shown, the fixed clamping piece 21 and the rotating clamping piece 22 constituting the clamping assembly 20 are rotatably connected by rotating shafts 27 on the right side and upward and downward, respectively. The left middle part of the rotating clamping piece 22 is rotatably connected with the first screw rod 23, and specifically as Figure 6As shown, the right middle part of the rotating clamping piece 22 is formed with a U-shaped seat 223, and the head end of the first screw rod 23 is rotatably installed on the U-shaped seat 223 through a first pin 224, so as to be able to rotate forward and backward around the first pin 224. The left middle part of the fixed clamping piece 21 is correspondingly provided with a front and back through first screw rod positioning groove 211, and the first screw rod 23 is inserted into the first screw rod positioning groove 211 by being rotated backward, so as to combine the rotating clamping piece 22 and the fixed clamping piece 21. The opposite inner sides of the fixed clamping piece 21 and the rotating clamping piece 22 (i.e. the front side of the fixed clamping piece 21 and the back side of the rotating clamping piece 22) are respectively formed with a first profiled wrapping surface 215 and a second profiled wrapping surface 222 which are adapted to the shape of the ultrasonic probe 30, and when the fixed clamping piece 21 is combined with the rotating clamping piece 22, the first profiled wrapping surface 215 and the second profiled wrapping surface 222 form a clamping cavity 28 for clamping the ultrasonic probe 30.

[0028] In addition, the fixed clamping piece 21 is provided with a second assembly limiting surface 212 on the back side opposite to the mounting portion 12, and two limiting protrusions 213 above and below the second assembly limiting surface 212 are arranged in the extension direction of the first limiting groove 123 on the mounting seat 12 to cooperate with the first limiting groove 123. The right middle part of the fixed clamping piece 21 is further fixedly installed with a second screw rod 25 extending backward, and the second screw rod 25 is correspondingly provided with a second limiting groove 213 on the head end. Figure 5 As shown, the right middle part of the fixed clamping piece 21 is provided with a mounting hole 216, and the head end of the second screw rod 25 is inserted into the mounting hole 216 and fixed through a second pin 217 radially penetrating.

[0029] When the assembled clamping assembly 20 is fixed to the mounting seat 12 of the connecting base 10, first, the first auxiliary hanging protrusions 214 and the second auxiliary hanging protrusions 221 on the fixed clamping piece 21 and the rotating clamping piece 22 are aligned and inserted into the second limiting groove 124 on the mounting seat 12, the limiting protrusions on the back side of the fixed clamping piece 21 are aligned and assembled with the first limiting groove 123 on the first assembly limiting surface 121 of the mounting seat 12, the second assembly limiting surface 212 on the back side of the fixed clamping piece 21 is tightly attached to the first assembly limiting surface 121 of the mounting seat 12, and the limiting assembly of the fixed clamping piece 21 and the mounting seat 12 is completed. In the preferred embodiment, the center of the first limiting groove 123 can be arranged to be consistent with the detection center line of the ultrasonic probe 30, so as to improve the accuracy of ultrasonic detection and avoid the adjustment of the reference coordinates again when the ultrasonic probe is replaced. Then, the second locking nut 26 is locked from the tail end of the second screw rod 25 penetrating through the third screw rod positioning groove 14, so as to fixedly connect the fixed clamping piece 21 and the mounting seat 12 (see Figure 2Then, the first screw rod 23 is rotated from front to back to be placed into the first screw rod positioning groove 211 and the second screw rod positioning groove 13 opposite to each other, and then locked from the tail end by the first locking nut 24, so that the rotating clamping piece 22 is fixedly connected with the fixed clamping piece 21 and the mounting seat 12 (see Figure 2 Thus, the entire clamping assembly 20 is fixed with the mounting seat 12 on the left and right sides by the first screw rod 23 and the first locking nut 24 and the second screw rod 25 and the second locking nut 26 while clamping the ultrasonic probe 30. The rear side of the mounting seat 12 is formed with a first locking surface 131 and a second locking surface 141 at the rear end of the second screw rod positioning groove 13 and the third screw rod positioning groove 14 for abutting the first locking nut 24 and the second locking nut 26 (see Figure 2 , so that the locking is more secure.

[0030] The ultrasonic probe clamping device 100 of the above-mentioned embodiments of the present application is assembled by a general connecting base 10 and a replaceable clamping assembly 20. The fixed clamping piece 21 and the rotating clamping piece 22 of the clamping assembly 20 are rotatably connected on one side and locked by the rotatable first screw rod 23 and the first locking nut 24 on the other side. To remove the ultrasonic probe 30, only the first locking nut 24 needs to be slightly loosened, the rotating clamping piece 22 is opened by rotating the first screw rod 23, and then the ultrasonic probe 30 can be taken out. If a different model of ultrasonic probe 30 is to be replaced, the clamping assembly 20 can be replaced, so that different models of ultrasonic probes 30 can be adapted, and the operation is simple and convenient, reducing the cumbersome disassembly of the mechanical arm connection. According to different embodiments of the present application, the limiting and locking mode of the detachable fixed connection between the clamping assembly 20 and the mounting seat 12 is not limited to the illustrated embodiments, but other existing suitable mounting structures can also be used.

[0031] Further referring to Figure 3 , the mounting seat 12 is provided with an avoiding gap 125 on the right upper part opposite to the second limiting groove 124, and the cable 31 at the tail end of the ultrasonic probe 30 can be led out from the avoiding gap 125 (see Figure 1 , so as to avoid the interference of the cable 31 at the tail end of the ultrasonic probe 30 with the mounting seat 12 during installation, causing inconvenience in installation.

[0032] Further referring to Figure 6 , the rotating clamping piece 22 is also provided with an observation hole 225, which is convenient for observing the model of the clamped ultrasonic probe 30. According to different embodiments of the present application, the rotating clamping piece 22 can not be provided with a hole, and the ultrasonic probe model mark can be directly laser-engraved in this area, which is convenient for many sets of clamping assemblies 20 to be placed on the shelf, and the required ones can be quickly found and selected.

[0033] Further referring to Figure 2As shown, the rear side of the mounting seat 12 is formed as an outer convex surface 122, and the front side is provided with a first limiting groove 123, so that the outer convex surface 122 can increase the strength, so that the whole is not deformed under the force of the human body, and is in harmony with the outer convex shape of the ultrasonic probe 30, and the appearance is increased.

[0034] The above only describes the preferred embodiments of the present application and is not used to limit the present application, and any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An ultrasonic probe holding device for an ultrasonic surgical robot, characterized by, The utility model relates to a connecting base, a clamping assembly and a clamping cavity. The fixed clamping piece is detachably fixedly installed on the front side of the mounting base, one side of the rotating clamping piece is rotatably connected with the fixed clamping piece, the other side of the rotating clamping piece is rotatably connected with the first screw rod, the other side of the fixed clamping piece is provided with the first screw rod positioning groove which penetrates through from front to back, the corresponding other side of the mounting base is provided with the second screw rod positioning groove which penetrates through from front to back and is opposite to the first screw rod positioning groove, and the first screw rod is rotatably arranged in the first screw rod positioning groove and the second screw rod positioning groove and is fixedly connected through the first locking nut from the tail end, so that the rotating clamping piece is fixedly connected with the fixed clamping piece and the mounting base. The other side of the fixed clamping piece is provided with the second screw rod which extends backward, the corresponding one side of the mounting base is provided with the third screw rod positioning groove which penetrates through from front to back, the second screw rod passes through the third screw rod positioning groove and is fixedly connected with the mounting base through the second locking nut from the tail end.

2. The ultrasonic probe holding device for an ultrasonic surgical robot according to claim 1, characterized by The rear side of the mounting base is provided with the first locking surface and the second locking surface which are used for abutting and locking the first locking nut and the second locking nut respectively.

3. The ultrasonic probe holding device for an ultrasonic surgical robot according to claim 2, characterized by The front side of the mounting base is provided with the first assembly limiting surface, and the rear side of the fixed clamping piece is provided with the second assembly limiting surface; when the fixed clamping piece is fixedly connected with the mounting base, the first assembly limiting surface is tightly attached to the second assembly limiting surface.

4. The ultrasonic probe holding device for a surgical robot according to claim 3, characterized by The first limiting groove is arranged on the first assembly limiting surface, and the second assembly limiting surface is provided with at least one limiting boss which is matched with the first limiting groove in the extension direction of the first limiting groove.

5. The ultrasonic probe holding device for an ultrasonic surgical robot according to claim 2 or 3, characterized by The fixed clamping piece and the rotating clamping piece are correspondingly provided with the first auxiliary suspension boss and the second auxiliary suspension boss on the upper part of the other side, and the mounting base is provided with the second limiting groove which extends in the front-back direction on the upper part of the corresponding other side so as to be inserted by the first auxiliary suspension boss and the second auxiliary suspension boss.

6. The ultrasonic probe holding device for an ultrasonic surgical robot according to claim 5, characterized by The upper part of the one side of the mounting base is also provided with the avoiding notch which is used for leading out the cable of the ultrasonic probe.

7. The ultrasonic probe holding device for an ultrasonic surgical robot according to claim 6, characterized by The inner sides of the fixed clamping piece and the rotating clamping piece which are opposite to each other are respectively provided with the first profiled wrapping surface and the second profiled wrapping surface, and the first profiled wrapping surface and the second profiled wrapping surface form the clamping cavity.

8. The ultrasonic probe holding device for a surgical robot according to claim 7, characterized by The rotating clamping piece is also provided with the observation hole or the ultrasonic probe model mark.

9. The ultrasonic probe holding device for ultrasonic surgical robots according to claim 1, characterized by ​ 10. The ultrasonic probe holding device for ultrasonic surgical robots according to claim 1, characterized by ​

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