Ultrasonic therapy tracking robotic arm and ultrasonic therapy device using the robotic arm

Abstract

This utility model belongs to the field of medical device technology, specifically disclosing an ultrasonic therapy tracking robotic arm and an ultrasonic therapy device using the robotic arm. On one hand, it relates to an ultrasonic therapy tracking robotic arm, including: a universal robotic arm, whose any rotating joint can be driven by a motor for steering, and the motor rotates accordingly when an external force pushes any rotating joint to rotate; and a micro-controlled robotic arm, having a micro-controlled main arm connected to one end of the universal robotic arm and a micro-controlled auxiliary arm rotatably connected to the micro-controlled main arm. On the other hand, it relates to an ultrasonic therapy device, including any of the aforementioned ultrasonic therapy tracking robotic arms and a treatment head, the treatment head also being connected to a central control module. This disclosure enables tracking during treatment head operation, eliminating the need for the physician to hold the device and allowing for cyclical operation, freeing the physician's hands, improving treatment efficiency, and enabling automatic monitoring and adjustment to keep the treatment head in close contact with the body.

Description

Technical Field

[0001] This utility model belongs to the field of medical device technology, and in particular relates to an ultrasonic therapy tracking robotic arm and an ultrasonic therapy device using the robotic arm. Background Technology

[0002] Ultrasound therapy, which focuses ultrasound waves to treat affected areas or for cosmetic skin treatments, is a well-known technique. It typically uses an ultrasound transducer to generate ultrasound waves for therapeutic purposes. During use, a gel is applied to the affected area, and then the treatment head is circulated around the area. Clinically, the physician needs to hold the treatment head and move it continuously over the affected area. This prolonged circling motion can cause hand fatigue and consumes too much time, preventing the physician from treating more patients. Furthermore, since ultrasound treatment areas may include the arms and knees, these areas inevitably experience slight movement during prolonged treatment. In such cases, the physician will adjust their hand movements to maintain close contact between the treatment head and the skin.

[0003] In their earlier research, the inventors discovered that a robotic arm with tracking function, such as the "intelligent robotic arm for stone removal bed" disclosed in CN219480251U, was available. However, this robotic arm does not have universal adjustment function and cannot be used in various environments of ultrasound treatment (such as different angles such as the side of the knee and the arm). In addition, the vibration source does not need to be in constant contact with the human body during stone removal, while the treatment head in ultrasound treatment generally needs to be in contact with the human body (coated with gel) to achieve the expected effect. However, in clinical practice, it has been found that the human arm and knee will inevitably experience slight displacement during treatment, and at this time, it is also necessary to adjust the treatment head to maintain contact. Utility Model Content

[0004] To address the aforementioned issues, this invention provides an ultrasonic therapy tracking robotic arm and an ultrasonic therapy device using the robotic arm, primarily to solve the problems of current clinical practice where the ultrasonic therapy head relies excessively on physician operation and cannot effectively achieve automatic cyclical treatment.

[0005] To solve the above problems, the present invention adopts the following technical solution:

[0006] Ultrasonic therapy tracking robotic arm ,include:

[0007] The omnidirectional robotic arm has any of its rotating joints that can be driven by a motor to turn, and the motor rotates when an external force pushes any rotating joint to rotate.

[0008] The micro-controlled robotic arm has a micro-controlled main arm connected to one end of the omnidirectional robotic arm and a micro-controlled auxiliary arm rotatably connected to the micro-controlled main arm;

[0009] The micro-controlled auxiliary arm is connected to a sensing component. The end of the sensing component away from the micro-controlled auxiliary arm is used to install the treatment head. The sensing component can sense the force between the micro-controlled auxiliary arm and the treatment head. The rotation plane of the micro-controlled auxiliary arm is coplanar with the tail arm of the omnidirectional robotic arm. The motor of any rotating joint is connected to the central control module.

[0010] In some embodiments, the omnidirectional robotic arm includes a base, a rotating seat, an extension arm, a reversing joint, and a tail arm that are rotatably connected in sequence. The plane of rotation of the tail arm at the reversing joint is perpendicular to the plane of rotation of the reversing joint at the extension arm. The plane of rotation of the reversing joint at the extension arm is perpendicular to the plane of rotation of the extension arm at the rotating seat. The plane of rotation of the extension arm at the rotating seat is perpendicular to the plane of rotation of the rotating seat at the base.

[0011] Furthermore, the rotation plane of the micro-controlled auxiliary arm on the micro-controlled main arm is perpendicular to the rotation plane of the tail arm on the reversing joint.

[0012] In some configurations, the micro-controlled arm is connected to the sensing assembly via a telescopic component.

[0013] In some embodiments, the sensing component has a housing and a pressure sensor located within the housing, the sensor being connected to a central control module, and a movable plug of the sensing component extending from one end of the housing for connecting to a treatment head, the other end abutting against the pressure sensor, and the movable plug being movable relative to the housing.

[0014] Furthermore, the housing has a through-hole structure, and the inner walls at both ends of the housing cavity are respectively provided with threaded parts and limiting rings. The cover of the sensing component can be set in the housing cavity through the threaded parts to allow the pressure sensor to abut against the movable plug. The pressure sensor is used to monitor the force between the movable plug and the micro-control auxiliary arm.

[0015] Furthermore, the movable plug has an outwardly protruding ring at one end of the inner cavity of the housing, and the outer diameter of the outwardly protruding ring is larger than the inner diameter of the limiting ring; the end of the movable plug away from the outwardly protruding ring passes through the limiting ring.

[0016] Furthermore, the pressure between the pressure sensor and the movable plug can be adjusted by rotating the cover.

[0017] Ultrasonic therapy device This includes any of the aforementioned ultrasonic therapy tracking robotic arms and treatment heads, and the treatment head is also connected to the central control module;

[0018] The ultrasonic therapy device has a tracking button. When the tracking button is activated, the central control module records the rotation data of the motors in all rotating joints and forms a tracking plan.

[0019] When the treatment head is in contact with the treatment object, the force between the treatment head and the treatment object is adjusted by the extension and retraction of the telescopic component.

[0020] In some embodiments, the central control module has a tracking start module, which, when activated, causes the motors in all rotating joints of the ultrasonic therapy tracking robotic arm to circulate according to the tracking plan; the telescopic component is used to adjust the force between the treatment head and the treatment object and to keep the pressure of the pressure sensor stable.

[0021] In this invention, the treatment head can be tracked during operation without the need for the physician to hold it, and cyclic operation can be performed, freeing the physician's hands, improving treatment efficiency, and enabling automatic monitoring and adjustment to keep the treatment head in close contact with the human body. Attached Figure Description

[0022] Figure 1 This is a diagram of the shape of an ultrasound therapy device.

[0023] Figure 2 An image showing the adjustable joint morphology of an ultrasound therapy device;

[0024] Figure 3 This is a schematic diagram of the exploded structure of the sensing component;

[0025] Figure 4 (A) is a diagram of the combined form of the sensing components, (B) is a diagram of the assembly process, and (C) is a diagram of the assembled form.

[0026] Figure 5 Diagram showing the fit between the shell and the cover;

[0027] Figure 6 This is a diagram showing the force distribution on the active plug and treatment head.

[0028] In the picture:

[0029] 100. Treatment head; 110. Treatment terminal; 200. Universal robotic arm; 210. Base; 220. Rotating seat; 230. Extension arm; 240. Reversing joint; 250. Tail arm; 300. Micro-controlled robotic arm; 310. Micro-controlled main arm; 320. Micro-controlled auxiliary arm; 330. Telescopic component; 400. Sensing component; 410. Housing; 411. Housing cavity; 412. Threaded part; 413. Limiting ring; 420. Movable plug; 430. Pressure sensor; 440. Cover. Detailed Implementation

[0030] The present invention will be further described below with reference to the accompanying drawings.

[0031] Ultrasonic therapy tracking robotic arm, such as Figure 1 As shown, including

[0032] The omnidirectional robotic arm 200 has any rotating joint that can be driven by a motor to turn. When an external force pushes any rotating joint to rotate, the motor rotates accordingly. The state of the motor being driven can be recorded. The omnidirectional robotic arm 200 is used to enable its working end (tail end) to operate on any surface without frequently changing the position of the robotic arm base.

[0033] The micro-controlled robotic arm 300 has a micro-controlled main arm 310 connected to one end of the universal robotic arm 200 and a micro-controlled auxiliary arm 320 rotatably connected to the micro-controlled main arm 310. When the universal robotic arm 200 sends the micro-controlled robotic arm 300 to the predetermined position, the position of the treatment head can be adjusted more precisely through the micro-controlled robotic arm 300.

[0034] The micro-controlled auxiliary arm 320 is connected to a sensing component 400. The end of the sensing component 400 furthest from the micro-controlled auxiliary arm 320 is used to mount the treatment head 100. The sensing component 400 can sense the force between the micro-controlled auxiliary arm 320 and the treatment head 100. The rotation plane of the micro-controlled auxiliary arm 320 is coplanar with the tail arm 250 of the omnidirectional robotic arm 200, and the micro-controlled auxiliary arm 320 can be collinear with the tail arm 250. The motor of any rotating joint is connected (electrically connected) to the central control module. This motor can operate under electromagnetic drive or under external force, and the motion data of any motor can be recorded by the central control module. When an external force drives the motor, its operation data can be recorded by the central control module. In other words, the trajectory planning of the ultrasonic therapy tracking robotic arm is performed by manually driving the ultrasonic therapy tracking robotic arm, and the planning is recorded for later use. Specifically, regarding the line-following function, a solution such as CN105690421A can be adopted, which can memorize manually adjusted trajectories for reproduction or to achieve motion synchronization. Such line-following robotic arms with teaching capabilities are already widely used in industrial environments, such as KUKA's LBR iiwa and Yaskawa's HC10DT. The central control module can be a control computer capable of performing the corresponding functions; no special limitations are imposed.

[0035] Regarding the features of the ultrasonic therapy tracking robotic arm, at least the following options can be selected, and any one of the features in any one of these options can be selected individually:

[0036] Firstly, such as Figure 2As shown, the omnidirectional robotic arm 200 includes a base 210, a rotating seat 220, an extension arm 230, a reversing joint 240, and a tail arm 250, which are rotatably connected in sequence. The rotation plane of the tail arm 250 at the reversing joint 240 is perpendicular to the rotation plane of the reversing joint 240 at the extension arm 230. The rotation plane of the reversing joint 240 at the extension arm 230 is perpendicular to the rotation plane of the extension arm 230 at the rotating seat 220. The rotation plane of the extension arm 230 at the rotating seat 220 is perpendicular to the rotation plane of the rotating seat 220 at the base 210. This gives the omnidirectional robotic arm 200 comprehensive working capabilities, enabling it to operate on various working surfaces. In particular, the rotation plane of the tail arm 250 is perpendicular to its length direction, allowing the micro-controlled robotic arm 300 mounted at the tail end of the tail arm 250 to rotate accordingly, resulting in a stronger working effect.

[0037] Furthermore, regarding the components in the micro-controlled robotic arm 300, the micro-controlled auxiliary arm 320 is perpendicular to the rotation plane of the micro-controlled main arm 310 and the tail arm 250 is perpendicular to the rotation plane of the reversing joint 240.

[0038] Secondly, the micro-controlled auxiliary arm 320 and the sensing component 400 are connected via a telescopic member 330. The telescopic member 330 can drive the sensing component 400 to move, thereby achieving micro-adjustment of the position of the treatment head 100. In particular, it can adjust the force exerted by the treatment head 100 on the treatment site without relying entirely on the changes in the omnidirectional robotic arm 200. The telescopic member 330 can be a telescopic cylinder, capable of precise adjustment of the extension distance; existing telescopic cylinders can be used without special explanation.

[0039] Thirdly, such as Figure 3 As shown, the sensing component 400 has a housing 410 and a pressure sensor 430 located in the housing. The pressure sensor 430 is connected to the central control module. One end of the movable plug 420 of the sensing component 400 extends out of the housing 410 to connect the treatment head 100, and the other end abuts against the pressure sensor 430. The movable plug 420 is movable relative to the housing 410. The movable plug 420 is sleeved with the housing 410. In the assembly type, the movable plug 420 and the pressure sensor 430 are inserted into the tail end of the housing 410 in sequence. Then, the tail end of the housing 410 is connected to the telescopic member 330 or the micro-controlled auxiliary arm 320. The head end of the movable plug 420 is used to install the treatment head. Of course, the installation of the treatment head 100 can be achieved in various feasible ways, such as installing a sleeve, etc. There is no specific limitation, as long as the treatment head 100 and the movable plug 420 can be stably connected. At this time, the movable plug 420 can move relative to the housing 410. When the movable plug 420 squeezes the pressure sensor 430, the pressure sensor 430 can monitor the pressure it receives, and the pressure data can be recorded and analyzed by the central control module.

[0040] Furthermore, the housing 410 has a through-hole structure, with threaded portions 412 and limiting rings 413 respectively provided on the inner walls of both ends of its inner cavity 411. The cover 440 of the sensing assembly 400 can be disposed in the inner cavity 411 of the housing through the threaded portions 412 to allow the pressure sensor 430 to abut against the movable plug 420. The pressure sensor 430 is used to monitor the force between the movable plug 420 and the micro-controlled auxiliary arm 320. Of course, in order to maintain the stability of pressure detection, it is generally necessary to limit the pressure sensor 430. The specific limiting method is not limited, as long as the pressure sensor 430 is positioned relative to the housing 410. The housing 410 can be connected to the micro-controlled robotic arm 300 using existing solutions.

[0041] Furthermore, in combination Figure 4 It is known that the movable plug 420 has an outwardly protruding ring at one end of the inner cavity 411 of the housing, and the outer diameter of the outwardly protruding ring is larger than the inner diameter of the limiting ring 413; the end of the movable plug 420 away from the outwardly protruding ring passes through the limiting ring 413, and the outwardly protruding ring cannot pass through the limiting ring 413, thereby realizing the installation of the movable plug 420 and preventing it from falling off.

[0042] Furthermore, such as Figure 5 As shown, rotating the cover 440 adjusts the pressure between the pressure sensor 430 and the movable plug 420. Rotating the cover 440 also adjusts its depth within the housing cavity 411. Changing the depth of the cover 440 alters the force exerted by the cover on the pressure sensor 430, ensuring the installation force matches the monitoring range of the pressure sensor 430. It should be noted that although the treatment head 100 has its own weight, which can affect the monitoring accuracy of the pressure sensor 430 at different usage angles, the movable plug 420 is held in place by the limiting ring 413 and the pressure sensor 430, preventing displacement. Furthermore, since the treatment head 100 is typically used from the side or top to treat the affected area, its weight is negligible. In this device, the goal is simply to maintain the treatment head 100 in contact with the skin. Therefore, it is sufficient for the pressure sensor 430 to detect the applied pressure after "calibration to zero," without excessive pursuit of precision. In short, the main function of the pressure sensor 430 is to monitor whether there is excessive or insufficient pressure between the treatment head 100 and the human body. Excessive pressure may indicate that human movement has triggered the treatment head 100; insufficient pressure (or its absence) indicates that human movement has caused the treatment head 100 to detach or is trending towards detachment. Both require timely adjustment to ensure that the treatment terminals 110 of the treatment head 100 remain in contact with the human body (with a spaced gel, based on clinical standards), preventing the treatment terminals 110 from failing to effectively perform treatment due to human movement.

[0043] Regarding ultrasound therapy devices that comprehensively utilize the aforementioned ultrasound therapy tracking robotic arm, such as... Figure 1 , 2 As shown, the ultrasonic therapy tracking robotic arm and treatment head 100 described in any of the aforementioned scenarios are included, and the treatment head 100 is also connected to the central control module. The ultrasonic therapy device has a tracking button. When the tracking button is activated, the central control module records the rotation data of the motors in all rotating joints and forms a tracking plan. During use, the trajectory can be recorded by pressing the tracking button. This tracking recording technology can directly adopt existing functional modules. It is not particularly noted that the tracking function itself is not an inventive point of this utility model. The tracking button can be set in a position that matches the treatment head 100, which is convenient for doctors to operate with one hand simultaneously. The specific position can be set as needed and is not particularly limited here.

[0044] When the treatment head 100 is in action, the force between the treatment head 100 and the treatment object can be maintained by adjusting the extension and retraction of the telescopic component 330. The specific preset pressure value can be set according to clinical needs and is not strictly required here. Specifically, during the robotic arm's tracking movement, when the pressure sensor 430 detects an abnormal pressure value (generally a decrease), the extension component 330 can be used to further press the treatment head 100 against the treatment area. Of course, if the treatment area moves and the treatment head deviates significantly, the patient generally needs to actively adjust the position according to clinical requirements.

[0045] Regarding the ultrasonic therapy device employing the aforementioned ultrasonic therapy tracking robotic arm, the central control module has a tracking start module. When the tracking start module is activated, the motors in all rotating joints of the ultrasonic therapy tracking robotic arm cyclically move according to the recorded tracking plan. The telescopic component 330 is used to adjust the force between the treatment head 100 and the treatment object and to keep the pressure of the pressure sensor 430 stable. Regarding the adjustment function of the telescopic component 330: when the treatment head 100 is in contact with the human body, a force will inevitably be generated. At this time, the human body will also exert a reverse force F1 on the treatment head 100. Since the treatment head 100 is connected to the movable plug 420, when the treatment head 100 is subjected to external force, the force on the treatment head 100 will also be transmitted to the movable plug 420 to generate a force F2. Regarding maintaining effective contact between the treatment terminal 110 and the human body (or understanding it as maintaining a relatively stable force between the two), the following situations may occur in clinical practice:

[0046] Scenario 1: Treatment terminal 110 detaches from the skin of the affected area during tracking motion: When the treatment head 100 detaches from the human body and there is no interaction force, after F1 disappears, the corresponding force F2 will also disappear. At this time, the pressure on the pressure sensor 430 is reduced (the adjustment value can be preset in advance, and when it exceeds the adjustment value, it is determined that the treatment terminal 110 of the treatment head has detached from the skin). After reading the value, the central control module will determine that the treatment terminal 110 has detached from the human body. At this time, it will control the telescopic component 330 to extend until the treatment terminal 110 contacts the human body and generates a suitable force F1 (which can be preset). At this time, the system is stable and can continue to maintain the tracking operation stably.

[0047] Scenario 2: Treatment terminal 110 is too close to the skin of the affected area during tracking movement: When the treatment head 100 contacts the human body and the pressure is too high, F1 increases and the corresponding force F2 also increases. At this time, the pressure sensor 430 is subjected to increased pressure (the adjustment value can be preset in advance, and when it exceeds the adjustment value, it is determined that the treatment terminal 110 of the treatment head is in excessive contact with the skin). After reading the value, the central control module will determine that the pressure between the treatment terminal 110 and the human body is too high. At this time, it will control the telescopic component 330 to shorten until the treatment terminal 110 contacts the human body and generates a suitable force F1 (which can be preset). At this time, the system is stable and can continue to maintain the tracking operation stably.

[0048] In practical applications, the mode of use is as follows: the physician manually drives the ultrasound therapy tracking robotic arm to move by pressing the tracking button, so that the central control module records the movement trajectory of the ultrasound therapy tracking robotic arm. Then, the recording stops when the tracking button is released, forming a tracking plan. The physician can start the ultrasound therapy tracking robotic arm to automatically cycle through the tracking start module, so that the robotic arm can perform cyclical movement according to the tracking plan.

[0049] Those skilled in the art will appreciate that various modifications to the above embodiments can be made without departing from the overall spirit and concept of this utility model. All such modifications fall within the protection scope of this utility model. The protection scheme of this utility model is defined by the appended claims.

Claims

1. An ultrasonic therapy tracking robotic arm, characterized in that, include The omnidirectional robotic arm (200) has any of its rotating joints that can be driven by a motor to turn, and the motor rotates when an external force pushes any rotating joint to rotate. The micro-controlled robotic arm (300) has a micro-controlled main arm (310) connected to one end of the universal robotic arm (200) and a micro-controlled auxiliary arm (320) rotatably connected to the micro-controlled main arm (310). The micro-controlled auxiliary arm (320) is connected to a sensing component (400). The end of the sensing component (400) away from the micro-controlled auxiliary arm (320) is used to install the treatment head (100). The sensing component (400) can sense the force between the micro-controlled auxiliary arm (320) and the treatment head (100). The rotation plane of the micro-controlled auxiliary arm (320) is coplanar with the tail arm (250) of the universal robotic arm (200). The motor of any rotating joint is connected to the central control module.

2. The ultrasonic therapy tracking robotic arm according to claim 1, characterized in that, The omnidirectional robotic arm (200) includes a base (210), a rotating seat (220), an extension arm (230), a reversing joint (240), and a tail arm (250) that are rotatably connected in sequence. The rotation plane of the tail arm (250) at the reversing joint (240) is perpendicular to the rotation plane of the reversing joint (240) at the extension arm (230). The rotation plane of the reversing joint (240) at the extension arm (230) is perpendicular to the rotation plane of the extension arm (230) at the rotating seat (220). The rotation plane of the extension arm (230) at the rotating seat (220) is perpendicular to the rotation plane of the rotating seat (220) at the base (210).

3. The ultrasonic therapy tracking robotic arm according to claim 2, characterized in that, The micro-controlled auxiliary arm (320) is perpendicular to the rotation plane of the micro-controlled main arm (310) and the rotation plane of the tail arm (250) at the reversing joint (240).

4. The ultrasonic therapy tracking robotic arm according to claim 1, characterized in that, The micro-controlled auxiliary arm (320) and the sensing component (400) are connected by a telescopic component (330).

5. The ultrasonic therapy tracking robotic arm according to claim 1, characterized in that, The sensing component (400) has a housing (410) and a pressure sensor (430) located in the housing. The pressure sensor (430) is connected to the central control module. One end of the movable plug (420) of the sensing component (400) extends out of the housing (410) to connect to the treatment head (100), and the other end abuts against the pressure sensor (430). The movable plug (420) can move relative to the housing (410).

6. The ultrasonic therapy tracking robotic arm according to claim 5, characterized in that, The housing (410) has a through structure, and the inner walls of the two ends of the housing cavity (411) are respectively provided with threaded parts (412) and limiting rings (413). The cover (440) of the sensing component (400) can be set in the housing cavity (411) through the threaded part (412) to allow the pressure sensor (430) to abut against the movable plug (420). The pressure sensor (430) is used to monitor the force between the movable plug (420) and the micro-control auxiliary arm (320).

7. The ultrasonic therapy tracking robotic arm according to claim 6, characterized in that, The movable plug (420) has an outer protruding ring at one end of the inner cavity (411) of the housing, and the outer diameter of the outer protruding ring is larger than the inner diameter of the limiting ring (413); the end of the movable plug (420) away from the outer protruding ring passes through the limiting ring (413).

8. The ultrasonic therapy tracking robotic arm according to claim 6, characterized in that, The pressure between the pressure sensor (430) and the movable plug (420) can be adjusted by rotating the cover (440).

9. An ultrasonic therapy device, characterized in that, Includes the ultrasonic therapy tracking robotic arm and treatment head (100) as described in any one of claims 1 to 8, and the treatment head (100) is also connected to the central control module; The ultrasonic therapy device has a tracking button. When the tracking button is activated, the central control module records the rotation data of the motors in all rotating joints and forms a tracking plan. When the treatment head (100) is in action, the force between the treatment head (100) and the treatment object is adjusted by the extension and retraction of the telescopic component (330).

10. The ultrasonic therapy device according to claim 9, characterized in that, The central control module has a tracking start module. When the tracking start module is started, the motors in all rotating joints of the ultrasonic therapy tracking robotic arm move in a cycle according to the tracking plan. The telescopic component (330) is used to adjust the force between the treatment head (100) and the treatment object and to keep the pressure of the pressure sensor (430) stable.

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