A breast ultrasound robot

Abstract

The utility model discloses a kind of breast ultrasonic robots. Including rack, linear drive mechanism, mechanical arm assembly and ultrasonic probe;Rack is equipped with mounting seat;Linear drive mechanism is located on mounting seat;Mechanical arm assembly includes first rotary drive mechanism, second rotary drive mechanism and third rotary drive mechanism;Linear drive mechanism is used to drive first rotary drive mechanism along transverse, longitudinal and vertical movement;The first axis of first rotary drive mechanism is parallel with longitudinal, for driving second rotary drive mechanism rotates around first axis;The second axis of second rotary drive mechanism is parallel with transverse, for driving third rotary drive mechanism rotates around second axis;Ultrasonic probe is located at the free end of third rotary mechanism, the third axis of third rotary drive mechanism is parallel with vertical, for driving ultrasonic probe rotates around third axis.The breast ultrasonic robot provided in the application is favorable to improve the precision of breast ultrasonic detection.

Description

Technical Field

[0001] This utility model relates to the field of ultrasound examination equipment technology, and in particular to a breast ultrasound robot. Background Technology

[0002] Breast diseases are common gynecological conditions that seriously threaten the health and even lives of women worldwide. With advancements in science and technology, diagnostic techniques and treatment methods for breast diseases have significantly improved. Common methods include mammography (soft X-ray), ultrasound imaging, near-infrared spectroscopy, and CT scans.

[0003] Ultrasound examination is one of the important imaging examination methods for diagnosing breast diseases. It can identify lesions such as cysts and hyperplasia in the breast. Existing breast ultrasound robots usually include a frame, a robotic arm suspended on the frame, and an ultrasound probe located at the free end of the robotic arm. The movement of the robotic arm drives the ultrasound probe to scan the patient's breast. Utility Model Content

[0004] The purpose of this invention is to provide a breast ultrasound robot with high detection accuracy and a high degree of automation.

[0005] The present invention proposes a breast ultrasound robot, comprising: a frame, a linear drive mechanism, a robotic arm assembly, and an ultrasound probe; The frame is equipped with a mounting base; The linear drive mechanism is mounted on the mounting base; The robotic arm assembly includes a first rotary drive mechanism, a second rotary drive mechanism, and a third rotary drive mechanism connected in sequence. The first rotary drive mechanism is connected to the linear drive mechanism, and the linear drive mechanism is used to drive the first rotary drive mechanism to move in the horizontal, longitudinal and vertical directions; The first axis of the first rotary drive mechanism is parallel to the longitudinal direction and is used to drive the second rotary drive mechanism to rotate around the first axis; The second axis of the second rotary drive mechanism is parallel to the transverse direction and is used to drive the third rotary drive mechanism to rotate around the second axis. The ultrasonic probe is located at the free end of the third rotating mechanism. The third axis of the third rotating drive mechanism is parallel to the vertical axis and is used to drive the ultrasonic probe to rotate around the third axis.

[0006] Optionally, the linear drive mechanism includes a transverse drive mechanism, a longitudinal drive mechanism, and a vertical drive mechanism connected in sequence; The lateral drive mechanism is mounted on the mounting base and is used to drive the longitudinal drive mechanism to move laterally. The longitudinal drive mechanism is used to drive the vertical drive mechanism to move longitudinally; The first rotary drive mechanism is connected to the vertical drive mechanism, and the vertical drive mechanism is used to drive the first rotary drive mechanism to move vertically.

[0007] Optionally, the longitudinal drive mechanism, the vertical drive mechanism, the robotic arm assembly, and the ultrasonic probe are provided in pairs, and are arranged in a one-to-one correspondence. The two longitudinal drive mechanisms are respectively connected to the transverse drive mechanism, and the transverse drive mechanism is used to drive the two longitudinal drive mechanisms to move laterally.

[0008] Optionally, the lateral drive mechanism includes two first linear slides arranged side by side along the longitudinal direction on the mounting base; Each of the first linear slides includes a main slide, a secondary slide, a first slide rail, a first ball screw, and a first motor. The first slide rail is laterally mounted on the mounting base. The main slide and the secondary slide are slidably mounted on the first slide rail. The main slide is connected to a first nut on the first ball screw. The first motor is connected to a first screw of the first ball screw and is used to drive the first screw to rotate around its own axis to drive the main slide to move laterally. The two longitudinal drive mechanisms are arranged side by side in the transverse direction on the two first linear slides. The longitudinal drive mechanisms are connected to the main slider of one of the first slides and the auxiliary slider of the other first slide.

[0009] Optionally, each of the longitudinal drive mechanisms includes a second linear slide. The second linear slide includes a mounting beam, a second slide rail, a longitudinal slider, a second ball screw, and a second motor. One end of the mounting beam is connected to the main slider of one of the first linear slides, and the other end is connected to the auxiliary slider of the other first linear slide. The second slide rail is longitudinally mounted on the mounting beam. The longitudinal slider is slidably mounted on the second slide rail and connected to the second nut of the second ball screw. The second motor is connected to the second screw of the second ball screw and is used to drive the second screw to rotate around its own axis to drive the longitudinal slider connected to the second nut to move longitudinally in a straight line. The vertical drive mechanism is connected to the longitudinal slider.

[0010] Optionally, the vertical drive mechanism includes a connecting seat and a third linear slide, the third linear slide including a third slide rail, a vertical slider, a third ball screw and a third motor; The connecting seat is connected to the longitudinal slider; the third slide rail is vertically disposed on the connecting seat; the vertical slider is slidably disposed on the third slide rail and connected to the third nut of the third ball screw; the third motor is connected to the third screw of the third ball screw and is used to drive the third screw to rotate around its own axis to drive the longitudinal slider connected to the third nut to move vertically. The first rotary drive mechanism is connected to the vertical slider.

[0011] Optionally, it also includes a first cable chain mechanism, a second cable chain mechanism and a third cable chain mechanism, wherein the frame is provided with a first mounting plate and the side of the second slide rail is provided with a second mounting plate; The fixed end of the first cable chain mechanism is connected to the first mounting plate, and the movable end is connected to the second mounting plate; The fixed end of the second drag chain mechanism is connected to the second mounting plate, and the movable end is connected to the third slide rail; The fixed end of the third drag chain mechanism is connected to the connecting seat, and the movable end is connected to the first rotary drive mechanism.

[0012] Optionally, the bottom of the frame is also provided with multiple casters.

[0013] Optionally, each of the casters is equipped with a braking mechanism.

[0014] Optionally, it also includes a display screen disposed on the rack.

[0015] The beneficial effects of the above-mentioned technical solutions provided by the embodiments of this utility model include at least the following: The breast ultrasound robot provided by this utility model can drive the ultrasound probe mounted on the robotic arm assembly to move horizontally, vertically, and longitudinally through a linear drive mechanism. The first, second, and third rotary drive mechanisms on the robotic arm assembly can drive the ultrasound probe to rotate around the first, second, and third axes, respectively, giving the ultrasound probe six degrees of freedom. This allows for better adjustment of the ultrasound probe's motion trajectory, avoiding the inability to scan the entire surface of the breast due to limited motion trajectory. At the same time, it can also better adjust the angle of contact between the ultrasound probe and the breast, ensuring that the ultrasound probe always maintains the optimal angle for contact and scanning of the breast surface. This results in comprehensive and accurate imaging data, thereby improving the detection accuracy of the breast ultrasound robot. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 A schematic diagram of a breast ultrasound robot provided by this utility model; Figure 2 for Figure 1 A partial structural diagram of a breast ultrasound robot. Figure 3 for Figure 2 Side view of a breast ultrasound robot; Figure 4 for Figure 2 A schematic diagram of the linear drive mechanism and robotic arm assembly in the diagram; Figure 5 for Figure 4 A magnified view of a section at point A in the middle; Figure 6 for Figure 4 Another structural schematic diagram of the linear drive mechanism and robotic arm assembly; Figure 7 for Figure 2 A schematic diagram of the structure of the robotic arm component in the diagram; Figure 8 for Figure 2 A schematic diagram of the clamping component.

[0018] Explanation of icon numbers: 100-Breast Ultrasound Robot; 1-Frame; 11-Mounting base; 12-Support platform; 13-Guide mechanism; 131-Movable guide rail; 14-Cassette wheel; 15-Display screen; 16-First mounting plate; 17-Second mounting plate; 2-Linear drive mechanism; 21-Transverse drive mechanism; 211-First linear slide; 2111-First slide rail; 2112-Main slider; 2113-Secondary slider; 2114-First motor; 22-Longitudinal drive mechanism; 221-Second linear slide; 2211-Mounting beam; 2212-Second slide rail; 2213-Longitudinal slider; 2214-Second motor; 2215-First synchronous belt mechanism; 23-Vertical drive mechanism; 231-Third linear slide; 2311-Third slide rail; 2312-Vertical slider; 2313-Third motor; 2314-Second synchronous belt mechanism; 232-Connecting seat; 3-Robotic arm assembly; 31-First rotary drive mechanism; 311-First rotary motor; 32-Second rotary drive mechanism; 321-Second rotary motor; 33-Third rotary drive mechanism; 331-Third rotary motor; 4-Ultrasonic probe; 5-Scanning bed; 6-Clamping assembly; 61-Connector; 62-Fixing member; 621-First housing; 622-Second housing; 623-Interlocking structure; 63-Elastic element; 64-Pressure sensor; 7-Image acquisition device; 81-First drag chain mechanism; 82-Second drag chain mechanism; 83-Third drag chain mechanism.

[0019] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0022] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0023] Existing breast ultrasound robots typically consist of a gantry, a robotic arm suspended from the gantry, and an ultrasound probe located at the free end of the robotic arm. The robotic arm moves to move the ultrasound probe and scan the patient's breast. The inventors discovered that due to the complex contours of the breast surface and the individual variations in its shape, the movement trajectory of the ultrasound probe is limited when the existing robotic arm moves it to scan the breast. This results in some areas of the breast surface where the probe cannot fully conform to the breast, leading to incomplete and inaccurate imaging data, thus affecting the detection precision of the breast ultrasound robot.

[0024] To solve this technical problem, the inventors unexpectedly discovered that by setting a linear drive mechanism and a robotic arm assembly on the frame, providing the ultrasound probe with six degrees of freedom of movement, the motion trajectory of the ultrasound probe can be better adjusted, avoiding the inability to scan the entire surface of the breast due to limited motion trajectory. Simultaneously, the angle of contact between the ultrasound probe and the breast can be better adjusted, ensuring that the ultrasound probe always maintains the optimal angle for contact and scanning of the breast surface, resulting in comprehensive and accurate imaging data, thereby improving the detection accuracy of the breast ultrasound robot. Based on this, this utility model provides a breast ultrasound robot. Figures 1 to 8 This is a specific embodiment of the breast ultrasound robot provided by this utility model.

[0025] Please see Figure 1 and Figure 2 The breast ultrasound robot 100 includes a frame 1, a linear drive mechanism 2, a robotic arm assembly 3, and an ultrasound probe 4. A mounting base 11 is provided on the frame 1. The linear drive mechanism 2 is mounted on the mounting base 11. (See also...) Figure 7 The robotic arm assembly 3 includes a first rotary drive mechanism 31, a second rotary drive mechanism 32, and a third rotary drive mechanism 33 connected in sequence. The first rotary drive mechanism 31 is connected to a linear drive mechanism 2, which drives the first rotary drive mechanism 31 to move laterally, longitudinally, and vertically. The first axis of the first rotary drive mechanism 31 is parallel to the longitudinal direction and drives the second rotary drive mechanism 32 to rotate about the first axis. The second axis of the second rotary drive mechanism 32 is parallel to the transverse direction and drives the third rotary drive mechanism 33 to rotate about the second axis. (See also...) Figure 8 The ultrasonic probe 4 is located at the free end of the third rotary drive mechanism 33. The third axis of the third rotary drive mechanism 33 is parallel to the vertical and is used to drive the ultrasonic probe 4 to rotate around the third axis.

[0026] In the technical solution provided by this utility model, the linear drive mechanism 2 can drive the ultrasound probe 4 mounted on the robotic arm assembly 3 to move in the horizontal, vertical and longitudinal directions. The first rotary drive mechanism 31, the second rotary drive mechanism 32 and the third rotary drive mechanism 33 on the robotic arm assembly 3 can drive the ultrasound probe 4 to rotate around the first axis, the second axis and the third axis, so that the movement of the ultrasound probe 4 has six degrees of freedom. This allows for better adjustment of the movement trajectory of the ultrasound probe 4, avoiding the inability to scan the entire surface of the breast due to limited movement trajectory. At the same time, it also allows for better adjustment of the angle of contact between the ultrasound probe 4 and the breast, ensuring that the ultrasound probe 4 always maintains the optimal angle for contact scanning of the breast surface, so that the acquired imaging data is comprehensive and accurate, thereby improving the detection accuracy of the breast ultrasound robot 100.

[0027] The following will describe, through exemplary illustration, a further detailed or improved implementation or process of the breast ultrasound robot 100, in order to further improve its efficiency, reliability, or for other improvements.

[0028] In some embodiments, please refer to Figure 2 The linear drive mechanism 2 includes a transverse drive mechanism 21, a longitudinal drive mechanism 22, and a vertical drive mechanism 23 connected in sequence. The transverse drive mechanism 21 is mounted on the mounting base 11 and drives the longitudinal drive mechanism 22 to move laterally. The longitudinal drive mechanism 22 drives the vertical drive mechanism 23 to move longitudinally. A first rotary drive mechanism 31 is connected to the vertical drive mechanism 23, and the vertical drive mechanism 23 drives the first rotary drive mechanism 31 to move vertically. This design allows the ultrasonic probe 4 to be driven by independent drive mechanisms in its transverse, longitudinal, and vertical movements, which is beneficial for programming control to achieve precise positioning.

[0029] To improve the scanning efficiency of the breast ultrasound robot 100, in some embodiments, the number of longitudinal drive mechanisms 22, vertical drive mechanisms 23, robotic arm assembly 3, and ultrasound probes 4 are set to two, and they are arranged in a one-to-one correspondence. The two longitudinal drive mechanisms 22 are respectively connected to the transverse drive mechanism 21, which drives the two longitudinal drive mechanisms 22 to move laterally. In this way, the ultrasound probes 4 on the two robotic arm assemblies 3 can be used to scan the patient's left and right breasts simultaneously.

[0030] For details, please refer to Figure 4The transverse drive mechanism 21 includes two first linear slides 211 arranged side-by-side on the mounting base 11 along the longitudinal direction. Each first linear slide 211 includes a main slide 2112, a secondary slide 2113, a first slide rail 2111, a first ball screw (not shown in the figure), and a first motor 2114. The first slide rail 2111 is transversely mounted on the mounting base 11. The main slide 2112 and the secondary slide 2113 are slidably mounted on the first slide rail 2111, respectively. The main slide 2112 is connected to a first nut (not shown in the figure) on the first ball screw. The first motor 2114 is connected to a first screw (not shown in the figure) of the first ball screw and is used to drive the first screw to rotate around its own axis to drive the main slide 2112 to move laterally. Please refer to [link to relevant documentation]. Figure 4 and Figure 5 Two longitudinal drive mechanisms 22 are provided. Each longitudinal drive mechanism 22 includes a second linear slide 221. The second linear slide 221 includes a mounting beam 2211, a second slide rail 2212, a longitudinal slider 2213, a second ball screw (not shown in the figure), and a second motor 2214. The two mounting beams 2211 are arranged side by side in the transverse direction. One end of the mounting beam 2211 is connected to the main slider 2112 of one of the first linear slides 211, and the other end is connected to the auxiliary slider 2113 of the other first linear slide 211. In this way, the two mounting beams 2211 can be driven to move in the transverse direction by the main sliders 2112 of the two first linear slides 211 respectively. The second slide rail 2212 is longitudinally mounted on the mounting beam 2211. The longitudinal slider 2213 is slidably mounted on the second slide rail 2212 and connected to the second nut (not shown in the figure) of the second ball screw. The second motor 2214 is connected to the second screw (not shown in the figure) of the second ball screw through the first synchronous belt mechanism 2215, and is used to drive the second screw to rotate around its own axis to drive the longitudinal slider 2213 connected to the second nut to move linearly in the longitudinal direction. Two vertical drive mechanisms 23 are provided. Each vertical drive mechanism 23 includes a connecting seat 232 and a third linear slide 231. The third linear slide 231 includes a third slide rail 2311, a vertical slider 2312, a third ball screw (not shown in the figure), and a third motor 2313. The connecting seat 232 is connected to the longitudinal slider 2213. The third slide rail 2311 is vertically mounted on the connecting seat 232. The vertical slider 2312 is slidably mounted on the third slide rail 2311 and connected to the third nut (not shown in the figure) of the third ball screw. The third motor 2313 is connected to the third screw (not shown in the figure) of the third ball screw through a second synchronous belt mechanism 2314. It is used to drive the third screw to rotate around its own axis to drive the vertical slider 2312 connected to the third nut to move vertically. The first rotary drive mechanism 31 is connected to the vertical slider 2312.

[0031] In some embodiments, the breast ultrasound robot 100 further includes a first cable chain mechanism 81, a second cable chain mechanism 82, and a third cable chain mechanism 83. A first mounting plate 16 is provided on the frame 1, and a second mounting plate 17 is provided on the side of the second slide rail 2212. The fixed end of the first cable chain mechanism 81 is connected to the first mounting plate 16, and the movable end is connected to the second mounting plate 17; the fixed end of the second cable chain mechanism 82 is connected to the second mounting plate 17, and the movable end is connected to the third slide rail 2311; the fixed end of the third cable chain mechanism 83 is connected to the connecting seat 232, and the movable end is connected to the first rotary drive mechanism 31. It should be noted that each of the above cable chain mechanisms is composed of multiple flexibly rotatable unit links, which are detachable. In reciprocating motion, the cable chain mechanism can provide traction and protection for internal cables, oil pipes, air pipes, water pipes, etc.

[0032] In some embodiments, see Figure 7 The first rotary drive mechanism 31 includes a first rotary motor 311, the second rotary drive mechanism 32 includes a second rotary motor 321, and the third rotary drive mechanism 33 includes a third rotary motor 331. The output end of the first rotary motor 311 is connected to the main body of the second rotary motor 321 and is used to drive the main body of the second rotary motor 321 to rotate around a first axis. The output end of the second rotary motor 321 is connected to the main body of the third rotary motor 331 and is used to drive the main body of the third rotary motor 331 to rotate around a second axis. The output end of the third rotary motor 331 is connected to the clamping assembly 6 and is used to drive the clamping assembly 6 to rotate around a third axis. This design allows the three rotary motors to independently control the rotation of the three axes, greatly expanding the movement flexibility and working space range of the distal ultrasonic probe 4, and also facilitating programmable control to achieve precise positioning.

[0033] In some embodiments, please refer to Figure 1 and Figure 2 The frame 1 is equipped with a support platform 12, which is located below the ultrasound probe 4. The breast ultrasound robot 100 also includes a scanning bed 5, which is movably mounted on the support platform 12. The scanning bed 5 is used for patients to lie flat for easy scanning. The support platform 12 provides a stable support platform for the scanning bed 5 and shares some of the load, improving the stability of the equipment. Moreover, since the scanning bed 5 is movably mounted on the support platform 12, medical staff can adjust the position of the patient's breast relative to the ultrasound probe 4 on the scanning bed 5 as needed, performing a coarse adjustment of the ultrasound probe 4 position before scanning. This provides a good foundation for subsequent fine adjustment of the ultrasound probe 4 position using the linear drive mechanism 2 and the robotic arm assembly 3. This method of coarse adjustment followed by fine adjustment can improve positioning efficiency.

[0034] In some embodiments, see Figure 1A guide mechanism 13 is provided between the support platform 12 and the scanning bed 5 to guide the movement of the scanning bed 5. For example, the guide mechanism 13 includes a movable guide rail 131 and a movable slider (not shown in the figure). The movable guide rail 131 is embedded in the upper surface of the support platform 12, and the movable slider is provided at the bottom of the scanning bed 5. The movable slider is slidably connected to the movable guide rail 131. In addition, in order to ensure that the scanning bed 5 can be stably fixed in the preset position after it moves to the preset position, the scanning bed 5 is also provided with a locking mechanism to restrict the sliding of the slider.

[0035] To facilitate the stable fixing of the ultrasonic probe 4 to the free end of the third rotary drive mechanism 33, in some embodiments, please refer to... Figure 8 The breast ultrasound robot 100 also includes a clamping assembly 6, which includes a connector 61, a fixing member 62, and an elastic member 63. The connector 61 is connected to the free end of the third rotary drive mechanism 33. The fixing member 62 has a fixing cavity (not shown in the figure) for fixing the ultrasound probe 4, and the fixing member 62 is slidably connected to the connector 61; one end of the elastic member 63 is connected to the connector 61, and the other end is connected to the fixing member 62. In this way, when the ultrasound probe 4 located in the fixing cavity comes into contact with the human body, the elastic member 63 can play a certain role in buffering and absorbing energy, providing a relatively suitable contact pressure and improving the patient's comfort during the scan. The fixing member 62 includes a first housing 621 and a second housing 622. The first housing 621 and the second housing 622 are hinged to each other on one side, and connected to each other on the other side by a locking structure 623. The first housing 621 and the second housing 622 together form a fixing cavity (not shown in the figure), and the first housing 621 is slidably connected to the connector 61.

[0036] In some embodiments, the clamping assembly 6 further includes a pressure sensor 64, which is disposed on the connector 61 or the fixing member 62. When the pressure sensor 64 is disposed on the connector 61, one end of the elastic member 63 is connected to the pressure sensor 64, and the other end is connected to the fixing member 62; when the pressure sensor 64 is disposed on the fixing member 62, one end of the elastic member 63 is connected to the pressure sensor 64, and the other end is connected to the connector 61. Thus, the pressure sensor 64 can detect the force data of the elastic member 63, allowing the breast ultrasound robot 100 to adjust the position and angle of the ultrasound probe 4 in real time based on this force data. This maintains a constant pressure between the ultrasound probe 4 and the breast surface, improving the accuracy of the imaging data acquired by the ultrasound probe 4 and thereby enhancing the detection accuracy of the breast ultrasound robot 100.

[0037] In some embodiments, please refer to Figure 2 and Figure 3The breast ultrasound robot 100 also includes three image acquisition devices 7, which, exemplarily, are 3D cameras. By placing the three image acquisition devices 7 on the top and sides of the inner side of the frame 1, images of the patient's breast can be acquired from three different angles in a comprehensive manner, thereby obtaining three-dimensional image information of the breast. This allows the breast ultrasound robot 100 to determine the optimal scanning trajectory of the ultrasound probe 4 based on the three-dimensional image information, thus improving the accuracy of the imaging data acquired by the ultrasound probe 4 and consequently enhancing the detection accuracy of the breast ultrasound robot 100.

[0038] In some embodiments, the bottom of the frame 1 is also provided with a plurality of casters 14. The plurality of casters 14 facilitates the transport of the breast ultrasound robot 100, and preferably, each caster 14 is provided with a braking mechanism.

[0039] In some embodiments, the breast ultrasound robot 100 further includes a display screen 15 mounted on the frame 1. Thus, ultrasound images can be displayed in real time on the display screen 15 for medical personnel to refer to.

[0040] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the concept of the present utility model and using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included in the patent protection scope of the present utility model.

Claims

1. A breast ultrasound robot, characterized in that, include: The frame, linear drive mechanism, robotic arm assembly, and ultrasonic probe; The frame is equipped with a mounting base; The linear drive mechanism is mounted on the mounting base; The robotic arm assembly includes a first rotary drive mechanism, a second rotary drive mechanism, and a third rotary drive mechanism connected in sequence. The first rotary drive mechanism is connected to the linear drive mechanism, and the linear drive mechanism is used to drive the first rotary drive mechanism to move in the horizontal, longitudinal and vertical directions; The first axis of the first rotary drive mechanism is parallel to the longitudinal direction and is used to drive the second rotary drive mechanism to rotate around the first axis; The second axis of the second rotary drive mechanism is parallel to the transverse direction and is used to drive the third rotary drive mechanism to rotate around the second axis. The ultrasonic probe is located at the free end of the third rotating mechanism. The third axis of the third rotating drive mechanism is parallel to the vertical axis and is used to drive the ultrasonic probe to rotate around the third axis.

2. The breast ultrasound robot as described in claim 1, characterized in that, The linear drive mechanism includes a transverse drive mechanism, a longitudinal drive mechanism, and a vertical drive mechanism connected in sequence. The lateral drive mechanism is mounted on the mounting base and is used to drive the longitudinal drive mechanism to move laterally. The longitudinal drive mechanism is used to drive the vertical drive mechanism to move longitudinally; The first rotary drive mechanism is connected to the vertical drive mechanism, and the vertical drive mechanism is used to drive the first rotary drive mechanism to move vertically.

3. The breast ultrasound robot as described in claim 2, characterized in that, The longitudinal drive mechanism, the vertical drive mechanism, the robotic arm assembly, and the ultrasonic probe are all configured in pairs, and each pair corresponds to the other. The two longitudinal drive mechanisms are respectively connected to the transverse drive mechanism, and the transverse drive mechanism is used to drive the two longitudinal drive mechanisms to move laterally.

4. The breast ultrasound robot as described in claim 3, characterized in that, The lateral drive mechanism includes two first linear slides arranged side by side along the longitudinal direction on the mounting base; Each of the first linear slides includes a main slide, a secondary slide, a first slide rail, a first ball screw, and a first motor. The first slide rail is laterally mounted on the mounting base. The main slide and the secondary slide are slidably mounted on the first slide rail. The main slide is connected to a first nut on the first ball screw. The first motor is connected to a first screw of the first ball screw and is used to drive the first screw to rotate around its own axis to drive the main slide to move laterally. The two longitudinal drive mechanisms are arranged side by side in the transverse direction on the two first linear slides. The longitudinal drive mechanisms are connected to the main slider of one of the first slides and the auxiliary slider of the other first slide.

5. The breast ultrasound robot as described in claim 4, characterized in that, Each of the longitudinal drive mechanisms includes a second linear slide; The second linear slide includes a mounting beam, a second slide rail, a longitudinal slider, a second ball screw, and a second motor. One end of the mounting beam is connected to the main slider of one of the first linear slides, and the other end is connected to the auxiliary slider of the other first linear slide. The second slide rail is longitudinally mounted on the mounting beam. The longitudinal slider is slidably mounted on the second slide rail and connected to the second nut of the second ball screw. The second motor is connected to the second screw of the second ball screw and is used to drive the second screw to rotate around its own axis to drive the longitudinal slider connected to the second nut to move longitudinally in a straight line. The vertical drive mechanism is connected to the longitudinal slider.

6. The breast ultrasound robot as described in claim 5, characterized in that, The vertical drive mechanism includes a connecting seat and a third linear slide, the third linear slide including a third slide rail, a vertical slider, a third ball screw and a third motor; The connecting seat is connected to the longitudinal slider; the third slide rail is vertically disposed on the connecting seat; the vertical slider is slidably disposed on the third slide rail and connected to the third nut of the third ball screw; the third motor is connected to the third screw of the third ball screw and is used to drive the third screw to rotate around its own axis to drive the vertical slider connected to the third nut to move vertically. The first rotary drive mechanism is connected to the vertical slider.

7. The breast ultrasound robot as described in claim 6, characterized in that, It also includes a first drag chain mechanism, a second drag chain mechanism and a third drag chain mechanism, wherein a first mounting plate is provided on the frame and a second mounting plate is provided on the side of the second slide rail; The fixed end of the first cable chain mechanism is connected to the first mounting plate, and the movable end is connected to the second mounting plate; The fixed end of the second drag chain mechanism is connected to the second mounting plate, and the movable end is connected to the third slide rail; The fixed end of the third drag chain mechanism is connected to the connecting seat, and the movable end is connected to the first rotary drive mechanism.

8. The breast ultrasound robot as described in claim 1, characterized in that, The bottom of the frame is also equipped with multiple casters.

9. The breast ultrasound robot as described in claim 8, characterized in that, Each of the casters is equipped with a braking mechanism.

10. The breast ultrasound robot as described in claim 1, characterized in that, It also includes a display screen, which is mounted on the rack.

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