robot

Abstract

The present invention provides a robot capable of smoothly performing imaging operations using an ultrasonic probe. [Solution] The robot (100) is a robot for scanning an ultrasonic probe (P). The robot (100) includes a holding part (21) capable of holding the ultrasonic probe (P), a first sliding mechanism (31) connected to the holding part (21) that slides the holding part (21) in the axial direction of a first axis (T axis) that intersects with the ultrasonic probe (P), and a first rotation mechanism (41) connected to the holding part (21) that rotates the holding part (21) about the first axis (T axis).

Description

Technical Field

[0001] This invention relates to a robot.

Background Art

[0002] For example, Japanese Patent Application Laid-Open No. 2010-82333 (Patent Document 1) discloses an ultrasonic inspection robot system including an ultrasonic probe and a robot arm that holds the ultrasonic probe.

[0003] Also, Japanese Patent No. 6559956 (Patent Document 2) discloses a robot system including an ultrasonic probe and a robot to which the ultrasonic probe is connected.

[0004] Also, Japanese Patent No. 7387502 (Patent Document 3) discloses an ultrasonic automatic scanning system including an ultrasonic probe and a mechanical mechanism that holds the ultrasonic probe. The mechanical mechanism can move the ultrasonic probe in the horizontal and vertical directions and change the angle of the ultrasonic probe.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0006] As disclosed in the above-mentioned Patent Documents 1 to 3, robots are used to scan an affected area with an ultrasound probe in order to reduce the difficulty of surgery and alleviate the workload of doctors. In such robots, it is necessary to be able to change the imaging range of the ultrasound probe as intended and to easily make the obtained images clear so that imaging work using the ultrasound probe can be performed smoothly.

[0007] The objective of this invention is to provide a robot capable of smoothly performing imaging operations using an ultrasonic probe. [Means for solving the problem]

[0008] A robot according to this invention is a robot for scanning an ultrasonic probe. The robot comprises a holding part capable of holding an ultrasonic probe, a first sliding mechanism connected to the holding part that slides the holding part in the axial direction of a first axis intersecting the ultrasonic probe, and a first rotation mechanism connected to the holding part that rotates the holding part about the first axis. [Effects of the Invention]

[0009] According to this invention, it is possible to provide a robot that can smoothly perform imaging operations using an ultrasonic probe. [Brief explanation of the drawing]

[0010] [Figure 1] This is a perspective view showing a robot according to an embodiment of this invention. [Figure 2] This is a cross-sectional view showing the robot in Figure 1. [Figure 3] This is a cross-sectional view showing the robot within the area enclosed by the dashed line III in Figure 2. [Figure 4] This is a schematic cross-sectional view illustrating the mechanism of the first rotation mechanism and the first slide mechanism. [Figure 5] This is a cross-sectional view showing the robot within the area enclosed by the dashed line V in Figure 2. [Figure 6]It is a cross-sectional view showing the robot in the range surrounded by the two-dot chain line VI in FIG. 2. [Figure 7] It is a perspective view showing the internal structure of the robot in FIG. 6. [Figure 8] It is a cross-sectional view showing the robot in the range surrounded by the two-dot chain line VIII in FIG. 2. [Figure 9] It is an exploded assembly view of the robot in FIG. 1.

Embodiments for Carrying Out the Invention

[0011] Embodiments of this invention will be described with reference to the drawings. In the drawings referred to below, the same or corresponding members are given the same numbers.

[0012] FIG. 1 is a perspective view showing the robot in an embodiment of this invention. FIG. 2 is a cross-sectional view showing the robot in FIG. 1.

[0013] In FIGS. 1 and 2, and FIGS. 3 to 5 to be described later, a T-axis, a B-axis orthogonal to the T-axis, and an R-axis orthogonal to the B-axis are shown. The T-axis corresponds to the "first axis" in the present invention, the B-axis corresponds to the "second axis" in the present invention, and the R-axis corresponds to the "third axis" in the present invention.

[0014] Furthermore, in FIGS. 1 and 2, and FIGS. 5 to 9 to be described later, a Z-axis extending in the vertical direction, a Y-axis orthogonal to the Z-axis and extending in the horizontal direction, and an X-axis orthogonal to each of the X-axis and the Y-axis and extending in the horizontal direction are shown. The axial direction of the Z-axis (hereinafter also referred to as the "Z-axis direction") corresponds to the "first direction" in the present invention, the axial direction of the Y-axis (hereinafter also referred to as the "Y-axis direction") corresponds to the "second direction" in the present invention, and the axial direction of the X-axis (hereinafter also referred to as the "X-axis direction") corresponds to the "third direction" in the present invention.

[0015] Referring to FIGS. 1 and 2, the robot 100 in the present embodiment is a robot for scanning an ultrasonic probe P with respect to an affected part.

[0016] As an example, the robot 100 is used for the treatment of flexor tenosynovitis (trigger finger). In this case, the palm, which is the affected part, is placed on the base 11 described later in a posture where the arm extends in the X-axis direction. The doctor is positioned so as to face the affected part in the Y-axis direction. By operating the robot 100 using an operation terminal such as a touch panel or a foot pedal, the doctor causes the ultrasonic probe P to scan the affected part. As the ultrasonic probe P scans, the shape data of the affected part is acquired and imaged. The doctor operates the robot 100 and treats the affected part using a treatment instrument while checking the image displayed on the display.

[0017] In the present invention, the site of the affected part where the ultrasonic probe is scanned is not particularly limited, and for example, it may be an arm or a leg. The ultrasonic probe is not limited to the treatment of the affected part, and for example, it may be used to search for the injection site of anesthesia.

[0018] The robot 100 has a base 11. The base 11 is composed of a flat plate in which the Z-axis direction is the thickness direction. The base 11 functions as a mounting table on which the affected part is placed and also functions as a support base for supporting the structure of the robot 100 described later.

[0019] The robot 100 further has a holding part 21. The holding part 21 can hold the ultrasonic probe P. The ultrasonic probe P is detachably held by the holding part 21 using various fasteners such as screws, clips, or plates. The holding part 21 holds the ultrasonic probe P so that the ultrasonic probe P is disposed at a position separated from the base 11 in the Z-axis direction.

[0020] The ultrasonic probe P has a tip part Pa. The tip part Pa is provided at the tip of the ultrasonic probe P. The tip part Pa is the part of the ultrasonic probe P that presses against the affected part and transmits and receives ultrasonic waves. When the ultrasonic probe P is viewed in the axial direction of the T-axis (hereinafter also referred to as the "T-axis direction") described later, the tip part Pa has a substantially rectangular shape. The holding part 21 holds the ultrasonic probe P so that the tip part Pa protrudes from the holding part 21 in the T-axis direction.

[0021] The holding portion 21 has a pair of arm portions 22p and 22q and a base portion 23. The base portion 23 extends horizontally. The pair of arm portions 22p and 22q extend from both ends of the base portion 23 in the Z-axis direction. The pair of arm portions 22p and 22q together with the base portion 23 form a U-shape. The pair of arm portions 22p and 22q face each other with a gap between them in the horizontal direction. Ultrasound probe P It is held between a pair of arm portions 22p and 22q, in a position facing the base portion 23 in the T-axis direction.

[0022] The T-axis is a hypothetical straight line and corresponds to the rotational axis of the ultrasonic probe P held by the holding part 21. The T-axis intersects with the ultrasonic probe P held by the holding part 21. The ultrasonic probe P extends in a rod shape along the T-axis. The T-axis intersects with the tip Pa of the ultrasonic probe P held by the holding part 21. The T-axis intersects with the holding part 21. The T-axis intersects with the base 23 of the holding part 21.

[0023] Figure 3 is a cross-sectional view showing the robot within the area enclosed by the dashed line III in Figure 2. Figure 4 is a schematic cross-sectional view illustrating the mechanisms of the first rotation mechanism and the first sliding mechanism.

[0024] Referring to Figures 1 to 4, the robot 100 further includes a first sliding mechanism 31 and a first rotation mechanism 41. The first sliding mechanism 31 is connected to the holding part 21. The first sliding mechanism 31 is configured to slide the holding part 21 in the T-axis direction. The first rotation mechanism 41 is connected to the holding part 21. The first rotation mechanism 41 is configured to rotate the holding part 21 about the T-axis.

[0025] The first slide mechanism 31 and the first rotation mechanism 41 are arranged in a straight line along the T-axis. The first slide mechanism 31, the first rotation mechanism 41 and the holding part 21 are arranged in a straight line along the T-axis. The first slide mechanism 31, the first rotation mechanism 41, the holding part 21 and the ultrasonic probe P are arranged in a straight line along the T-axis. When viewing the robot 100 in the T-axis direction, the first slide mechanism 31 and the first rotation mechanism 41 appear to overlap each other. When viewing the robot 100 in the T-axis direction, the first slide mechanism 31, the first rotation mechanism 41 and the holding part 21 appear to overlap each other. When viewing the robot 100 in the T-axis direction, the first slide mechanism 31, the first rotation mechanism 41, the holding part 21 and the ultrasonic probe P appear to overlap each other.

[0026] As shown in Figures 3 and 4, the first slide mechanism 31 includes a ball screw spline shaft 111, a ball screw nut 122, and a first hollow motor 121. The ball screw nut 122 and the first hollow motor 121 are fixed in the T-axis direction.

[0027] The ball screw spline shaft 111 extends along the T-axis. The retaining portion 21 is connected to the end of the ball screw spline shaft 111 in the T-axis direction. The ball screw spline shaft 111 and the retaining portion 21 are aligned in the T-axis direction.

[0028] The ball screw spline shaft 111 is provided with a ball screw groove 116 and a plurality of ball spline grooves 117. The ball screw groove 116 is recessed from the outer circumferential surface of the ball screw spline shaft 111 and has a groove shape that extends spirally around the T axis. The ball spline grooves 117 are recessed from the outer circumferential surface of the ball screw spline shaft 111 and have a groove shape that extends linearly in the direction of the T axis. The plurality of ball spline grooves 117 are provided at intervals from each other in the circumferential direction around the T axis.

[0029] The ball screw nut 122 has a cylindrical shape centered on the T-axis. The ball screw nut 122 is positioned on the outer circumference of the ball screw spline shaft 111. The ball screw nut 122 is provided with a ball screw groove 124. The ball screw groove 124 is recessed from the inner circumferential surface of the ball screw nut 122 and has a groove shape that extends spirally around the T-axis. Multiple balls 123 capable of infinite circulation are interposed between the ball screw groove 116 and the ball screw groove 124.

[0030] The first hollow motor 121 has a cylindrical shape centered on a T-axis. The first hollow motor 121 can selectively output rotation in the forward direction and rotation in the reverse direction around the T-axis through its output shaft. A ball screw spline shaft 111 is inserted through the first hollow motor 121. The output shaft of the first hollow motor 121 is connected to a ball screw nut 122. The output shaft of the first hollow motor 121 is connected to the ball screw nut 122 without the use of a power transmission mechanism such as gears or a timing belt (direct drive system).

[0031] In this configuration, the ball screw nut 122 rotates in either the forward or reverse direction around the T-axis by receiving rotation from the first hollow motor 121. As the ball screw nut 122 rotates, the ball screw spline shaft 111 moves back and forth along the T-axis, causing the retaining portion 21 to slide in the T-axis direction. For example, the maximum sliding length of the retaining portion 21 in the T-axis direction is 50 mm.

[0032] As the holding part 21 slides in the T-axis direction, the distance between the ultrasound probe P and the affected area changes, as does the pressure applied by the ultrasound probe P to the affected area. By changing the pressure applied by the ultrasound probe P to the affected area, the depth of the imaged area can be adjusted, and the resulting image can be made clearer.

[0033] The first rotation mechanism 41 includes a ball screw spline shaft 111, a ball spline nut 127, and a second hollow motor 126.

[0034] The first rotation mechanism 41 shares the ball screw spline shaft 111 with the first slide mechanism 31. The ball spline nut 127 and the second hollow motor 126 are fixed in the T-axis direction. The ball spline nut 127 and the second hollow motor 126 are located between the ball screw nut 122 and the first hollow motor 121 and the holding portion 21 in the T-axis direction. The ball screw nut 122 and the ball spline nut 127 face each other in the T-axis direction.

[0035] The ball spline nut 127 has a cylindrical shape centered on the T-axis. The ball spline nut 127 is positioned on the outer circumference of the ball screw spline shaft 111. The ball spline nut 127 is provided with a plurality of ball spline grooves 129. The ball spline grooves 129 are Ball spline nut 127 The groove shape is recessed from the inner circumferential surface and extends linearly in the T-axis direction. Multiple ball spline grooves 129 are provided corresponding to multiple ball spline grooves 117. Multiple balls 128 capable of infinite circulation are interposed between the ball spline grooves 117 and ball spline grooves 129.

[0036] The second hollow motor 126 has a cylindrical shape centered on a T-axis. The second hollow motor 126 can selectively output rotation in the forward direction and rotation in the reverse direction around the T-axis through its output shaft. A ball screw spline shaft 111 is inserted through the second hollow motor 126. The output shaft of the second hollow motor 126 is connected to a ball spline nut 127. The output shaft of the second hollow motor 126 is connected to the ball spline nut 127 without the use of a power transmission mechanism such as gears or a timing belt (direct drive system).

[0037] In this configuration, the ball spline nut 127 rotates in either the forward or reverse direction around the T-axis by receiving rotation from the second hollow motor 126. The ball screw spline shaft 111 rotates in either the forward or reverse direction around the T-axis in conjunction with the ball spline nut 127, causing the holding portion 21 to rotate around the T-axis. As an example, the rotation angle of the holding portion 21 around the T-axis is within a range of ±90° with respect to a reference orientation (the orientation of the holding portion 21 shown in Figures 1 and 2) where the longitudinal direction of the tip Pa of the ultrasonic probe P coincides with the Y-axis direction.

[0038] The ultrasonic probe P rotates (rotates) as the holding part 21 rotates around the T-axis. For example, by rotating the ultrasonic probe P while the tip Pa is pressed against the affected area, the cross-sectional position of the affected area being imaged can be changed.

[0039] Referring to Figures 1 to 3, the robot 100 further comprises a first movable part 51 and a second rotating mechanism 42. The first movable part 51 is provided with a first sliding mechanism 31 and a first rotating mechanism 41. The first movable part 51 is connected to the holding part 21 via the first sliding mechanism 31 and the first rotating mechanism 41.

[0040] The first movable part 51 has a first cover 131. The first cover 131 has a cylindrical shape that extends along the T-axis. The first cover 131 has one end 131s and the other end 131t. The one end 131s and the other end 131t correspond to both ends of the first cover 131 that extends along the T-axis.

[0041] The first cover 131 is provided to cover the first sliding mechanism 31 and the first rotating mechanism 41. The ball screw spline shaft 111 penetrates the first cover 131 in the T-axis direction. The ball screw spline shaft 111 protrudes to the outside of the first cover 131 through one end 131s and the other end 131t. The ball screw nut 122, the first hollow motor 121, the ball spline nut 127, and the second hollow motor 126 are housed inside the first cover 131. The first hollow motor 121 and the second hollow motor 126 are mounted on the first cover 131. The retaining portion 21 is connected to the ball screw nut 122 on the outside of the first cover 131. The retaining portion 21 is connected to the ball screw nut 122 at a position where the ball screw nut 122 protrudes to the outside of the first cover 131 through one end 131s.

[0042] The first cover 131 may also be provided with a lighting device (for example, an LED) to illuminate the affected area.

[0043] The second rotation mechanism 42 is connected to the first movable part 51. The second rotation mechanism 42 is configured to rotate the holding part 21 and the first movable part 51 around the B axis.

[0044] The B-axis is a virtual straight line and corresponds to the rotational axis (oscillation axis) of the first movable part 51. The B-axis extends horizontally. The B-axis does not intersect with the holding part 21 and the ultrasonic probe P. The B-axis intersects with the first movable part 51 (first cover 131) and the second movable part 52, which will be described later. The B-axis is perpendicular to the T-axis. The B-axis intersects with the T-axis inside the first cover 131. The distance between the B-axis and one end 131s in the T-axis direction is smaller than the distance between the B-axis and the other end 131t in the T-axis direction.

[0045] The second rotation mechanism 42 has a first motor 151. The first motor 151 is attached to the second cover 136, which will be described later. The first motor 151 is positioned opposite the first cover 131 in the axial direction of the B-axis (hereinafter also referred to as the "B-axis direction"). The first motor 151 can selectively output rotation in the forward direction and rotation in the reverse direction around the B-axis through its output shaft. The output shaft of the first motor 151 is connected to the first movable part 51 (first cover 131). The output shaft of the first motor 151 is connected to the first movable part 51 (first cover 131) without going through a power transmission mechanism such as gears or a timing belt (direct drive system).

[0046] In this configuration, the first movable part 51 (first cover 131) rotates (oscillates) in either the forward or reverse direction around the B axis by receiving rotation from the first motor 151. The holding part 21 moves circumferentially around the B axis, together with the first movable part 51. As an example, the rotation angle of the first movable part 51 around the B axis is in the range of ±90° with respect to the reference position where the tip Pa of the ultrasonic probe P points directly downward (the position of the first movable part 51 shown in Figures 1 and 2).

[0047] As the first movable part 51 rotates around the B axis, the tilt of the ultrasound probe P (the contact surface of the tip Pa with respect to the affected area) changes (rocking or tilting). By changing the tilt of the ultrasound probe P, the range of the affected area to be imaged can be adjusted. In this case, the drive of axes other than the B axis may be automatically controlled in order to maintain the pressing position or pressing force of the tip Pa with respect to the affected area.

[0048] Figure 5 is a cross-sectional view showing the robot within the area enclosed by the dashed line V in Figure 2. Referring to Figures 1 to 3 and Figure 5, the robot 100 further comprises a second movable part 52 and a third rotation mechanism 43. The second movable part 52 is provided with the second rotation mechanism 42 (first motor 151). The second movable part 52 is connected to the first movable part 51 via the second rotation mechanism 42 (first motor 151).

[0049] The second movable part 52 has a second cover 136. The second cover 136 has a pair of arm portions 146p and 146q and a base portion 147. The base portion 147 extends horizontally. The pair of arm portions 146p and 146q extend from both ends of the base portion 147 in the Z-axis direction, respectively. The pair of arm portions 146p and 146q together with the base portion 147 form a U-shape. The pair of arm portions 146p and 146q face each other with a gap between them in the B-axis direction.

[0050] The first movable part 51 (first cover 131) is located between a pair of arm parts 146p and 146q, and is positioned opposite the base part 147 in the axial direction of the R axis (hereinafter also referred to as the "R axis direction"), which will be described later. The first movable part 51 (first cover 131) is provided so as to cover the second rotating mechanism 42 (first motor 151). The second rotating mechanism 42 (first motor 151) is attached to the arm part 146p. When the B axis is set to the reference position (the position of the first movable part 51 shown in Figures 1 and 2) in which the tip Pa of the ultrasonic probe P points directly downward, the base part 147 faces the other end 131t of the first cover 131 with a gap in the R axis direction.

[0051] The third rotation mechanism 43 is connected to the second movable part 52 (second cover 136). The third rotation mechanism 43 is configured to rotate the holding part 21, the first movable part 51, and the second movable part 52 around the R axis.

[0052] The R-axis is a virtual straight line and corresponds to the rotational axis of the second movable part 52. The R-axis is perpendicular to the B-axis. The R-axis extends in the Z-axis direction. The R-axis intersects with the base 147 and extends between the pair of arm parts 146p and 146q. The R-axis intersects with the first movable part 51. When the B-axis is set to the reference position (the position of the first movable part 51 shown in Figures 1 and 2) in which the tip Pa of the ultrasonic probe P points directly downwards, the R-axis is aligned with the T-axis.

[0053] The third rotation mechanism 43 includes a second motor 161, a first gear 162, a second gear 163, and a shaft 164.

[0054] The second motor 161 is attached to the slider 176k, which will be described later. The second motor 161 can selectively output rotation in the forward direction and rotation in the reverse direction around the rotation center axis 300 through its output shaft. The rotation center axis 300 extends in the R-axis direction (vertical direction). The rotation center axis 300 is located at a position away from the R-axis in the horizontal direction (Y-axis direction). The first gear 162 is connected to the output shaft of the second motor 161.

[0055] The shaft 164 extends axially along the R axis. The shaft 164 is attached to the slider 176k, which will be described later. The second gear 163 engages with the shaft 164 via the bearing 165. The second gear 163 is supported so as to be rotatable about the R axis. The second gear 163 meshes with the first gear 162. The second gear 163 is connected to the second movable part 52 (second cover 136). The second gear 163 is fastened to the base 147 using bolts or the like.

[0056] In this configuration, the first gear 162 rotates in either the forward or reverse direction around the rotation center axis 300 by receiving rotation from the second motor 161. The rotation of the first gear 162 is transmitted to the second gear 163, causing the second movable part 52 (second cover 136) to rotate together with the second gear 163 around the R axis. As an example, the rotation angle of the second movable part 52 around the R axis is within a range of ±90° with respect to the reference position (the position of the second movable part 52 shown in Figures 1 and 2) where the pair of arm parts 146p and 146q face each other in the Y axis direction.

[0057] The rotation of the second movable part 52 around the R axis allows the orientation of the ultrasound probe P relative to the affected area to be changed. In particular, when the B axis is set to the reference orientation (the orientation of the first movable part 51 shown in Figures 1 and 2) in which the tip Pa of the ultrasound probe P points directly downward, the same effect as when the holding part 21 is rotated around the T axis by the first rotation mechanism 41 can be obtained.

[0058] Figure 6 is a cross-sectional view showing the area of ​​the robot enclosed by the dashed line VI in Figure 2. Figure 7 is a perspective view showing the internal structure of the robot in Figure 6. Figure 8 is a cross-sectional view showing the area of ​​the robot enclosed by the dashed line VIII in Figure 2. Figure 9 is an exploded view of the robot in Figure 1.

[0059] Referring to Figures 1 to 2 and Figures 5 to 9, the robot 100 further includes a second slide mechanism 32, a third slide mechanism 33, and a fourth slide mechanism 34.

[0060] The second sliding mechanism 32 is configured to slide the holding part 21 in the Z-axis direction (vertical direction). The third sliding mechanism 33 is configured to slide the holding part 21 in the Y-axis direction (width direction of the arm placed on the base 11). The fourth sliding mechanism 34 is configured to slide the holding part 21 in the X-axis direction (longitudinal direction of the arm placed on the base 11). The second sliding mechanism 32 is manually operated. The third sliding mechanism 33 and the fourth sliding mechanism 34 are motor-driven.

[0061] First, the structure of the third slide mechanism 33 will be described. As shown in Figure 5, the robot 100 further has a third cover 137. The third cover 137 consists of a cylindrical body that extends in the Y-axis direction and opens downwards. The second movable part 52 (second cover 136) extends from the third cover 137 in the Z-axis direction (downwards). The third cover 137 is provided so as to cover the third slide mechanism 33.

[0062] The third slide mechanism 33 includes a feed mechanism 170A and a guide mechanism 170B. The feed mechanism 170A moves the second movable part 52 (second cover 136) in the Y-axis direction by motor drive. The guide mechanism 170B guides the second movable part 52 (second cover 136) along the Y-axis direction.

[0063] The feed mechanism 170A includes a third motor 171, a ball screw shaft 172, and a ball screw nut 173.

[0064] The third motor 171 is attached to the fourth cover 138, which will be described later. The third motor 171 can selectively output rotation in the forward direction and rotation in the reverse direction around the rotation center axis 301 through its output shaft. The rotation center axis 301 extends in the Y-axis direction. The ball screw shaft 172 extends along the rotation center axis 301. The ball screw shaft 172 is connected to the output shaft of the third motor 171. The ball screw nut 173 is engaged with the ball screw shaft 172 via a plurality of balls. The ball screw nut 173 together with the ball screw shaft 172 constitutes a ball screw.

[0065] The guide mechanism 170B includes a rail 176j and a slider 176k. The rail 176j is attached to the third cover 137. The rail 176j extends in the Y-axis direction. The slider 176k is engaged with the rail 176j via a plurality of balls. The rail 176j and the slider 176k are movable relative to each other in the Y-axis direction by being guided by each other. The rail 176j and the slider 176k constitute a linear guide, which is a linear motion guide mechanism. The slider 176k is connected to a ball screw nut 173.

[0066] The second motor 161 and shaft 164 are connected to the slider 176k. The second movable part 52 (second cover 136) is supported by the slider 176k via the shaft 164 and the second gear 163. The second movable part 52 (second cover 136) is suspended from the slider 176k via the shaft 164 and the second gear 163.

[0067] In this configuration, the ball screw shaft 172 rotates in either the forward or reverse direction around the rotation center axis 301 by receiving rotation from the third motor 171. As the ball screw shaft 172 rotates, the ball screw nut 173 moves along the rotation center axis 301, causing the slider 176k to move in the Y-axis direction, guided by the rail 176j. The retaining part 21 slides in the Y-axis direction together with the second movable part 52 (second cover 136) supported by the slider 176k. As an example, the maximum sliding length of the retaining part 21 in the Y-axis direction by the third sliding mechanism 33 is 50 mm.

[0068] Next, the structure of the second slide mechanism 32 will be described. As shown in Figures 6 and 7, the robot 100 further has a fourth cover 138. The fourth cover 138 consists of a cylindrical body extending in the Z-axis direction. The third cover 137 extends from the upper end of the fourth cover 138 in the Y-axis direction. The fourth cover 138 is provided to cover the second slide mechanism 32.

[0069] The second slide mechanism 32 includes a feed mechanism 180A and a guide mechanism 180B. The feed mechanism 180A manually moves the fourth cover 138 in the Z-axis direction. The guide mechanism 180B guides the fourth cover 138 along the Z-axis direction.

[0070] The feed mechanism 180A includes a handle 181, a ball screw shaft 182, and a ball screw nut 183.

[0071] The ball screw shaft 182 extends along the rotation axis 302. The rotation axis 302 extends in the Z-axis direction. The handle 181 is connected to the ball screw shaft 182. The operator can selectively input forward rotation and reverse rotation of the ball screw shaft 182 around the rotation axis 302 via the handle 181. The ball screw shaft 182 and the handle 181 are mounted on the fourth cover 138. The ball screw nut 183 engages with the ball screw shaft 182 via a number of balls. The ball screw nut 183, together with the ball screw shaft 182, constitutes a ball screw.

[0072] The guide mechanism 180B has a rail 186j and a slider 186k. The rail 186j is attached to the fourth cover 138. The rail 186j extends in the Z-axis direction. The slider 186k ​​is engaged with the rail 186j via a number of balls. The rail 186j and the slider 186k ​​are movable relative to each other in the Z-axis direction by being guided by each other. The rail 186j and the slider 186k ​​constitute a linear guide, which is a linear motion guide mechanism.

[0073] The ball screw nut 183 and slider 186k ​​are connected to the column 141. The column 141 is supported by a fifth cover 139, which will be described later. The column 141 has a columnar shape rising from the fifth cover 139. The column 141 has a plate portion 142. The plate portion 142 is located inside the fourth cover 138. The plate portion 142 is made of a plate material with the Y-axis direction as the thickness direction. The ball screw nut 183 and slider 186k ​​are connected to the plate portion 142.

[0074] In this configuration, the ball screw shaft 182 rotates in either the forward or reverse direction around the rotation center axis 302 when the operator turns the handle 181. The ball screw shaft 182 moves forward and backward along the rotation center axis 302 by rotating relative to the ball screw nut 173. As the rail 186j is guided by the slider 186k, the fourth cover 138 slides in the Z-axis direction together with the ball screw shaft 182. As an example, the maximum sliding length of the holding portion 21 in the Z-axis direction by the second sliding mechanism 32 is 200 mm.

[0075] Next, the structure of the fourth slide mechanism 34 will be described. As shown in Figures 8 and 9, the robot 100 further has a fifth cover 139. The fifth cover 139 consists of a cylindrical body that extends in the X-axis direction and opens downward. The fifth cover 139 is mounted on the base 11. The column 141 is connected to the upper end of the fifth cover 139.

[0076] The fourth slide mechanism 34 includes a feed mechanism 190A and a guide mechanism 190B. The feed mechanism 190A moves the fifth cover 139 in the X-axis direction by motor drive. The guide mechanism 190B guides the fifth cover 139 along the X-axis direction.

[0077] The feed mechanism 190A includes a fourth motor 194, a reduction gear 195, a pinion 196, and a rack 197.

[0078] The fourth motor 194 is mounted on the base 11. The fourth motor 194 can selectively output rotation in the forward direction and rotation in the reverse direction around the rotation center axis 306 through its output shaft. The rotation center axis 306 extends in the X-axis direction. The reducer 195 is located on the power transmission path from the fourth motor 194 to the pinion 196. The reducer 195 reduces the rotation from the fourth motor 194 and converts the rotation around the rotation center axis 306 to rotation around the rotation center axis 307 by 90° before transmitting it to the pinion 196. The pinion 196 is rotatable around the rotation center axis 307. The rotation center axis 307 extends in the Y-axis direction.

[0079] Rack 197 is mounted on the fifth cover 139. Rack 197 extends in the X-axis direction. Rack 197 meshes with pinion 196.

[0080] The guide mechanism 190B includes a rail 191j and a slider 191k. The rail 191j is mounted on the base 11. The rail 191j extends in the X-axis direction. The slider 191k is engaged with the rail 191j via a plurality of balls. The rail 191j and the slider 191k are movable relative to each other in the X-axis direction by being guided by each other. The rail 191j and the slider 191k constitute a linear guide, which is a linear motion guide mechanism.

[0081] In this configuration, the pinion 196 rotates in either the forward or reverse direction around the rotation axis 307 by receiving rotation from the fourth motor 194. The rack 197 engages with the pinion 196, which rotates around the rotation axis 307, thereby applying a driving force in the X-axis direction to the fifth cover 139. The fifth cover 139 slides in the X-axis direction, guided by the engagement of the slider 176k and the rail 176j. As an example, the maximum sliding length of the holding portion 21 in the X-axis direction by the fourth sliding mechanism 34 is 300 mm.

[0082] The maximum sliding length of the holding portion 21 in the X-axis direction by the fourth sliding mechanism 34 is greater than the maximum sliding length of the holding portion 21 in the Z-axis direction by the second sliding mechanism 32, and greater than the maximum sliding length of the holding portion 21 in the Y-axis direction by the third sliding mechanism 33. The maximum sliding length of the holding portion 21 in the Z-axis direction by the second sliding mechanism 32 is greater than the maximum sliding length of the holding portion 21 in the Y-axis direction by the third sliding mechanism 33.

[0083] The holding part 21 slides in the Y-axis direction and the X-axis direction, respectively, by the second sliding mechanism 32 and the fourth sliding mechanism 34, causing the ultrasound probe P to move in the horizontal plane (sliding). This allows the ultrasound probe P to approach the location of the affected area to be treated. Furthermore, the holding part 21 slides in the Z-axis direction by the third sliding mechanism 33, causing the ultrasound probe P to move in the Z-axis direction. This allows the ultrasound probe P to be roughly positioned in advance for affected areas of various sizes, for example.

[0084] Referring to Figure 1, the robot 100 further includes a laser irradiation device 16. The laser irradiation device 16 is mounted on a third cover 137. The laser irradiation device 16 irradiates a laser (line laser) toward the base 11. The line laser extends linearly in the X-axis direction. With this configuration, the physician can use the line laser illuminating the affected area as a guide when scanning the ultrasound probe P.

[0085] To summarize the configuration of the robot 100 in the embodiment of this invention described above, the robot 100 in this embodiment is a robot for scanning an ultrasonic probe P. The robot 100 includes a holding part 21 capable of holding the ultrasonic probe P, a first sliding mechanism 31 connected to the holding part 21 that slides the holding part 21 in the axial direction of the T-axis, which is a first axis intersecting the ultrasonic probe P, and a first rotation mechanism 41 connected to the holding part 21 that rotates the holding part 21 about the T-axis.

[0086] With this configuration, the first sliding mechanism 31 slides the holding part 21 in the T-axis direction, thereby changing the distance between the ultrasound probe P and the affected area, and changing the pressure applied by the ultrasound probe P to the affected area. Furthermore, the first rotation mechanism 41 rotates the holding part 21 around the T-axis, allowing the ultrasound probe P to be rotated while it is pressed against the affected area. This makes it possible to change the imaging range of the ultrasound probe P as intended and to easily make the obtained images clearer, thus enabling smooth imaging work using the ultrasound probe P.

[0087] Furthermore, the first slide mechanism 31 includes a ball screw spline shaft 111 connected to the holding part 21, a ball screw nut 122 engaged with the ball screw spline shaft 111, and a first hollow motor 121 through which the ball screw spline shaft 111 is inserted and connected to the ball screw nut 122. The first rotation mechanism 41 includes a ball screw spline shaft 111 shared with the first slide mechanism 31, a ball spline nut 127 engaged with the ball screw spline shaft 111, and a second hollow motor 126 through which the ball screw spline shaft 111 is inserted and connected to the ball spline nut 127.

[0088] With this configuration, the first sliding mechanism 31 for sliding the holding part 21 in the T-axis direction and the first rotating mechanism 41 for rotating the holding part 21 about the T-axis can be compactly configured along the T-axis.

[0089] Furthermore, the robot 100 includes a first movable part 51 on which a first sliding mechanism 31 and a first rotation mechanism 41 are provided, a second rotation mechanism 42 connected to the first movable part 51 that rotates the holding part 21 and the first movable part 51 around the B axis, which is a second axis perpendicular to the T axis, a second movable part 52 on which the second rotation mechanism 42 is provided, and a third rotation mechanism 43 connected to the second movable part 52 that rotates the holding part 21, the first movable part 51 and the second movable part 52 around the R axis, which is a third axis perpendicular to the B axis.

[0090] With this configuration, the orientation of the ultrasound probe P is changed by rotating the holding part 21 and the first movable part 51 around the B axis using the second rotation mechanism 42, or by rotating the holding part 21, the first movable part 51, and the second movable part 52 around the R axis using the third rotation mechanism 43. This makes it possible to adjust the range of the affected area to be imaged, and further smooth the imaging work using the ultrasound probe P.

[0091] Furthermore, the robot 100 includes a second sliding mechanism 32 that slides the holding part 21 in the Z-axis direction, which is a first direction parallel to the vertical direction, a third sliding mechanism 33 that slides the holding part 21 in the Y-axis direction, which is a second direction perpendicular to the Z-axis direction, and a third sliding mechanism that slides the holding part 21 in a third direction perpendicular to the Z-axis and Y-axis directions. X-axis direction It further includes a fourth sliding mechanism 34 that slides in that direction.

[0092] With this configuration, the second slide mechanism 32, the third slide mechanism 33, and the fourth slide mechanism 34 slide the holding part 21 in the Z-axis, Y-axis, and X-axis directions, thereby changing the three-dimensional position of the ultrasound probe P. This makes it possible to adjust the range of the affected area to be imaged, and further facilitates imaging work using the ultrasound probe P.

[0093] Furthermore, the second slide mechanism 32 is manually operated. The third slide mechanism 33 and the fourth slide mechanism 34 are motor-driven.

[0094] With this configuration, imaging operations using the ultrasound probe P can be made even smoother by using the manually operated second slide mechanism 32 and the motor-driven third slide mechanism 33 and fourth slide mechanism 34 interchangeably. For example, the second slide mechanism 32 can be used to position the ultrasound probe P relative to the affected area, and the third slide mechanism 33 and fourth slide mechanism 34 can be used to move the ultrasound probe P when searching for the affected area.

[0095] The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than by the foregoing description, and all modifications within the meaning and scope equivalent to the claims are intended to be included. [Explanation of symbols]

[0096] 11 Base, 16 Laser irradiation device, 21 Holding part, 22p, 22q Pair of arm parts, 23, 147 Base, 31 First slide mechanism, 32 Second slide mechanism, 33 Third slide mechanism, 34 Fourth slide mechanism, 41 First rotation mechanism, 42 Second rotation mechanism, 43 Third rotation mechanism, 51 First movable part, 52 Second movable part, 100 Robot, 111 Ball screw spline shaft, 116, 124 Ball screw groove, 117, 129 Ball spline groove, 121 First hollow motor, 122, 173, 183 Ball screw nut, 123, 128 Ball, 126 Second hollow motor, 127 Ball spline nut, 131 First cover, 131s One end, 131t Other end, 136 Second cover, 137 Third cover, 138 Fourth cover, 139 Fifth cover, 141 column, 142 plate section, 146p, 146q pair of arm sections, 151 first motor, 161 second motor, 162 first gear, 163 second gear, 164 shaft, 165 bearing, 170A, 180A, 190A feed mechanism, 170B, 180B, 190B guide mechanism, 171 third motor, 172, 182 ball screw shaft, 176j, 186j, 191j rail, 176k, 186k, 191k slider, 181 handle, 194 fourth motor, 195 reducer, 196 pinion, 197 rack, 300, 301, 302, 306, 307 rotational center axis, P ultrasonic probe.

Claims

1. A robot for scanning an ultrasonic probe, A holding part capable of holding the ultrasonic probe, A first sliding mechanism connected to the holding portion, which slides the holding portion in the axial direction of the first axis intersecting the ultrasonic probe, A first rotation mechanism connected to the holding part and rotating the holding part around the first axis, A second sliding mechanism slides the holding portion in a first direction parallel to the vertical direction, A third sliding mechanism slides the holding portion in a second direction perpendicular to the first direction, A fourth sliding mechanism that slides the holding portion in a third direction perpendicular to the first and second directions, The system includes a laser irradiation device that irradiates a line laser extending linearly in the third direction, The first slide mechanism is, A ball screw spline shaft connected to the aforementioned holding part, A ball screw nut that engages with the aforementioned ball screw spline shaft, The ball screw spline shaft is inserted through a first hollow motor, which is connected to the ball screw nut, The first rotating mechanism is, The ball screw spline shaft shared with the first slide mechanism, A ball spline nut that engages with the aforementioned ball screw spline shaft, The ball screw spline shaft is inserted through a second hollow motor connected to the ball spline nut, and further, The first movable part is provided with the first sliding mechanism and the first rotating mechanism, A second rotation mechanism is connected to the first movable part and rotates the holding part and the first movable part around a second axis perpendicular to the first axis, The second movable part on which the second rotation mechanism is provided, A robot comprising a third rotation mechanism connected to the second movable part, which rotates the holding part, the first movable part, and the second movable part around a third axis perpendicular to the second axis.

2. The second sliding mechanism is manually operated, The robot according to claim 1, wherein the third slide mechanism and the fourth slide mechanism are motor-driven.

Images