阅读说明：本技术 基于机械臂的颈部超声成像装置 (Neck ultrasonic imaging device based on mechanical arm ) 是由 陈建军 孙冬冬 于 2020-12-30 设计创作，主要内容包括：本发明提供一种基于机械臂的颈部超声成像装置,包括：基座,基座具有安装面；安装在安装面上的机械臂滑块,机械臂滑块在滑动宽度方向上进行滑动位移；第一机械臂的第一端面与机械臂滑块铰接；第二机械臂,第二机械臂的一个端面与基座铰接,第二机械臂另一个端面与第一机械臂铰接；第三机械臂第一端面与基座铰接；开合部,开合部用于固定颈部；第二机械臂第三端面与开合部铰接；第三机械臂第二端面与开合部铰接；机械臂滑块通过第一机械臂、第二机械臂、第三机械臂带动开合部进行开合运动；探头移动机构,探头移动机构与开合部可拆卸地连接；探头移动机构用于将探头相对于颈部进行径向移动。(The invention provides a neck ultrasonic imaging device based on a mechanical arm, which comprises: a base having a mounting surface; the mechanical arm sliding block is arranged on the mounting surface and slides and displaces in the sliding width direction; the first end surface of the first mechanical arm is hinged with the mechanical arm sliding block; one end face of the second mechanical arm is hinged with the base, and the other end face of the second mechanical arm is hinged with the first mechanical arm; the first end surface of the third mechanical arm is hinged with the base; the opening and closing part is used for fixing the neck; the third end surface of the second mechanical arm is hinged with the opening and closing part; the second end surface of the third mechanical arm is hinged with the opening and closing part; the mechanical arm sliding block drives the opening and closing part to perform opening and closing movement through the first mechanical arm, the second mechanical arm and the third mechanical arm; the probe moving mechanism is detachably connected with the opening and closing part; the probe moving mechanism is used for moving the probe in a radial direction relative to the neck.)

1. A neck ultrasonic imaging device based on mechanical arm, characterized in that the device comprises:

the base is provided with a mounting surface, the mounting surface is provided with a sliding width and a rotating width, and the rotating width is smaller than the sliding width;

a mechanical arm slider mounted on the mounting surface, the mechanical arm slider performing sliding displacement in the sliding width direction;

the first mechanical arm is provided with a first mechanical arm first end surface and a first mechanical arm second end surface; the first end surface of the first mechanical arm is hinged with the mechanical arm sliding block;

the second mechanical arm is of a Y-shaped structure and is provided with a second mechanical arm first end face, a second mechanical arm second end face and a second mechanical arm third end face, the second mechanical arm first end face is hinged with the base, and the second mechanical arm second end face is hinged with the first mechanical arm;

a third mechanical arm, the third mechanical arm having a third mechanical arm first end face and a third mechanical arm second end face; the first end surface of the third mechanical arm is hinged with the base;

the opening and closing part is used for fixing the neck;

the third end surface of the second mechanical arm is hinged with the opening and closing part; the second end surface of the third mechanical arm is hinged with the opening and closing part; the mechanical arm sliding block drives the opening and closing part to perform opening and closing movement through the first mechanical arm, the second mechanical arm and the third mechanical arm;

the probe moving mechanism is detachably connected with the opening and closing part; the probe moving mechanism is used for vertically moving the probe relative to the neck.

2. The robotic arm based neck ultrasound imaging apparatus of claim 1, wherein: the number of the first mechanical arm, the second mechanical arm, the third mechanical arm and the opening and closing part is 2, and the first mechanical arm, the second mechanical arm, the third mechanical arm and the opening and closing part are symmetrically arranged relative to the symmetry axis.

3. The robotic arm based neck ultrasound imaging apparatus of claim 1, wherein: the distance from the first end hinge point of the first mechanical arm to the neck is greater than the distance from the first end hinge point of the second mechanical arm to the neck; the distance from the hinge point of the first end of the second mechanical arm to the neck is larger than the distance from the hinge point of the first end of the third mechanical arm to the neck.

4. The robotic arm based neck ultrasound imaging apparatus of claim 1, wherein: the device further comprises a driving device, wherein the driving device is connected with the mechanical arm sliding block and used for driving the mechanical arm sliding block to perform sliding displacement in the sliding width direction.

5. The robotic-arm-based neck ultrasound imaging apparatus of claim 4, wherein: the driving device includes:

a screw rod slide block; the screw rod sliding block is connected with the mechanical arm sliding block;

the screw rod is connected with the screw rod sliding block in a sliding manner;

the motor is meshed with the screw rod; the motor drives the screw rod to rotate, and the screw rod drives the screw rod sliding block to slide on the screw rod.

6. A robot-arm based neck ultrasound imaging apparatus according to any of claims 1 to 5, wherein: the neck ultrasonic imaging device based on the mechanical arm further comprises a locking device, and the locking device is used for detachably fixing the probe moving mechanism and the opening and closing part.

7. A robot-arm based neck ultrasound imaging apparatus according to any of claims 1 to 5, wherein: the probe moving mechanism further comprises a moving end, a probe clamp used for mounting the probe is arranged at the moving end, and the moving end vertically moves relative to the neck.

8. The robotic-arm based neck ultrasound imaging apparatus of claim 7, wherein: the probe moving mechanism further includes:

the movable frame is detachably connected with the opening and closing part;

the moving frame is provided with a vertical screw rod in the vertical direction; at least one moving end penetrates through the vertical screw rod, the moving end is a sliding table,

and the screw rod motor is arranged on the movable frame and drives the vertical screw rod to rotate.

9. A robotic-arm based neck ultrasound imaging apparatus according to claim 8, wherein: the probe moving mechanism can be detachably installed between the two opening and closing parts which are symmetrically arranged.

10. The robotic-arm based neck ultrasound imaging apparatus of claim 7, wherein: the probe clamp is provided with a probe mounting frame, a probe sleeve is arranged on the periphery of the probe, and the probe sleeve is hinged with the probe mounting frame through a pin shaft; the hinged fulcrum provides a swing center for the probe, and the swing center is used for attaching the probe to the neck.

Technical Field

The invention belongs to the technical field of ultrasonic equipment, and particularly relates to a neck ultrasonic imaging device based on a mechanical arm.

Background

In recent years, with the improvement of living standard, the incidence of diseases related to carotid artery, thyroid gland and the like has been increasing year by year and the trend is toward the younger. Carotid atherosclerosis can cause carotid stenosis and even occlusion, resulting in a disturbance of blood supply to the brain. The thyroid disease has important significance in reducing and preventing the occurrence of cerebrovascular events if the thyroid disease can be diagnosed and treated early. The current noninvasive imaging methods for neck examination are mainly ultrasound, magnetic resonance angiography and CT angiography. The ultrasonic examination is simple and easy to implement, and real-time imaging is adopted, so that the ultrasonic examination method becomes a preferred examination method for related diseases such as carotid artery, thyroid gland and the like.

The method adopted in the industry at present mainly comprises manual scanning by doctors, and has high requirements on the doctors, high working strength of the doctors and poor repeatability. The neck cannot be fixed, the neck is easy to displace in the scanning process, and certain influence is caused on the quality of the ultrasonic image.

Disclosure of Invention

The invention aims to provide a neck ultrasonic imaging device based on a mechanical arm, which can be used for scanning an automatic neck, can fix the neck, is convenient to switch between a left neck and a right neck, reduces the working intensity of doctors and has high repeatability.

In order to achieve the purpose, the invention provides the following technical scheme: the neck ultrasonic imaging device based on the mechanical arm comprises: the base is provided with a mounting surface, the mounting surface is provided with a sliding width and a rotating width, and the rotating width is smaller than the sliding width; a mechanical arm slider mounted on the mounting surface, the mechanical arm slider performing sliding displacement in the sliding width direction; the first mechanical arm is provided with a first mechanical arm first end surface and a first mechanical arm second end surface; the first end surface of the first mechanical arm is hinged with the mechanical arm sliding block; the second mechanical arm is of a Y-shaped structure and is provided with a second mechanical arm first end face, a second mechanical arm second end face and a second mechanical arm third end face, the second mechanical arm first end face is hinged with the base, and the second mechanical arm second end face is hinged with the first mechanical arm; a third mechanical arm, the third mechanical arm having a third mechanical arm first end face and a third mechanical arm second end face; the first end surface of the third mechanical arm is hinged with the base; the opening and closing part is used for fixing the neck; the third end surface of the second mechanical arm is hinged with the opening and closing part; the second end surface of the third mechanical arm is hinged with the opening and closing part; the mechanical arm sliding block drives the opening and closing part to perform opening and closing movement through the first mechanical arm, the second mechanical arm and the third mechanical arm; the probe moving mechanism is detachably connected with the opening and closing part; the probe moving mechanism is used for vertically moving the probe relative to the neck. Can sweep the automatic neck and look into, and fixed neck, conveniently switch in left and right sides neck, reduced doctor working strength, repeatability is high.

In an embodiment, the number of the first arm, the second arm, the third arm and the opening and closing portion is 2, and the first arm, the second arm, the third arm and the opening and closing portion are symmetrically arranged with respect to the symmetry axis.

In one embodiment, the distance from the first end hinge point of the first mechanical arm to the neck is greater than the distance from the first end hinge point of the second mechanical arm to the neck; the distance from the hinge point of the first end of the second mechanical arm to the neck is larger than the distance from the hinge point of the first end of the third mechanical arm to the neck.

In an embodiment, the apparatus further includes a driving device, connected to the robot arm slider, for driving the robot arm slider to perform sliding displacement in the sliding width direction.

In one embodiment, the driving device includes: a screw rod slide block; the screw rod sliding block is connected with the mechanical arm sliding block; the screw rod is connected with the screw rod sliding block in a sliding manner; the motor is meshed with the screw rod; the motor drives the screw rod to rotate, and the screw rod drives the screw rod sliding block to slide on the screw rod.

In one embodiment, the apparatus further comprises a locking device for detachably fixing the probe moving mechanism and the opening and closing part.

In one embodiment, the second mechanical arm has at least 3 hinge points, and the third mechanical arm has at least 2 hinge points; and a quadrangle is formed by two hinge points of the third mechanical arm close to the second mechanical arm and two hinge points of the second mechanical arm.

In one embodiment, the probe moving mechanism further comprises a moving end, the moving end is provided with a probe clamp for mounting the probe, and the moving end moves vertically relative to the neck.

In one embodiment, the probe moving mechanism further comprises: the movable frame is detachably connected with the opening and closing part; the moving frame is provided with a vertical screw rod in the vertical direction; vertical lead screw runs through there is at least one to remove the end, it is the slip table to remove the end, the lead screw motor sets up on removing the frame to the drive vertical lead screw rotates.

In one embodiment, the probe moving mechanism can be detachably mounted between two symmetrically arranged opening and closing parts.

In one embodiment, the probe clamp is provided with a probe mounting frame, a probe sleeve is arranged on the periphery of the probe, and the probe sleeve is hinged with the probe mounting frame through a pin shaft; the hinged fulcrum provides a swing center for the probe, and the swing center is used for attaching the probe to the neck.

Drawings

Fig. 1 is a schematic structural view of an opened/closed portion according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a neck ultrasonic imaging device in a closed state according to an embodiment of the present invention.

Fig. 3 is a schematic structural diagram of a driving device according to an embodiment of the invention.

Fig. 4 is a schematic structural diagram of a neck ultrasonic imaging device with a probe on the right side according to an embodiment of the invention.

Fig. 5 is a schematic structural diagram of a neck ultrasonic imaging device with a probe on the left side according to an embodiment of the invention.

Fig. 6 is a schematic diagram illustrating the position of the probe moving relative to the object to be detected according to an embodiment of the present invention.

FIG. 7 is a schematic view of an embodiment of a neck ultrasound imaging apparatus.

Detailed Description

The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; the connection can be mechanical connection or electrical connection; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

For easy understanding, as shown in fig. 6, the C direction is a circumferential direction of the neck, the R direction is a radial direction of the neck, and H is a vertical direction of the neck.

The invention relates to a neck ultrasonic imaging device based on a mechanical arm, as shown in fig. 1 and 2, a base 100 is provided, the base 100 is provided with a mounting surface, the mounting surface is provided with a sliding width and a rotating width, and the rotating width is smaller than the sliding width; a mechanical arm slider 220, the mechanical arm slider 220 being mounted on the mounting surface, the mechanical arm slider 220 being slidably displaced in the sliding width direction; the first arm 230, the first arm 230 is an arc-shaped structure, and the first arm 230 has a first arm first end surface 231 and a first arm second end surface 232; the first end 231 of the first robot arm is hinged to the robot arm slider 220; a second mechanical arm 240, which is a Y-shaped structure, wherein the second mechanical arm 240 has a second mechanical arm first end surface 241, a second mechanical arm second end surface 242, and a second mechanical arm third end surface 243, the second mechanical arm first end surface 241 is hinged to the base 100, and the second mechanical arm second end surface 242 is hinged to the first mechanical arm 230; a third arm 250, the third arm 250 having a third arm first end surface 251, a third arm second end 252 surface; the first end face 251 of the third mechanical arm is hinged with the base; an opening and closing part 260, wherein the opening and closing part 260 is used for fixing the neck; the third end face 243 of the second mechanical arm is hinged with the opening and closing part 260; the second end surface 252 of the third mechanical arm is hinged with the opening and closing part 260; the mechanical arm slider 220 drives the opening and closing part 260 to perform opening and closing movement through the first mechanical arm 230, the second mechanical arm 240 and the third mechanical arm 250; a probe moving mechanism 400, the probe moving mechanism 400 being detachably connected to the opening/closing part 260; the probe moving mechanism 400 is used to move the probe vertically with respect to the neck. The third robot arm 240 has at least 3 hinge points, and the third robot arm 250 has at least 2 hinge points; the two hinge points of the third mechanical arm 250 close to the second mechanical arm 240 and the two hinge points of the second mechanical arm 240 form a quadrangle formed by four hinge points, and the mechanical arm slider 220 drives the quadrangle formed by the four hinge points to deform through the first mechanical arm 230 so as to drive the opening and closing part 260 to perform opening and closing movements. The open-close portion 260 can be opened or closed according to the thickness of the neck, so as to fix the neck with different thickness, and facilitate ultrasonic imaging, as shown in fig. 7.

In one embodiment, as shown in fig. 3, the neck ultrasonic imaging apparatus based on a mechanical arm further comprises a locking device 300, and the locking device 300 is used for detachably fixing the probe moving mechanism 400 and the opening and closing part 260. The locking device 300 is well known in the art and the present invention will not be described in any greater detail. As shown in fig. 4 and 5, the probe moving mechanism 400 is switched left and right on the open/close portion 260 by the locking device 300, so as to inspect the left or right neck portion by the probe 600.

In one embodiment, as shown in fig. 2, the number of the first arm 230, the second arm 240, the third arm 250, and the opening/closing portion 260 is two. The symmetry axes of the two first arms 230 are all collinear with the symmetry axes of the two second arms 240, the symmetry axes of the two third arms 250, and the symmetry axes of the two open/close portions 260.

In one embodiment, as shown in fig. 3, the neck ultrasonic imaging apparatus based on a robot arm further includes a driving device 210, the driving device 210 is connected to the robot arm slider 220 for driving the robot arm slider 220 to perform sliding displacement in the sliding width direction, and the driving device 210 is detachably and fixedly connected to the robot arm slider 220. The driving device 210 includes: a screw slider 213; the screw rod slide block 213 is detachably and fixedly connected with the mechanical arm slide block 220; a screw 212 slidably connected to the screw slider 213; the motor 211 is meshed with the screw rod 212; the motor 211 drives the screw rod 212 to rotate, and the screw rod 212 drives the screw rod sliding block 213 to slide on the screw rod 212.

In one embodiment, as shown in FIG. 2, the probe moving mechanism 400 includes a moving end 420, the moving end 420 is provided with a probe holder 500 for mounting a probe 600, and the moving end 420 moves vertically relative to the neck. The probe moving mechanism 400 includes: a movable frame 410, wherein the movable frame 410 is detachably connected with the opening and closing part 260; the moving frame 410 is provided with a vertical screw 430 in the vertical direction; the vertical screw 430 penetrates through at least one moving end 420, the moving end 420 can be a sliding table, a screw motor 440 and a screw motor 440 are arranged on the moving frame 410, and the vertical screw 430 is driven to rotate.

In one embodiment, as shown in fig. 2, the probe clamp is provided with a probe mounting frame 500, a probe sleeve (not shown) is arranged on the periphery of the probe 600, and the probe sleeve is hinged with the probe mounting frame 500 through a pin; the hinged fulcrum provides a swing center for the probe, and the swing center is used for attaching the probe to the neck.

In one embodiment, the distance from the hinge point of the first end 231 of the first robot arm to the neck is greater than the distance from the hinge point of the first end 241 of the second robot arm to the neck; the distance from the hinge point of the first end 241 of the second arm to the neck is greater than the distance from the hinge point of the first end 251 of the third arm to the neck.

The invention has been described above with a certain degree of particularity. It will be understood by those of ordinary skill in the art that the description of the embodiments is merely exemplary and that all changes that come within the true spirit and scope of the invention are desired to be protected. The scope of the invention is defined by the claims, rather than the description of the embodiments above.