CN110251160A - Mammary gland automatic scanning equipment - Google Patents
Mammary gland automatic scanning equipment Download PDFInfo
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- CN110251160A CN110251160A CN201910487102.3A CN201910487102A CN110251160A CN 110251160 A CN110251160 A CN 110251160A CN 201910487102 A CN201910487102 A CN 201910487102A CN 110251160 A CN110251160 A CN 110251160A
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- mammary gland
- guide rail
- lifting
- straight line
- mechanical arm
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- 210000005075 mammary gland Anatomy 0.000 title claims abstract description 51
- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 230000033001 locomotion Effects 0.000 claims abstract description 43
- 239000000523 sample Substances 0.000 claims abstract description 40
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- 230000001681 protective effect Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 2
- 210000000481 breast Anatomy 0.000 description 11
- 238000010586 diagram Methods 0.000 description 9
- 238000001514 detection method Methods 0.000 description 7
- 238000002604 ultrasonography Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 4
- 230000002441 reversible effect Effects 0.000 description 4
- 206010006187 Breast cancer Diseases 0.000 description 3
- 208000026310 Breast neoplasm Diseases 0.000 description 3
- 238000003745 diagnosis Methods 0.000 description 3
- 201000010099 disease Diseases 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- ZOKXTWBITQBERF-UHFFFAOYSA-N Molybdenum Chemical compound [Mo] ZOKXTWBITQBERF-UHFFFAOYSA-N 0.000 description 1
- 206010028980 Neoplasm Diseases 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 208000030270 breast disease Diseases 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 210000000038 chest Anatomy 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000012631 diagnostic technique Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 206010020718 hyperplasia Diseases 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052750 molybdenum Inorganic materials 0.000 description 1
- 239000011733 molybdenum Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0825—Detecting organic movements or changes, e.g. tumours, cysts, swellings for diagnosis of the breast, e.g. mammography
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
- A61B8/4218—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames characterised by articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4405—Device being mounted on a trolley
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Biophysics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
The present invention discloses a kind of mammary gland automatic scanning equipment, the mammary gland automatic scanning equipment includes ultrasonoscope and ultrasonic probe, pedestal, the first scanning means and the second scanning means being set on the base, pedestal includes loading plate and the lifting mechanism that is arranged on loading plate, the first scanning means include be mounted on the first erecting bed with the first erecting bed of lifting mechanism transmission connection and by straight-line motion mechanism, the first mechanical arm to be moved upwards in front and back and right and left；Second scanning means includes the second erecting bed being sequentially connected with lifting mechanism and is mounted on the second erecting bed by straight-line motion mechanism, the second mechanical arm to move upwards in front and back and right and left；First mechanical arm and second mechanical arm are in top-down lifting state, and the free end of the two is for installing ultrasonic probe.The present invention, which is conducive to facilitate, to be pushed mammary gland automatic scanning equipment mobile and is conducive to detect the patient in different height.
Description
Technical field
The present invention relates to breast cancer apparatus fields, and in particular to a kind of mammary gland automatic scanning equipment.
Background technique
Mammary gland disease is a kind of common gynecological disease, seriously threatens the health even life of whole world women.With
The development of science and technology, the diagnostic techniques and treatment method of mammary gland disease are all enhanced.Relatively conventional mainly has
The inspection of molybdenum target grenz ray, Ultrasonography, Infrared light scan, CT examination etc..
Important Image Examination one of of the ultrasonic examination as diagnosis of breast diseases, can identify tumour in breast and
The lesions such as hyperplasia.In the prior art, mammary gland automatic scanning equipment is typically mounted in specific room, and patient needs special to entering
Fixed room could be completed to detect.But such detection mode leads to not detect the patient for being inconvenient to move, thus
Delay the treatment of patient.
Summary of the invention
The main purpose of the present invention is to provide a kind of mammary gland automatic scanning equipment, it is intended to which solving can not be to being inconvenient to move
Patient the technical issues of detecting.
In order to solve the above technical problems, the present invention proposes a kind of mammary gland automatic scanning equipment, the mammary gland automatic scanning equipment
Including ultrasonoscope and ultrasonic probe, which further includes pedestal, setting first sweeping on the base
Imaging apparatus and the second scanning means, the pedestal include loading plate and the lifting mechanism that is arranged on the loading plate, and described the
One scanning means includes the first erecting bed being sequentially connected with the lifting mechanism and is mounted on by straight-line motion mechanism described
First mechanical arm on first erecting bed, to be moved upwards in front and back and right and left；Second scanning means include with it is described
The second erecting bed and be mounted on second erecting bed by straight-line motion mechanism, in front and back that lifting mechanism is sequentially connected
And the second mechanical arm that right and left moves upwards；The first mechanical arm and the second mechanical arm are in top-down lifting
State, the free end of the two is for installing ultrasonic probe.
Preferably, the lifting mechanism includes lifting motor, lifting lead screw and upright guide rail, and the lifting motor setting exists
On the loading plate, one end of the lifting lead screw and the output axis connection of the lifting motor, the upright guide rail setting exist
On the loading plate, and the sliding block on the upright guide rail is connect with the nut in the lifting lead screw, first erecting bed
It is sequentially connected respectively with the nut in the lifting lead screw with the second erecting bed.
Preferably, further include mounting base and sleeve, the sleeve be set on the lifting lead screw and with the lifting silk
Nut connection on thick stick, the mounting base and the sleeve are rotatablely connected, and far from the lifting motor on the lifting lead screw
One end and the mounting base be rotatablely connected, first erecting bed and the second erecting bed are connect with the mounting base respectively.
It preferably, further include the first magnetic block being arranged in the mounting base and the second magnetic being arranged on the sleeve
Suction block, the first magnetic block can be abutted with the second magnetic block.
It preferably, further include the protective shell being arranged on the loading plate, the lifting mechanism is located at the protective shell
In inner space.
Preferably, handle is provided on the protective shell.
It preferably, further include supporting mechanism, the supporting mechanism includes support cylinder and the support cylinder is arranged in
The cylinder body of supporting pad on output shaft, the support cylinder is arranged on the loading plate.
Preferably, multiple idler wheels are provided on the bottom of the loading plate.
Preferably, the straight-line motion mechanism on first erecting bed and the second erecting bed includes arranging in left and right directions
On first straight line guide rail and arrangement second straight line guide rail in the longitudinal direction, the first straight line guide rail be equipped with for pacifying
The bracket of the second straight line guide rail is filled, the driving bracket is additionally provided on the first straight line guide rail and is led along the first straight line
First driving assembly of rail movement, the second straight line guide rail, which is equipped with, drives the first mechanical arm or second mechanical arm along institute
State the second driving assembly of second straight line guide rail movement.
Preferably, the first mechanical arm and second mechanical arm include setting gradually from top to bottom:
First attachment base is connect with the straight-line motion mechanism；
First motor, body are mounted on first attachment base, and output shaft is downwards；
Vertical driving assembly, the output axis connection with the first motor, and driven by the first motor in horizontal plane
Upper rotation；
Probe fixed arm is moved, the lower end of the probe fixed arm in the vertical direction by the vertical driving assembly driving
For installing ultrasonic probe.
Mammary gland automatic scanning equipment provided in an embodiment of the present invention, by respectively driving installation using two straight-line motion mechanisms
There are the first mechanical arm and second mechanical arm of ultrasonic probe, with the ultrasound detection data of corresponding acquisition patient or so two breast, originally
Invention accurately controls the movement of two mechanical arms by Fully-mechanized equipment, adjusts the compactness of ultrasonic probe and breast in time, keeps away
Detecting error obtains standardized scanning number to be precisely accomplished the detection to breast caused by exempting from because of factors such as probe shakes
It is treated according to auxiliary diagnosis is carried out.Simultaneously by the way that lifting mechanism is arranged on loading plate, using lifting mechanism driving scanning equipment along perpendicular
Until direction is mobile.For compared with the prior art, the present invention is conducive to adjust mammary gland automatic scanning equipment and be conducive to being in
The patient of different height detects.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the mammary gland automatic scanning equipment under the first visual angle in one embodiment of the invention；
Fig. 2 is the structural schematic diagram of pedestal shown in Fig. 1；
Fig. 3 is a part of structural schematic diagram of pedestal shown in Fig. 2；
Fig. 4 is a part of structural schematic diagram of pedestal shown in Fig. 3；
Fig. 5 is structural schematic diagram of the mammary gland automatic scanning equipment under the second visual angle in one embodiment of the invention；
Fig. 6 is the structural schematic diagram of straight-line motion mechanism and first mechanical arm shown in Fig. 1；
Fig. 7 is the structural schematic diagram of the first driving assembly shown in Fig. 1；
Fig. 8 is the structural schematic diagram of straight-line motion mechanism and second mechanical arm shown in Fig. 1；
Fig. 9 is the structural schematic diagram of first mechanical arm shown in Fig. 1.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention, based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
In order to solve the above technical problems, the present invention proposes a kind of mammary gland automatic scanning equipment, the mammary gland automatic scanning equipment
Including ultrasonoscope and ultrasonic probe, which further includes pedestal 100, is arranged on the pedestal 100
First scanning means and the second scanning means, the pedestal 100 include loading plate 110 and are arranged on the loading plate 110
Lifting mechanism 120, the first scanning means include with the first erecting bed 200 of the lifting mechanism 120 transmission connection and by straight
Line movement mechanism 400 is mounted on the first erecting bed 200, the first mechanical arm 500 to move upwards in front and back and right and left；The
Two scanning means include pacifying with the second erecting bed 300 of the lifting mechanism 120 transmission connection and by straight-line motion mechanism 400
Second mechanical arm 600 on the second erecting bed 300, to be moved upwards in front and back and right and left；First mechanical arm 500 and
Two mechanical arms 600 are in top-down lifting state, and the free end of the two is for installing ultrasonic probe 700.
In the present embodiment, as shown in Figure 1 to Figure 3, the size and shape of loading plate 110 can be set according to the actual situation
It sets.Lifting mechanism 120 is provided on loading plate 110, so that driving mammary gland automatic scanning equipment be facilitated to move in the vertical direction
It is dynamic, to adapt to detect the patient in different height.Wherein, the form of implementation that lifting mechanism 120 uses can be gas
Any one in cylinder, motor lead screw, synchronous belt component and rack and pinion assembly.At this point, the movement of mammary gland automatic scanning equipment
Mode can be medical worker and be moved by way of manually praising.
As shown in Figure 1 and Figure 5, corresponding by the ultrasonic probe 700 installed in the first scanning means and the second scanning means
The ultrasound image of user or so two breast is acquired, specially generate ultrasonic wave using ultrasonoscope and is exported by ultrasonic probe super
Sound wave, to acquire the ultrasound image of breast.Wherein, the first mechanical arm 500 and the second scanning means in the first scanning means
In second mechanical arm 600 at least there is freedom degree on orthogonal three directions.First mechanical arm 500 and second
Mechanical arm 600 is driven by straight-line motion mechanism 400 and is moved upwards in front and back and right and left.For convenient for expression, machine hereinafter
Tool arm is the general designation to first mechanical arm 500 and second mechanical arm 600, the structure of first mechanical arm 500 and second mechanical arm 600
Can be identical, it can also slightly distinguish, but both at least there is driving 700 Mr. Yu's assigned direction of ultrasonic probe movement
Function.
In first scanning means, first mechanical arm 500 is arranged on the first erecting bed 200 by straight-line motion mechanism 400,
In second scanning means, second mechanical arm 600 is arranged on the second erecting bed 300 by straight-line motion mechanism 400.First installation
The arrangement form of platform 200 and the second erecting bed 300 can be using upper and lower discrete arrangement, and the second erecting bed 300 has for first
The avoiding space that mechanical arm 500 passes through is also possible to horizontally disposed.Wherein discrete arrangement is preferably, therefore up and down, the present invention
Not only it had realized and has saved two scanning means occupied space in the horizontal plane on the whole because arranging up and down, but also enabled the first machinery
Arm 500 during the motion, not will receive the limitation of the second erecting bed 300, two mechanical arms are in the respective movement course of work
It does not interfere with each other.
Mammary gland automatic scanning equipment in the present invention is in use, patient lies low in 100 side of pedestal, the second erecting bed 300
Lower section, first mechanical arm 500 and second mechanical arm 600 are suspended from above the chest of patient, and respectively drive ultrasonic probe 700,
With the ultrasound detection data of two breast of left and right of corresponding acquisition patient.Breast cancer instrument further includes control module, the control module
It is electrically connected with straight line driving mechanism 400, first mechanical arm 500 and second mechanical arm 600, to control the movement of two mechanical arms, from
And the compactness of ultrasonic probe 700 Yu breast is adjusted, to complete the automatically scanning detection to breast, obtain standardized scanning
Data carry out auxiliary diagnosis treatment.Meanwhile the lifting mechanism 120 by being arranged on loading plate 110, it is driven using lifting mechanism 120
Dynamic scanning equipment to direction along moving vertically, to be conducive to detect the patient in different height.
As shown in Figure 3 and Figure 4, mammary gland automatic scanning equipment is driven to move along the vertical direction in order to facilitate lifting mechanism 120,
Lifting mechanism 120 includes lifting motor 121, lifting lead screw 122 and upright guide rail 123.Lifting motor 121 is preferably servo electricity
Machine, is conducive to the moving distance for controlling mammary gland automatic scanning equipment, and lifting motor 121 is arranged on loading plate 110, preferably lifts
The body and loading plate 110 of motor 121 are hinged.One end of lead screw 122 and the output axis connection of lifting motor 122 are lifted, vertically
Guide rail 123 is arranged on loading plate 11, and the extending direction of upright guide rail 123 is consistent with the lifting extending direction of lead screw 122, erects
Sliding block on straight guide 123 is connect with the nut on lifting lead screw 122, so that mammary gland automatic scanning equipment can be with upright guide rail
The nut connection on sliding block or lifting lead screw 122 on 123.
As shown in Figure 1 and Figure 4, it is connect in order to facilitate mammary gland automatic scanning equipment with lifting mechanism 120, is additionally provided with installation
Seat 140 and sleeve 150.Sleeve 150 is preferably the opening-like cylindrical tube structure in both ends, and sleeve 150 is by wherein one opening
Mouth end cap is located on lifting lead screw 122 and connect with the nut on lifting lead screw 122.Mounting base 140 is mounted on sleeve 150 simultaneously
It is rotatablely connected with sleeve 150, mammary gland automatic scanning equipment is mounted in mounting base.It is preferred that mounting base 140 is located on sleeve 150 far
One end from the nut on lifting lead screw 122 can facilitate one end on lifting lead screw 122 far from lifting motor 121 and installation
Seat 140 be rotatablely connected, specific connection type can be mounting base 140 by two bearings respectively with sleeve 150 and lift silk
Nut connection on thick stick 122.
It is arbitrarily rotated in order to facilitate limitation mounting base 140, is provided with the first magnetic block in mounting base 140, is arranged on sleeve
There is the second magnetic block, and the first magnetic block can be abutted with the second magnetic block, thus to mounting base 140 in the way of magnetic absorption
It is fixed.Specific usage mode is that mammary gland automatic scanning equipment rotates appropriate angle, to facilitate patient to adjust detection
After posture, mammary gland automatic scanning equipment rotates back to predetermined position and abuts the first magnetic block with the second magnetic block, to prevent
Swing when mammary gland automatic scanning equipment detects patient.Certainly, the quantity of the second magnetic block can be two, two second
Magnetic block is arranged around the circumferentially-spaced pre-determined distance of sleeve, to keep mammary gland automatic scanning equipment default from initial position rotation
The first magnetic block and another the second magnetic block form magnetic absorption after angle.
All parts are installed on loading plate 110 for convenience, loading plate 110 is additionally provided with protective shell 160, is holding with this
An installation cavity is formed on support plate 110, lifting mechanism 120 can be located in protective shell 160 at this time.Certainly, in protective shell 160 also
Control equipment, power supply, ultrasonoscope, the counterweight for increasing and decreasing stability for controlling mammary gland automatic scanning equipment can be installed
Block and buzzer for issuing caution sound.
It pushes mammary gland automatic scanning equipment mobile in order to facilitate medical worker, is provided with handle 170 on loading plate 110.Its
In, handle 170 specifically can be set on protective shell 160, and the form of handle 170 can be arbitrary form according to the actual situation,
The material of handle can for plastic cement, metal and it is wooden in any one.
It is mobile when being detected to patient in order to further facilitate mammary gland automatic scanning equipment, it is additionally provided with support machine
Structure, supporting mechanism include support cylinder and supporting pad.Support cylinder preferably uses straight line cylinder, and the cylinder body of cylinder is supported to be arranged
On loading plate 110 and the output shaft of cylinder is supported to arrange that supporting the quantity of cylinder is preferably four downwards, is uniformly arranged on
On loading plate 110, the idler wheel 130 preferably corresponded on loading plate 110 is arranged.The defeated of cylinder is supported in order to facilitate increasing
The frictional force of shaft when being contacted with ground supports the end of the output shaft of cylinder to be provided with supporting pad, the size and shape of supporting pad
Shape can be configured according to the actual situation, and the material of supporting pad preferably uses the flexible materials such as rubber to make, to be conducive to increase
Add frictional force.Meanwhile anti-slip part is provided on the one side far from support cylinder on supporting pad, the concrete form of anti-slip part can be with
Using non-slip texture or the salient point being evenly arranged.The present embodiment specific embodiment is when mammary gland automatic scanning equipment is mobile
To predeterminated position, support the output shaft stretching of cylinder to drive 110 uplink of loading plate and make idler wheel 130 and surface separation, from
And be conducive to form support effect to loading plate 110 using the output shaft of support cylinder, prevent mammary gland automatic scanning equipment mobile.
In a preferred embodiment, as shown in Figure 1, in order to further facilitate the movement of mammary gland automatic scanning equipment, loading plate
Multiple idler wheels 130 are provided on one side on 110 far from lifting mechanism 120, multiple 130 wheels of rolling are uniformly arranged along loading plate
110 circumferentially.The quantity of idler wheel 130 is preferably four, and idler wheel 130 preferably uses universal wheel, and mammary gland is automatic in order to prevent
Scanning equipment moves after being moved to predeterminated position, at this point, idler wheel 130 is preferably using the universal wheel for having brake function, it is specific to tie
Structure can refer to the Universal wheel structure on perambulator.It, can be at this point, in order to further facilitate the movement of mammary gland automatic scanning equipment
It is to be rotated by motor driven idler wheel 130, so that controllable mammary gland automatic scanning equipment automatically moves.
In a preferred embodiment, as shown in Figure 6 and Figure 7, the straight line on the first erecting bed 200 and the second erecting bed 300
Movement mechanism 400 includes arrangement first straight line guide rail 410 in the lateral direction and arrangement in the longitudinal direction second straight
Line guide rail 430, first straight line guide rail 410 are equipped with the bracket 450 for installing second straight line guide rail 430, first straight line guide rail
The first driving assembly 420 that driving arm 450 is moved along first straight line guide rail 410, second straight line guide rail 430 are additionally provided on 410
It is equipped with the second driving assembly 440 that driving first mechanical arm 500 or second mechanical arm 600 are moved along second straight line guide rail 430.
Wherein, bracket 450 and driving of the second straight line guide rail 430 in the first driving assembly 420 of the bracket 450 is set
It is lower along first straight line guide rail 410, i.e., left and right directions moves, and mechanical arm is under the driving of the second driving assembly 440 along second straight line
Guide rail 430, i.e., (first mechanical arm 500 is by the first scanning means for front-rear direction movement vertical with first straight line guide rail 410
The driving of second driving assembly 440, second mechanical arm 600 are driven by the second driving assembly 440 in the second scanning means, hereinafter
Also consistent), to be formed to mechanical arm (first mechanical arm 500 and second mechanical arm 600) in front and back and left and right on horizontal plane
Linear drives on direction.
First driving assembly 420 has the actuator being fixed on first straight line guide rail 410, such as cylinder, motor, and
The sliding part being slidably connected with first straight line guide rail 410, the sliding part and bracket 450 are fixed, and second straight line guide rail 430 is fixed on
On bracket 450, actuator drives the sliding part to slide along first straight line guide rail 410, so that bracket 450 and second straight line be driven to lead
Rail 430 is slided along first straight line guide rail 410；Second driving assembly 440 also similarly, has and is fixed on second straight line guide rail 430
Actuator and the sliding part being slidably connected with second straight line guide rail 430, the sliding part are fixed with mechanical arm, and actuator drives the cunning
Moving part is slided along second straight line guide rail 430, so that mechanical arm be driven to slide along second straight line guide rail 430.
In a preferred embodiment, as shown in figures 1 to 6, the first erecting bed 200 and the second erecting bed 300 include two
Parallel cantilever beam, straight-line motion mechanism 400 include two first straight line guide rails 410 being respectively arranged on two cantilever beams and hang down
Straight across in two first straight line guide rails 410 and the second straight line guide rail 430 on bracket 450, two first straight line guide rails 410
One or two be equipped with the first driving assembly 420, form avoiding space between two cantilever beams of the second erecting bed 300.
One end of cantilever beam and mounting base 140 are fixed, and the other end is stretched to the left or to the right in the horizontal direction with respect to mounting base 140
Out, two parallel cantilever beams are located in same level, and the straight-line motion mechanism 400 connecting with the first erecting bed 200 includes two
First straight line guide rail 410, two first straight line guide rails 410 cantilever beam parallel with two corresponds installation, with the second erecting bed 300
The straight-line motion mechanism 400 of connection also includes two first straight line guide rails 410, equally two cantilevers with the second erecting bed 300 of formation
Beam is arranged in a one-to-one correspondence.It then forms between two cantilever beams of the second erecting bed 300 and to be passed through for avoiding first mechanical arm 500
Avoiding space.Erecting bed is formed in a manner of separately positioned two parallel cantilever beams to install straight-line motion mechanism 400, certain
Material has been saved in degree, alleviates the overall weight of breast cancer instrument.One of them on two parallel cantilever beams is first straight
When first driving assembly 420 is set on line guide rail 410, it is slidably connected between bracket 450 and another first straight line guide rail 420；Two
When being respectively provided with first driving assembly 420 on first straight line guide rail 410, then two first driving assemblies 420 synchronize driving arm
450, which do straight line along second straight line guide rail 430, moves forward and backward.
In a preferred embodiment, as shown in Figure 6 and Figure 8, the first driving assembly 420 includes that body is fixed on the first installation
First motor 421 on platform 200, with the first lead screw 422 of the output axis connection of first motor 421 and be sheathed on the first lead screw
The first feed screw nut 423 on 422, the first feed screw nut 423 are slidably connected with first straight line guide rail 410, and bracket 430 and
One linear guide 410 is fixedly connected with
In the present embodiment, first straight line guide rail 410 is fixed on the first erecting bed 200, and the body of first motor 421 is also solid
It is scheduled on the first erecting bed 200, the first lead screw of output axis connection 422 of first motor 421, for driving 422 turns of the first lead screw
Dynamic, the other end of the first lead screw 422 is threaded through in bearing block fixed on first straight line guide rail 410, is set in the first lead screw 422
On the first feed screw nut 423 in the rotation of the first lead screw 422 along the axial direction of the first lead screw 422, that is, first motor 421
Output axis direction sliding.First feed screw nut 423 is slidably connected with first straight line guide rail 410, specially the first feed screw nut
423 are equipped with the sliding block that can be matched and be slidably connected with first straight line guide rail 410 towards the side of first straight line guide rail 410.
When first motor 421 drives the rotation of the first lead screw 422, the first feed screw nut 423 is led along the first lead screw 422 in first straight line
It is slided on rail 410, to drive the second straight line guide rail on the bracket 450 and bracket connecting with first feed screw nut 423
430 slide along first straight line guide rail 410, i.e. left and right directions.
In a preferred embodiment, as shown in Figure 6 and Figure 8, the second driving assembly 440 includes that body is fixed on bracket 450
On the second motor 441, with the second lead screw 442 of the output axis connection of the second motor 441 and be sheathed on the second lead screw 442
Second feed screw nut 443, the second feed screw nut 443 are slidably connected with second straight line guide rail 430, first mechanical arm 500 and second
The upper end of mechanical arm 600 is fixed on the second feed screw nut 443 of its corresponding second driving assembly 440.
In the present embodiment, bracket 450 and second straight line guide rail 430 can be located at two first straight line guide rails 410 top or
Below person, bracket 450 and second straight line guide rail 430 in the present embodiment preferably the first scanning means are located at two first straight line guide rails
The lower end (position of fixed ultrasonic probe 700) of 410 lower section, two mechanical arms should be contour in practical application, therefore first
Second straight line guide rail 430 is preferably disposed on the lower section of two first straight line guide rails 410 in scanning means, to shorten first mechanical arm
500 entire length.Similarly, it is straight to be then preferably placed at two first for the bracket 450 in the second scanning means and second straight line guide rail 430
The top of line guide rail 410.
The both ends of bracket 450 are connected on two first feed screw nuts 423 by connector 424, second straight line guide rail 430 with
Two first lead screws 422 it is axially vertical.The body of second motor 441 is fixed on bracket 450, the output shaft of the second motor 441
The second feed screw nut 443 being set on the second lead screw 442 to drive the second lead screw 442 to rotate is connect with the second lead screw 442 then
With the rotation of the second lead screw 442 along the axial movement of the second lead screw 442, the second lead screw 442 is vertical with the first lead screw 422 to be set
It sets, and one end of the second lead screw 442 is connected on the output shaft of the second motor 441, the other end is threaded through second straight line guide rail 430
In the bearing block of upper setting.Second feed screw nut 443 is slidably connected with second straight line guide rail 430, specially the second feed screw nut
443 are equipped with the sliding block that can be matched and be slidably connected with second straight line guide rail 430 towards the side of second straight line guide rail 430.
When the second motor 441 drives the rotation of the second lead screw 442, the second feed screw nut 443 is led along the second lead screw 442 in second straight line
Rail 430 slides on the second lead screw 442, so that the mechanical arm connecting with second feed screw nut 443 be driven to lead along second straight line
Rail 430, i.e. front-rear direction are mobile.
Preferably, the second straight line in second straight line guide rail 430 and the second scanning means in the first scanning means is led
Rail 430 is backwards to being arranged, i.e., two second straight line guide rails 430 are located on the side that two stands 450 are away from each other, and fills the first scanning
First motor 421, the first lead screw 422 and the first feed screw nut 423 in setting are located at the left side of its second straight line guide rail 430, the
The second motor 441, the second lead screw 442 and the second feed screw nut 443 in two scanning means are located at its second straight line guide rail 430
Right side, in this way, can enable two second straight line guide rails 430 close to when and first mechanical arm 500 and second mechanical arm 600 are not collided, it is whole
It is then more compact in body structure.
In a preferred embodiment, as shown in Fig. 6 and Fig. 9, first mechanical arm 500 and second mechanical arm 600 include certainly
It is set gradually under above:
First attachment base 510, connect with straight-line motion mechanism 400；
First motor 520, body are mounted on the first attachment base 510, and output shaft is downwards；
Vertical driving assembly 530, the output axis connection with first motor 520, and driven by first motor 520 in horizontal plane
Upper rotation；
Probe fixed arm 540 is moved in the vertical direction by the driving of vertical driving assembly 530, the probe fixed arm 540
Lower end is for installing ultrasonic probe 700.
In the present embodiment, 510 one end of the first attachment base connects straight-line motion mechanism 400, specially connection linear motion machine
The second driving assembly 440 in structure 400, more specifically connects the second feed screw nut 443 in the second driving assembly 440, and first
The body of motor 520 is fixed on the first attachment base 510, and output shaft downwards, and connects vertical driving group below
Part 530, the vertical driving assembly 530 do rotary motion forward or backwards in the horizontal plane under the driving of first motor 520.It is perpendicular
To driving assembly 530 for driving probe fixed arm 540 vertically to move, vertical driving assembly 530 can use motor silk
Driving structure, cylinder driving structure of thick stick etc., the fixed ultrasonic probe 700 in the lower end of probe fixed arm 540.
Ultrasonic probe 700 is under the fixed function of probe fixed arm 540, vertically by the driving of vertical driving assembly 530
It is mobile, front and back is done by the driving of straight-line motion mechanism 400 in the horizontal plane and left and right moves along a straight line, specially in the first driving assembly
Left and right linear motion is done under 420 driving, tandem movement is done under the driving of the second driving assembly 440, to ensure that
Ultrasonic probe 700 can at least be moved in a straight line along six direction.
In a preferred embodiment, as shown in Fig. 6 and Fig. 9, vertical driving assembly 530 includes:
Second attachment base 531, the output axis connection with first motor 520；
Second motor 532, body are mounted on the second attachment base 531, and output shaft is horizontally disposed；
First cursor 533, the upper end are vertically connected at the output shaft of the second motor 532；
The lower end of third motor 534, body and the first cursor 533 is fixed, and output shaft is horizontally disposed and with first
Cursor 533 is vertical；
Second cursor 535, the upper end are vertically connected at the output shaft of third motor 534；
The lower end of 4th motor 536, body and the second cursor 535 is fixed, and output shaft is horizontally disposed and is connected with
Probe fixed arm 540.
In the present embodiment, horizontally disposed second motor 532 of output shaft is installed on the second attachment base 531.Second motor 532
Output shaft it is horizontal and connect the upper end of the first cursor 533, first cursor 533 is then with the output shaft of the second motor 532
For the center of circle, accordingly swung with the rotation of the output shaft.The lower end of first cursor 533 is connected with third motor 534, the third
The body of motor 534 is fixedly connected with the first cursor 533, and output shaft is horizontally disposed and can be opposite with the first cursor 533
Rotation.The upper end of the second cursor of output axis connection 535 of third motor 534 and the two is relatively fixed, second cursor 535
Then using the output shaft of third motor 534 as the center of circle, accordingly swung with the rotation of the output shaft.The lower end of second cursor 535
It is connected with the 4th motor 536, the body of the 4th motor 536 is fixedly connected with the second cursor 535, and output shaft is horizontally disposed
And it can be relatively rotated with the second cursor 535.4th motor 536 output axis connection probe fixed arm 540 upper end and the two
Relatively fixed, the probe fixed arm 540 is corresponding with the rotation of the output shaft then using the output shaft of the 4th motor 536 as the center of circle
Rotation, the lower end of probe fixed arm 540 are equipped with clamp assemblies or magnetic assembly etc. to fix ultrasonic probe 700.
When the rotation of the output shaft of first motor 520, the second attachment base 531 and the second motor 532 then exist with the output shaft
Horizontal rotation in surface；When the output shaft rotation of the second motor 532, the first cursor 533 is therewith perpendicular to the second motor 532
Export rotation in the perpendicular of axis direction；When the output shaft rotation of third motor 534, the second cursor 535 is therewith vertical
It is rotated in the perpendicular of the output axis direction of third motor 534；When the output shaft rotation of the 4th motor 536, probe is fixed
Arm 540 rotates in the perpendicular of the output axis direction perpendicular to the 4th motor 536 therewith.Second motor 532, third motor
534 and the 4th motor 536 cooperation under, it can be achieved that first mechanical arm 500 (or second mechanical arm 600) in the vertical direction
Displacement drive control.In addition, the setting of first motor 520 realizes all components of order below with the first motor 520
The rotation of output shaft and in the purpose of horizontal rotation in surface, further increase the flexibility ratio of manipulator.Above each component is mutually tied
Close, and the first driving assembly 420 on left and right directions and the second driving assembly 440 is under the driving on front-rear direction,
Mammary gland automatic scanning equipment can realize multifreedom motion, for existing mechanical arm, have higher flexibility ratio and
Less detection blind area.
In a preferred embodiment, as shown in figure 9, the first cursor 533 rotates forward and anti-around the output shaft of the second motor 532
The angle turned is no more than 70 °.
In the present embodiment, the initial position of the first cursor 533 is that downwards, which opposite can be somebody's turn to do
Initial position is swung forward or backwards, that is, is rotated and reverse.The angle rotated and reverse is determined positioned at the first cursor 533
The other component of lower section: the 4th motor 536, third motor 534, the second cursor 535 and probe fixed arm 540 etc. can reach
The position arrived.The angle should be no more than 90 °, if the maximum rotation angle too small of the first cursor 533, limit the first machinery
Displacement of the arm 500 on Z-direction (vertical direction).If the maximum rotation angle of the first cursor 533 is spent greatly, such as more than 90 °,
The lower end of the first cursor 533 is higher than the upper end when then reaching maximum angle, is limited the rotating range of the second cursor 535
System be easy to cause the two stuck because of stroke coincidence.Output of the present embodiment preferably the first cursor 533 around the second motor 532
The angle that axis rotates and reverse is no more than 70 ° of degree.
In a preferred embodiment, as shown in figure 9, the second cursor 535 rotates forward and anti-around the output shaft of third motor 534
The angle turned is no more than 160 °.
The second cursor 535 determines position around the angle that the output shaft of third motor 534 rotates and reverse in the present embodiment
Other component in 535 lower section of the second cursor: the position that the 4th motor 536 and probe fixed arm 540 etc. can reach, with
And the whole flexibility ratio of the manipulator.The present embodiment preferably the second cursor 535 rotates forward and anti-around the output shaft of third motor 534
The angle turned is no more than 160 °, that is, the second cursor 535 around third motor 534 output shaft can maximum forward rotation or
It rotates backward and reaches 160 °.
It in a preferred embodiment, further include rotary positioning switch, which includes being set to the first connection
Sensing post on 510 (or bodies of first motor 520) of seat and it is set to (or the output of first motor 520 of the second attachment base 531
Axis, or connect the fixing piece of the output shaft and the second attachment base 531) on sensing chip, when sensing chip reaches sensing post position,
Form the controller that induction information feeds back to ultrasound measuring instrument.
In a preferred embodiment, capture camera can also be set, and preferably capture camera is arranged in mounting base 140
On, at this point, capturing the installation of camera for convenience, horizontal extension is provided in mounting base 140 and being located at the first scanning means
With the top of the second scanning means.In the present embodiment, the breast picture of the patient by capturing camera shooting, the first scanning dress
Can respectively two human breasts of patient be positioned with the second scanning means by setting, so that convenient detect patient.
Above is only part or preferred embodiment of the invention, therefore either text or attached drawing cannot all limit this
The range of protection is invented to be made under all designs with an entirety of the invention using description of the invention and accompanying drawing content
Equivalent structure transformation, or directly/be used in other related technical areas indirectly and be included in the scope of protection of the invention.
Claims (10)
1. a kind of mammary gland automatic scanning equipment, including ultrasonoscope and ultrasonic probe, which is characterized in that the mammary gland automatic scanning
Equipment includes pedestal, the first scanning means and the second scanning means of setting on the base, and the pedestal includes loading plate
With the lifting mechanism being arranged on the loading plate, first scanning means includes the with lifting mechanism transmission connection
One erecting bed and be mounted on first erecting bed by straight-line motion mechanism, with moved upwards in front and back and right and left
One mechanical arm；Second scanning means includes the second erecting bed being sequentially connected with the lifting mechanism and passes through linear motion
Mechanism is mounted on second erecting bed, the second mechanical arm to move upwards in front and back and right and left；Described first is mechanical
Arm and the second mechanical arm are in top-down lifting state, and the free end of the two is for installing ultrasonic probe.
2. mammary gland automatic scanning equipment according to claim 1, which is characterized in that the lifting mechanism includes lifting electricity
Machine, lifting lead screw and upright guide rail, the lifting motor are arranged on the loading plate, one end of the lifting lead screw with it is described
The output axis connection of lifting motor, the upright guide rail are arranged on the loading plate, and the sliding block on the upright guide rail with
Nut connection in the lifting lead screw, first erecting bed and the second erecting bed respectively with the nut in the lifting lead screw
Transmission connection.
3. mammary gland automatic scanning equipment according to claim 2, which is characterized in that it further include mounting base and sleeve, it is described
Sleeve is set on the lifting lead screw and connect with the nut on the lifting lead screw, and the mounting base and the sleeve rotate
Connection, and one end and mounting base rotation connection on the lifting lead screw far from the lifting motor, first installation
Platform and the second erecting bed are connect with the mounting base respectively.
4. mammary gland automatic scanning equipment according to claim 3, which is characterized in that further include being arranged in the mounting base
The first magnetic block and the second magnetic block for being arranged on the sleeve, the first magnetic block can be supported with the second magnetic block
It connects.
5. the mammary gland automatic scanning equipment stated according to claim 1, which is characterized in that further include being arranged on the loading plate
Protective shell, the lifting mechanism are located in the inner space of the protective shell.
6. mammary gland automatic scanning equipment according to claim 5, which is characterized in that be provided with handle on the protective shell.
7. mammary gland automatic scanning equipment according to claim 1, which is characterized in that it further include supporting mechanism, the support
Mechanism includes the supporting pad for supporting cylinder and being arranged on the output shaft of the support cylinder, the cylinder body setting of the support cylinder
On the loading plate.
8. mammary gland automatic scanning equipment according to claim 1, which is characterized in that be provided on the bottom of the loading plate
Multiple idler wheels.
9. the mammary gland automatic scanning equipment stated according to claim 1, which is characterized in that first erecting bed and the second erecting bed
On straight-line motion mechanism include second of arrangement first straight line guide rail in the lateral direction and arrangement in the longitudinal direction
Linear guide, the first straight line guide rail are equipped with the bracket for installing the second straight line guide rail, and the first straight line is led
The first driving assembly for driving the bracket to move along the first straight line guide rail is additionally provided on rail, on the second straight line guide rail
Equipped with the second driving assembly for driving the first mechanical arm or second mechanical arm to move along the second straight line guide rail.
10. the mammary gland automatic scanning equipment stated according to claim 1, which is characterized in that the first mechanical arm and the second machinery
Arm includes setting gradually from top to bottom:
First attachment base is connect with the straight-line motion mechanism；
First motor, body are mounted on first attachment base, and output shaft is downwards；
Vertical driving assembly, the output axis connection with the first motor, and turned in the horizontal plane by first motor driving
It is dynamic；
Probe fixed arm is moved in the vertical direction by the vertical driving assembly driving, and the lower end of the probe fixed arm is used for
Ultrasonic probe is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910487102.3A CN110251160B (en) | 2019-06-05 | 2019-06-05 | Automatic mammary gland scanning equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910487102.3A CN110251160B (en) | 2019-06-05 | 2019-06-05 | Automatic mammary gland scanning equipment |
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| CN110251160A true CN110251160A (en) | 2019-09-20 |
| CN110251160B CN110251160B (en) | 2024-09-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910487102.3A Active CN110251160B (en) | 2019-06-05 | 2019-06-05 | Automatic mammary gland scanning equipment |
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| CN110680401A (en) * | 2019-11-19 | 2020-01-14 | 张晓燕 | Gynaecology uses mammary gland ultrasonic monitoring device |
| CN111134724A (en) * | 2020-01-21 | 2020-05-12 | 深圳瀚维智能医疗科技有限公司 | Mammary gland ultrasonic scanning bed |
| CN111493934A (en) * | 2020-04-24 | 2020-08-07 | 上海市第十人民医院 | Mammary gland supersound full scan mechanism and full scanning device |
| TWI823152B (en) * | 2021-10-01 | 2023-11-21 | 財團法人金屬工業研究發展中心 | Optical positioning probe cart |
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| CN110251160B (en) | 2024-09-13 |
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Effective date of registration: 20230714 Address after: 318000 Floor 5, No. 2 Plant, No.139 Huitou, Caishiqiao Village, Xinhe Town, Wenling City, Taizhou City, Zhejiang Province Applicant after: Hanwei (Taizhou) Intelligent Medical Technology Co.,Ltd. Address before: 518000 404b, building G2, TCL International e city, Shuguang community, Xili street, Nanshan District, Shenzhen, Guangdong Applicant before: SHENZHEN HANWEI INTELLIGENT MEDICAL TECHNOLOGY Co.,Ltd. |
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