CN108938007A - Breast annular scanning equipment - Google Patents
Breast annular scanning equipment Download PDFInfo
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- CN108938007A CN108938007A CN201810662947.7A CN201810662947A CN108938007A CN 108938007 A CN108938007 A CN 108938007A CN 201810662947 A CN201810662947 A CN 201810662947A CN 108938007 A CN108938007 A CN 108938007A
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- 210000000481 breast Anatomy 0.000 title claims abstract description 70
- 230000007246 mechanism Effects 0.000 claims abstract description 66
- 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 51
- 239000000758 substrate Substances 0.000 claims abstract description 41
- 230000033001 locomotion Effects 0.000 claims description 33
- 238000012545 processing Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 10
- 238000003745 diagnosis Methods 0.000 abstract description 4
- 239000000523 sample Substances 0.000 description 13
- 230000005540 biological transmission Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 201000010099 disease Diseases 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 210000005075 mammary gland Anatomy 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000002604 ultrasonography Methods 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
- 208000030270 breast disease Diseases 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012631 diagnostic technique Methods 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 206010020718 hyperplasia Diseases 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 229910052750 molybdenum Inorganic materials 0.000 description 1
- 239000011733 molybdenum Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Clinical applications
- A61B8/0825—Clinical applications 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
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
-
- 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
- A61B8/4416—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to combined acquisition of different diagnostic modalities, e.g. combination of ultrasound and X-ray acquisitions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/54—Control of the diagnostic device
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- 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 breast annular scanning equipment, including control module and execution module, and execution module includes substrate, circular scanning driving assembly and pose adjustment component and detecting head；Circular scanning driving assembly includes the first driving motor being disposed on the substrate, driving gear and driven gear；Pose adjustment component includes the pedestal being arranged on driven gear, workbench, the collet of the X-axis driving mechanism between pedestal and workbench and setting on the table；Detecting head is mounted on collet, and control module is electrically connected with the first driving motor and X-axis driving mechanism respectively, for controlling the scanning posture and scanning path of detecting head.The problem of present invention adjusts component by setting execution module, control module and pose, and the consistency that scanning input acts when solving artificial detection in the prior art is poor, is unfavorable for accurate scanning diagnosis.
Description
Technical field
The present invention relates to field of medical device, and in particular to a kind of breast annular 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, ultrasound detection generally holds ultrasonic probe by user and is scanned detection to breast, but because
The consistency of scanning input movement is poor when for artificial detection, the change of scanning angle and stress between ultrasonic probe and breast
The error for changing supersonic sounding easy to increase is unfavorable for accurate scanning diagnosis.
Summary of the invention
It is a primary object of the present invention to propose a kind of breast annular scanning equipment, to solve artificial detection in the prior art
When scanning input movement consistency it is poor, the variation of scanning angle and stress between ultrasonic probe and breast is easy to increase
The error of supersonic sounding is unfavorable for accurate scanning diagnosis.
In order to solve the above technical problems, the present invention proposes a kind of breast annular scanning equipment, including control module and execution
Module；The execution module includes substrate, circular scanning driving assembly and pose adjustment component；The circular scanning driving assembly
Including the first driving motor, driving gear and the driven gear engaged with the driving gear on the substrate is arranged；Institute
Rheme appearance adjustment component includes the pedestal being arranged on the driven gear, is arranged on the pedestal and can be towards or away from institute
It states the workbench of the central rotating shaft movement of driven gear, the X-axis driving mechanism between the pedestal and workbench and set
It sets on the workbench for installing the collet of detecting head；The control module respectively with first driving motor and X-axis
Driving mechanism electrical connection, for controlling the scanning posture and scanning path of the detecting head.
Preferably, the X-axis driving mechanism include the first slide rail pair being arranged between the pedestal and the workbench,
X-axis rack gear on the workbench is set, the X-axis driving motor that is arranged on the pedestal and setting drive in the X-axis
The X-axis gear engaged on the output shaft of motor and with the X-axis rack gear.
Preferably, mounting rack is additionally provided on the driven gear, the pedestal and the mounting rack are hinged, the installation
The articulated shaft of frame is vertical with the central rotating shaft of the driven gear；Pose adjustment component further include setting the pedestal with
The first rotating mechanism between the driven gear, first rotating mechanism is located remotely from the articulated shaft, for driving
The pedestal is rotated around the articulated shaft.
Preferably, first rotating mechanism include the second driving motor being arranged on the driven gear, setting exist
It is on the pedestal and far from the articulated shaft the first rack gear and be arranged on the output shaft of second driving motor simultaneously
The first gear engaged with the driving rack.
Preferably, the breast annular scanning equipment also further includes Z axis driving mechanism, and the Z axis driving mechanism includes connecting
The Z axis that the second slide rail pair and the driving pedestal for connecing the pedestal and the driven gear move in the second slide rail pair drives
Dynamic motor, the glide direction of second slide rail pair and the central rotating shaft of the driven gear are arranged in parallel.
Preferably, the breast annular scanning equipment further includes that setting is connect on the workbench and with the collet
Second rotating mechanism, second rotating mechanism for driving the collet to rotate, the central rotating shaft of the collet and it is described from
The central rotating shaft of moving gear is mutually perpendicular to.
Preferably, the executing agency is arranged in a upper and lower opening and the shell of perforation, the substrate and shell it is interior
Wall connection, the upper opening of the shell are additionally provided with upper cover.
Preferably, the substrate is arranged on shell, and the breast automatic scanning device further includes obtaining three dimension of breast
According to image-forming module, the image-forming module includes the camera that the base lower surface and case inside wall is arranged in, Yi Jiyu
The image processing unit of the camera connection, the control module are also used to adjust the detecting head according to the three-dimensional data
Scanning posture and scanning path.
Preferably, the breast annular scanning equipment further includes that two execution modules arranged side by side and adjusting two execute moulds
The spacing of block spacing adjusts module；The spacing adjustment module includes first straight line movement mechanism disposed in parallel and second straight line
Movement mechanism, the first straight line movement mechanism are connect with the substrate of a wherein execution module, the second straight line movement mechanism
It is connect with the substrate of wherein another execution module.
Preferably, the breast annular scanning equipment further includes being arranged on the collet, for detecting the detecting head
The sensor of contact pressure between breast.
The present invention adjusts the execution mould of component and detecting head by setting including substrate, circular scanning driving assembly, pose
Block, then component is adjusted by the annular turntable driving component of control module control and pose and is automatically performed scanning campaign, make this breast
The scanning motion of annular scanning equipment has preferable consistency to obtain standardized scan data, solves the prior art
The consistency that scanning input acts when middle artificial detection is poor, the change of scanning angle and stress between ultrasonic probe and breast
The error for changing supersonic sounding easy to increase is unfavorable for the problem of accurate scanning diagnoses.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one embodiment of breast annular scanning equipment of the present invention；
Fig. 2 is the structural schematic diagram that pose adjusts component in one embodiment of breast annular scanning equipment of the present invention；
Fig. 3 is the structural schematic diagram of another embodiment of breast annular scanning equipment of the present invention.
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.
The present invention proposes a kind of breast annular scanning equipment, and referring to Fig.1, which includes control module
(not shown) and execution module 1；The execution module 1 includes substrate 100, circular scanning driving assembly 200 and pose tune
Whole group part 300；The circular scanning driving assembly 200 includes the first driving motor 210 being arranged on the substrate 100, drives
Moving gear 220 and the driven gear 230 engaged with the driving gear 220；The pose adjustment component 300 includes being arranged in institute
State the pedestal 310 on driven gear 230, be arranged on the pedestal 310 can be towards or away from the center of the driven gear 230
The workbench 340 of pivot, the X-axis driving mechanism 320 between the pedestal 310 and workbench 340 and setting exist
Collet on the workbench 340；The control module is electric with first driving motor 210 and X-axis driving mechanism 320 respectively
Connection, for controlling the scanning posture and scanning path of the detecting head.
In the present embodiment, circular hole is provided on substrate 100, driven gear 230 includes and the circular hole coaxial on substrate 100
The gear ring of setting is additionally provided with the groove of annular in the inside of gear ring.Circular hole outer rim on the substrate 100 be also evenly equipped with perpendicular to
The limited post that substrate 100 is arranged and the rolling member being arranged on limited post, the rolling member are preferably recessed with the annular of gear ring inner
The bearing of slot adaptation.It can limit gear ring by setting positioning column and rolling member and rotate on the substrate 100.First driving motor 210
Setting is additionally provided with driving gear 220 on the substrate 100, in shaft, and driving gear 220 is engaged with gear ring to be turned with driven gear ring
It is dynamic.In pose adjustment component 300, pedestal 310 is arranged on gear ring, and installation collet and detection are additionally provided on pedestal 310
The workbench 340 of head, the sliding pair that direction gear ring axis is provided between pedestal 310 and workbench 340 make substrate 100 and work
It can opposite sliding between platform 340.Sliding pair include the sliding rail being arranged on pedestal 310 and be arranged on workbench 340 and with
The sliding block of sliding rail adaptation.The drivings sides such as gear-rack drive, electric cylinder driving, belt driving may be selected in X-axis driving mechanism 320
Formula come drive 340 opposite base 310 of workbench slide.Detecting head be mounted on the collet and its end of probe towards it is described from
The central rotating shaft of moving gear 230, under the driving of the X-axis driving mechanism 320, the workbench 340 moves along a straight line, to adjust
The end of probe of the whole detecting head and the distance between the central rotating shaft of driven gear 230.Control module is handled using STM32
Device is responsible for the generation of control instruction and coordinates other modules to be operated together, the model STM32F407 system that the present embodiment uses
Column.Control module is connect with the driving motor of circular scanning driving assembly 200 and X-axis driving mechanism 320 respectively, with control ring
Shape turntable driving component 200 completes circular scanning motion, and control X-axis driving mechanism 320 completes detecting head sweep radius
Adjustment.
The present invention includes substrate 100, circular scanning driving assembly 200, pose adjustment component 300 and detecting head by setting
Execution module 1, then annular turntable driving component 200 controlled by control module and pose adjusts component 300 and is automatically performed and sweeps
Movement is looked into, makes the scanning motion of this breast annular scanning equipment that there is preferable consistency to obtain standardized scanning number
According to the consistency that scanning input acts when solving artificial detection in the prior art is poor, between ultrasonic probe and breast
The error of the variation of scanning angle and stress supersonic sounding easy to increase, is unfavorable for the problem of accurate scanning diagnoses.
In an alternative embodiment of the invention, referring to Fig. 2, the X-axis driving mechanism 320 includes being arranged in the pedestal 310
The first slide rail pair 321 between the workbench 340, is arranged described the X-axis rack gear being arranged on the workbench 340
X-axis driving motor 322 on pedestal 310 and be arranged on the output shaft of the X-axis driving motor 322 and with the X-axis rack gear
The X-axis gear of engagement.In the present embodiment, pedestal 310 is that its lower surface of strip connect with gear ring and is directed toward circular scanning drive
The central rotating shaft of dynamic component 200, the upper surface of pedestal 310 are provided with the ditch for being directed toward 200 central rotating shaft of circular scanning driving assembly
Slot, the cunning that the first sliding pair is arranged and is located between the upper surface and workbench 340 of pedestal 310 preferably along the direction of groove
Rail and sliding block.The sliding rail is arranged in 310 top shoe of pedestal and connect with the lower surface of workbench 340.X-axis rack gear is arranged in workbench
340 lower surface is simultaneously parallel with the glide direction of workbench 340.X-axis driving motor 322 is preferably provided at the side of pedestal 310
Its output shaft passes through stepper motor of the pedestal 310 into groove.The setting of X-axis gear is nibbled in the trench and with the rack gear above groove
It closes, while also workbench 340 can be driven to slide along the first sliding pair with the output axis connection of X-axis driving motor 322.This hair
Bright middle X-axis driving mechanism 320 is driven by rack pinion and stepper motor, internal structure is simple and control precision compared with
It is high.
In an alternative embodiment of the invention, referring to Fig. 2, it is additionally provided with mounting rack 311 on the driven gear 230, it is described
Pedestal 100 and the mounting rack 311 are hinged, and the central rotating shaft of the articulated shaft of the mounting rack 311 and the driven gear 230 hangs down
Directly；The pose adjustment component 300 further includes the first rotation being arranged between the pedestal 310 and the driven gear 230
Mechanism 330, first rotating mechanism 330 are located remotely from the articulated shaft, for driving the pedestal 310 around described hinged
Axis rotation.In the present embodiment, pedestal 310 is hingedly arranged with gear ring, is provided on gear ring hinged with the rotation connection of pedestal 310
The articulated shaft of bracket, articulated stand turns respectively at the glide direction of workbench 340 and the center of circular scanning driving assembly 200
Axis is vertically arranged.First rotating mechanism 330 includes first that one end of separate body cradle and central rotating shaft on pedestal 310 is arranged in
Rack gear 332, the second driving motor 331 being arranged on the first rack gear 332 and be arranged on the second driving motor 331 first
Gear 333.First rack gear 332 is vertically arranged and engages with first gear 333, under the driving of the second driving motor 331, first
Rack gear 332 is rotated with moving base 310 by shaft of articulated shaft.In the present embodiment, the rotated by setting driving pedestal 310
One rotating mechanism 330, can be used for adjusting the end of probe of detecting head and the angle of breast surface, fits closely end of probe with breast
Improve detection precision.
In an alternative embodiment of the invention, the breast annular scanning equipment referring to described in Fig. 3 further includes Z axis driving mechanism, institute
Stating Z axis driving mechanism includes connecting the second slide rail pair and the driving pedestal of the pedestal 310 and the driven gear 230
The 310 Z axis driving motors moved in the second slide rail pair, the glide direction of second slide rail pair and the driven gear 230
Central rotating shaft be arranged in parallel.The second sliding pair includes being vertically arranged on driven gear 230 (gear ring) in the present embodiment
The sliding block that sliding rail and setting are connect on the slide rail and with pedestal 310, further includes that the rack gear of 310 bottom of pedestal is arranged in and sets
Set the Z axis driving motor on driven gear 230.The rack gear is parallel to sliding rail setting, also sets up in the shaft of Z axis driving motor
There is this wheel being engaged with rack.The present invention passes through the gear teeth between Z axis driving motor, connection pedestal 310 and driven gear 230
Strip transmission mechanism and the second sliding pair, can drive pedestal 310 to be gone up and down in vertical direction, make on end of probe and breast everywhere
It fits closely, expands the scanning range and scanning flexibility ratio of breast annular scanning equipment.
In an alternative embodiment of the invention, referring to Fig. 3, the breast annular scanning equipment further includes being arranged in the work
The second rotating mechanism 350 connecting on platform 340 and with the collet, second rotating mechanism 350 is for driving the collet
Rotation, the central rotating shaft of the collet and the central rotating shaft of the driven gear 230 are mutually perpendicular to.In the present embodiment, it works
The connecting plate being vertically arranged is additionally provided on platform 340, collet is arranged on connecting plate.It is additionally provided between collet and connecting plate
Second rotating mechanism 350, second rotating mechanism 350 include the rotary electric machine (not shown) being arranged on connecting plate, are turned
The shaft of dynamic motor is vertical with the glide direction of the first sliding pair and the pose adjustment central rotating shaft of component 300 respectively.Collet
It is connect with the shaft of rotary electric machine, makes the central rotating shaft of the end of probe face scanning component of detecting head.In the present embodiment, pass through
Second rotating mechanism 350 of driving collet and detecting head rotation is set, can be used for adjusting the end of probe and breast table of detecting head
The angle in face fits closely end of probe and breast and improves detection precision.
In an alternative embodiment of the invention, executing agency 1 is arranged in a upper and lower opening and the shell of perforation, substrate 100
It is connect with the inner wall of shell, the upper opening of shell is additionally provided with upper cover.In the present embodiment, shell is the rectangular drawing of quadrangle chamfering
It stretches thin-wall part and is arranged up and down.Substrate 100 is directly connected to the inner wall of shell or is connect by other connectors.Substrate
The scanning manipulator of 100 lower sections is located in shell and the opaque setting of shell.During the scanning process, shell is located at patient front simultaneously
The breast of patient is covered, scanning mechanical arm under the control of control module swept automatically by the achievable breast to enclosure interior
It retouches.It can be used for supporting fixed executing agency 1 by the way that opaque shell is arranged in the present embodiment, upper cover be set in the top of shell
It can facilitate and Inspection and maintenance is carried out to executing agency 1.The setting of shell can also increase the privacy in present apparatus use process simultaneously.
In another embodiment of the present invention, substrate 100 is arranged on shell, and breast automatic scanning device further includes obtaining breast
The image-forming module of three-dimensional data, image-forming module include be arranged in 100 lower surface of substrate and case inside wall camera and
The image processing unit connecting with camera, control module are also used to adjust the scanning posture of detecting head according to three-dimensional data and sweep
Look into track.In the present embodiment, shell overall structure is square setting, and camera includes being arranged in 100 lower surface of substrate and position
The first camera right above breast, and the second camera of the adjacent side of shell is set, the first camera is used for
The top view of the vertical direction of breast is obtained, second camera is used to obtain the lateral plan of breast, and image processing unit is preferred
The OpenMV machine vision module that can carry out edge detection can obtain breast in vertical side according to above-mentioned top view and side view
To and side profile diagram to obtain the 3D model of breast, the above modeling method is common technological means, is not made herein
It repeats.The present invention obtains the 3D model of breast by the image-forming module that setting is connect with control module, makes control module can basis
The 3D model cootrol of breast, which sends control instruction to the position that scanning manipulator 300 is used to adjust between detecting head and breast, makes two
Person's fitting.
In an alternative embodiment of the invention, referring to Fig. 3, breast automatic scanning device includes two execution modules arranged side by side
1 and adjust two execution modules, 1 spacing spacing adjust module 500；It includes disposed in parallel first straight that spacing, which adjusts module 500,
Line movement mechanism 510 and second straight line movement mechanism 520, the substrate of first straight line movement mechanism 510 and a wherein execution module 1
100 connections, second straight line movement mechanism 520 are connect with the substrate 100 of wherein another execution module 1.In the present embodiment, breast
Automatic scanning device includes two execution modules 1 arranged side by side, and it includes that setting is filled in breast automatic scanning that spacing, which adjusts module 500,
On the shell set and first straight line movement mechanism 510 disposed in parallel and second straight line movement mechanism 520, first straight line fitness machine
Structure 510 and the preferred Lead screw transmission structure of second straight line movement mechanism 520.First straight line movement mechanism 510 include it is horizontally disposed and
The driving motor of the lead screw and guide rod and driving lead screw rotation that are parallel to each other.The both ends of lead screw and guide rod and inner walls connect
It connects, the guide sleeve on transmission nut and guide rod on lead screw is connect with the substrate 100 of an executing agency therein.Second straight line fortune
Motivation structure 520 is identical as the structure of first straight line transmission mechanism, guide sleeve on transmission nut and guide rod on lead screw and its
In an executing agency substrate 100 connect.Thus control module can control the rotation of driving motor to control execution machine respectively
Relative position between structure, the spacing of Shi Liang executing agency are adapted to the spacing of breast.
In a preferred embodiment of the present invention, first straight line movement mechanism 510 includes left-handed screw rod 511 and left-handed nut pair
512, second straight line movement mechanism 520 includes dextrorotation screw rod 521 and right-handed nut's pair 522, left-handed screw rod 511 and dextrorotation screw rod
521 is coaxial connected；Left-handed nut pair 512 and wherein one substrate 100 in executing agency connect, right-handed nut secondary 522 with it is another
The substrate 100 of executing agency connects, and first straight line movement mechanism 510 and second straight line movement mechanism 520 further include that driving is left-handed
The stepper motor that screw rod 511 and dextrorotation screw rod 521 rotate, spacing regulator 500 further include connection two substrates 100 and with it is left-handed
The linear movement pair parallel with dextrorotation screw rod 521 of screw rod 511.In the present embodiment, first straight line movement mechanism 510 includes left-handed
Screw rod 511 and left-handed nut pair 512, second straight line movement mechanism 520 include dextrorotation screw rod and right-handed nut's pair 522, can will be left
It revolves screw rod and dextrorotation screw rod carries out coaxially connected, the connection of substrate 100 in left-handed nut pair and wherein an executing agency, dextrorotation spiral shell
Female pair 522 is connect with the substrate 100 of another executing agency, and the present invention is by being arranged coaxially connected left-handed lead screw and dextrorotation silk
Thick stick, and driving motor is made to drive left-handed screw rod 511 and preferred screw rod forward or reverse, so that left-handed nut and right-handed nut is driven it
On two executing agencies be respectively completed and move toward one another or adjust backwards to movement the spacing of two executing agencies.
It is worth noting that, also laser range finder straight down can be arranged in the lower section of substrate 100, base is driven in lead screw
When plate 100 moves, laser range finder can obtain the altitude information of each point on breast cross section according to the motion track of lead screw, thus
Exterior contour (bus) data of the cross section of breast are obtained, so that the posture that control module adjusts scanning manipulator 300 makes to visit
It can be bonded completely between gauge head and breast.
In an alternative embodiment of the invention, referring to Fig. 2, breast automatic scanning device includes further including setting in collet 340
The upper, sensor for detecting contact pressure between detecting head and breast.In the present embodiment, collet 340 and rotating mechanism 330
Between be additionally provided with sliding pair, detecting head can slide on sliding pair with head, sliding pair far from detecting head test surface one
End is additionally provided with pressure sensor.When detecting head and after breast contact, detecting head sliding until its rear end is contacted with pressure sensor, when
After pressure sensor detects pressure change, then show that detecting head is bonded completely with breast, scanning manipulator 300 is located at best appearance
State.Thus the pressure changing information of pressure sensor can be used as the feedback information of control module.Furthermore it can also visited in the present embodiment
Range sensor or infrared sensor are set on gauge head, to detect the location information of test surface and breast, due to structure it is simple this
The specific setting structure of range sensor or infrared sensor on detecting head is not explained in place.
It is worth noting that, can also on the basis of all of above embodiment, pose adjustment 300 Zhong Ge mechanism of component it
Between add sliding pair and/or revolute pair and its driving assembly increase pose adjustment component 300 freedom degree.Specific embodiment exists
This is not elaborated.
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 breast annular scanning equipment, which is characterized in that including control module and execution module；
The execution module includes substrate, circular scanning driving assembly, pose adjustment component；
The circular scanning driving assembly include setting the first driving motor on the substrate, driving gear and with the drive
The driven gear of moving gear engagement；
Pose adjustment component include the pedestal being arranged on the driven gear, be arranged on the pedestal and can towards or
The workbench of central rotating shaft movement far from the driven gear, the X-axis driving mechanism between the pedestal and workbench
And setting is on the workbench for installing the collet of detecting head；
The control module is electrically connected with first driving motor and X-axis driving mechanism respectively, for controlling the detecting head
Scanning posture and scanning path.
2. breast annular scanning equipment as described in claim 1, which is characterized in that the X-axis driving mechanism includes that setting exists
The first slide rail pair between the pedestal and the workbench, setting X-axis rack gear on the workbench are arranged in the base
X-axis driving motor on seat and the X-axis tooth for being arranged on the output shaft of the X-axis driving motor and being engaged with the X-axis rack gear
Wheel.
3. breast annular scanning equipment as claimed in claim 2, which is characterized in that be additionally provided with installation on the driven gear
Frame, the pedestal and the mounting rack are hinged, and the articulated shaft of the mounting rack is vertical with the central rotating shaft of the driven gear；Institute
Rheme appearance adjustment component further includes the first rotating mechanism being arranged between the pedestal and the driven gear, and described first turn
Motivation structure is located remotely from the articulated shaft, for driving the pedestal to rotate around the articulated shaft.
4. breast annular scanning equipment as claimed in claim 3, which is characterized in that first rotating mechanism includes that setting exists
The second driving motor on the driven gear, be arranged on the pedestal and the first rack gear far from the articulated shaft and
The first gear for being arranged on the output shaft of second driving motor and being engaged with first rack gear.
5. breast annular scanning equipment as described in claim 1, which is characterized in that further include Z axis driving mechanism, the Z axis
Driving mechanism includes the second slide rail pair for connecting the pedestal and the driven gear and the driving pedestal in the second sliding rail
The Z axis driving motor moved in pair, the glide direction of second slide rail pair is parallel with the central rotating shaft of the driven gear to be set
It sets.
6. breast annular scanning equipment as claimed in claim 5, which is characterized in that further include being arranged on the workbench simultaneously
The second rotating mechanism connecting with the collet, second rotating mechanism are used to that the collet to be driven to rotate, the collet
The central rotating shaft of central rotating shaft and the driven gear is mutually perpendicular to.
7. breast annular scanning equipment as described in claim 1, which is characterized in that executing agency's setting is opened about one
In mouth and the shell of perforation, the inner wall of the substrate and shell is connected, and the upper opening of the shell is additionally provided with upper cover.
8. breast annular scanning equipment as claimed in claim 7, which is characterized in that the substrate is arranged on shell, described
Breast automatic scanning device further includes the image-forming module for obtaining breast three-dimensional data, and the image-forming module includes being arranged in the base
The camera of plate lower surface and case inside wall, and the image processing unit being connect with the camera, the control module
It is also used to adjust the scanning posture and scanning path of the detecting head according to the three-dimensional data.
9. the breast annular scanning equipment as described in any one of claims 1 to 7, which is characterized in that be arranged side by side including two
Execution module and adjust two execution module spacing spacing adjust module；The spacing adjustment module includes disposed in parallel
First straight line movement mechanism and second straight line movement mechanism, the substrate of the first straight line movement mechanism and a wherein execution module
Connection, the second straight line movement mechanism are connect with the substrate of wherein another execution module.
10. breast annular scanning equipment as claimed in claim 9, which is characterized in that further include being arranged on the collet, using
In the sensor for detecting contact pressure between the detecting head and breast.
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Application publication date: 20181207 |