CN209091433U - A fixture for connecting a robot and an ultrasonic probe - Google Patents

Abstract

The utility model discloses a kind of for connecting the fixture of robot and ultrasonic probe comprising: base member and clamp member；Wherein, base member is connected with robot；Clamp member is arranged on base member, for clamping ultrasonic probe；The clamp member includes: left fixture, right fixture and regulating member；The left fixture is oppositely arranged with the right fixture, and the ultrasonic probe is clamped between the left fixture and the right fixture；The left fixture, the right fixture are detachably connected by the regulating member, and the regulating member is adjustable the distance between the left fixture and the right fixture to adapt to the ultrasonic probe of different model.The fixture for being used to connect robot and ultrasonic probe of the utility model, simplifies the installation process of ultrasonic probe, substantially increases the repeatability and accuracy rate of Results Ultrasound scan.

Description

A fixture for connecting a robot and an ultrasonic probe

technical field

The utility model relates to the technical field of medical instruments, in particular to a fixture for connecting a robot and an ultrasonic probe.

Background technique

Ultrasound diagnosis is a non-invasive, real-time, non-ionizing radiation, easy-to-use, low-cost, and widely applicable imaging diagnostic method. It has been widely used in obstetrics and gynecology, cardiovascular medicine, general abdominal surgery, Urology, osteoarthritis, ENT, thoracic surgery, oncology and other clinical fields.

The ultrasonic diagnostic apparatus generates incident ultrasonic waves (transmitting waves) and receives reflected ultrasonic waves (echoing waves) through the probe, and scans the examinee to determine the lesion area. The scanning mode of the probe can be roughly divided into three categories: line scan, fan scan and arc scan. According to whether the probe is in contact with the subject's skin or not, it can be divided into direct contact type and waterway coupling type. At present, the above-mentioned scanning process is mainly completed by the ultrasound examination doctor holding the ultrasound probe. The scanning results are easily affected by the ultrasound examination doctor's physiological vibration, examination experience and other subjective factors, which lead to the instability of the ultrasound sound path to a certain extent, and reduce the scanning speed. Repeatability of the process.

For example, the application number is CN201721441658.1, and the title is: A Chinese utility model patent for an auxiliary ultrasonic probe positioning fixture, which discloses an auxiliary ultrasonic probe positioning fixture. The fixture uses an electromagnetic block to fix the ultrasonic probe, and the positioning accuracy is relatively high. Poor, and prone to repeatability problems, at the same time, the supported probe models are relatively single, and the switching of control modes cannot be completed.

Based on the current situation, there is an urgent need to provide a new type of fixture for connecting a robot and an ultrasonic probe.

Utility model content

Aiming at the above-mentioned problems in the prior art, the utility model proposes a fixture for connecting a robot and an ultrasonic probe, which simplifies the installation process of the ultrasonic probe and greatly improves the repeatability and accuracy of the ultrasonic scanning results.

In order to solve the above-mentioned technical problems, the utility model is realized through the following technical solutions:

The utility model provides a fixture for connecting a robot and an ultrasonic probe, which comprises: a base part and a fixture part; wherein,

the base part is connected with the robot;

The clamp part is arranged on the base part, and the clamp part is used for clamping the ultrasonic probe;

The clamp part includes: a left clamp, a right clamp and an adjustment part; the left clamp and the right clamp are arranged opposite to each other, and the ultrasonic probe is clamped between the left clamp and the right clamp; the left clamp . The right clamp is detachably connected through the adjustment part, and the adjustment part can adjust the distance between the left clamp and the right clamp to adapt to different types of ultrasonic probes.

Preferably, the adjustment components include three, respectively: a first adjustment component, a second adjustment component and a third adjustment component; wherein,

The first adjustment part and the second adjustment part are respectively arranged on the front ends of the left clamp and the right clamp, close to the front end of the ultrasonic probe, for positioning the front end of the ultrasonic probe;

The third adjusting part is disposed at the rear end of the left clamp and/or the right clamp, close to the rear end of the ultrasonic probe, and is used for positioning the rear end of the ultrasonic probe.

Preferably, a button slot for assembling buttons is also reserved on the surface of the clamp part.

Further, the button slot is equipped with a detection enable button for enabling the robot to enter the detection mode; the button slot is equipped with a follow-up mode button for enabling the robot to enter the follow-up mode.

Preferably, the base component includes: a base, a flange and a positioning screw hole; wherein,

The flange is arranged at the bottom of the base, and the positioning screw holes are arranged on the base;

The base is connected with the end joint of the robot through the flange and the positioning screw hole.

Preferably, the inside of the base is a hollow structure for the passage of signal lines.

Compared with the prior art, the utility model has the following advantages:

(1) The fixture for connecting the robot and the ultrasonic probe of the present invention, the fixture components include: a left fixture and a right fixture that are arranged oppositely, and the ultrasonic detection probe is clamped between the left fixture and the right fixture, through the "left and right halves" The unique fixture design further simplifies the installation process of ultrasonic inspection probes.

(2) The fixture for connecting the robot and the ultrasonic probe of the present invention can support a variety of probe models by adjusting the distance between the left and right fixtures by arranging adjustment components; the left and right fixtures can be detachably connected through the adjustment components, which is convenient for Changes and repairs are carried out, increasing the flexibility of the gripper.

(3) The fixture for connecting the robot and the ultrasonic probe of the present invention also integrates the control buttons (detection enable button and follow-up mode button) for switching the working mode of the robot on the fixture component, which simply completes the control mode. Switching simplifies the ultrasound examination, reduces the influence of human factors on the scanning results, and improves the repeatability and accuracy of the results.

Of course, any product implementing the present invention does not necessarily need to simultaneously achieve all of the above-mentioned advantages.

Description of drawings

Embodiments of the present utility model are further described below in conjunction with the accompanying drawings:

FIG. 1 is a schematic structural diagram of a fixture for connecting a robot and an ultrasonic probe according to a preferred embodiment of the present invention.

Label description: 1 is the left clamp, 2 is the right clamp, 3-1 is the first adjusting screw, 3-2 is the second adjusting screw, 3-3 is the third adjusting screw, 4 is the detection enable button, 5 is the follow-up Move mode button, 6 is the base, 7 is the positioning screw hole, 8 is the ultrasonic probe, and 9 is the flange.

Detailed ways

The embodiments of the present utility model are described in detail below. The present embodiment is implemented on the premise of the technical solution of the present utility model, and provides detailed implementation methods and specific operation processes, but the protection scope of the present utility model is not limited to the following described embodiment.

With reference to FIG. 1 , the embodiment of the fixture for connecting the robot and the ultrasonic probe of the present invention will be described in detail. As shown in FIG. 1 , it includes: a base part and a clamp part, wherein: the base part is connected with the robot through a flange 9 , and the clamp part is fixed on the base part.

In the embodiment, the base component is used as a reference platform, including: a base 6 , a flange 9 and a positioning screw hole 7 . The lower part of the base 6 is designed as a flange 9, which is connected with the robot end joint through 6 positioning screw holes 7. Preferably, the interior of the base 6 is a hollow structure for the passage of the key signal wires.

In the embodiment, the clamp components include: a left clamp 1, a right clamp 2 and an adjustment screw. The adjustment screws include three adjustment screws: a first adjustment screw 3-1, a second adjustment screw 3-2 and a third adjustment screw 3-3. The left clamp 1 and the right clamp 2 are fixed on the base member and are oppositely arranged, and the ultrasonic probe 8 is clamped between the left clamp 1 and the right clamp 2; the left clamp 1 and the right clamp 2 are adjusted by the first adjusting screw 3-1 and the second adjusting screw The screw 3-2 and the third adjustment screw 3-3 can be detachably connected, and the left clamp 1 and the right clamp can be adjusted through the first adjustment screw 3-1, the second adjustment screw 3-2 and the third adjustment screw 3-3 The distance between 2 is used to adapt to different types of ultrasonic probes. As shown in the embodiment in FIG. 1 , the first adjusting screw 3-1 and the second adjusting screw 3-2 are respectively arranged on both sides of the front end of the right clamp 2 and the left clamp 1, close to the front end of the ultrasonic probe 8, and the setting positions are At the front end of the fixture, it is used to locate the arc-shaped end of the front end of the ultrasonic probe to prevent the probe from falling off axially; Position it to prevent twisting of the ultrasound probe cable. By adjusting the first adjusting screw 3-1, the second adjusting screw 3-2 and the third adjusting screw 3-3 with a screwdriver tool, the distance parameter between the left clamp 1 and the right clamp 2 can be changed, so as to adjust the distance between the clamp and the ultrasonic probe. Frictional force to avoid loosening and falling off of the ultrasonic probe due to the movement of the robot. In different embodiments, the third adjustment screw 3 - 3 may also be provided at the rear end of the right clamp 2 ; adjustment screws may also be provided at the rear ends of both the left clamp 1 and the right clamp 2 . Similarly, in other embodiments, other adjusting components, such as adjusting bolts, etc., may also be used, and are not limited to adjusting screws.

In a preferred embodiment, the surface of the right clamp 2 also reserves two key slots for detecting the assembly of the enabling key 4 and the follow-up mode key 5; the detection enabling key 4 and the follow-up mode key 5 are used for switching. The working mode of the robot is installed at the button slot of the button right fixture 2. In different embodiments, the key slot can also be arranged on the surface of the left fixture 1 .

The ultrasonic probe 8 is clamped between the left clamp 1 and the right clamp 2, and its signal line passes between the left and right clamps. In the working state, the ultrasonic probe 8 is guided by the sonographer to contact (or coupled with water) the part to be measured. By adjusting the distance between the left clamp 1 and the right clamp 2 by the first adjusting screw 3-1, the second adjusting screw 3-2 and the third adjusting screw 3-3, different types of ultrasonic probes 8 can be used.

The working principle of the fixture for connecting the robot and the ultrasonic probe provided in this embodiment is as follows:

In the working state, the base part is installed on the robot, and the ultrasound doctor presses the follow-up mode button 5 to make the robot enter the follow-up working state. After that, the sonographer presses the detection enable button 4 to enable the robot and switch to the detection mode. The ultrasonic probe clamp can clamp the ultrasonic probe 8, and perform the scanning process according to the program setting.

If you need to replace different probes, adjust the distance between the left clamp 1 and the right clamp 2 by adjusting the first adjusting screw 3-1, the second adjusting screw 3-2 and the third adjusting screw 3-3, so that the distance matches the required distance. The size of the probe required. The structure that the left and right clamps are integrated can not only adjust the distance between the left clamp 1 and the right clamp 2 by adjusting the parts, but also facilitate disassembly for replacement and maintenance, which improves the flexibility of the clamp.

The fixture for connecting the robot and the ultrasonic probe of the utility model simplifies the installation process of the ultrasonic probe, is suitable for probes of various specifications, and greatly improves the repeatability and accuracy of the ultrasonic scanning results.

What is disclosed here is only the preferred embodiments of the present invention, and the present specification selects and specifically describes these embodiments to better explain the principles and practical applications of the present invention, rather than limiting the present invention. Any modifications and changes made by those skilled in the art within the scope of the description should fall within the scope of protection of the present invention.

Claims (8)

1. a fixture for connecting robot and ultrasonic probe, is characterized in that, comprises: base part and fixture part; Wherein, the base part is connected with the robot; The clamp part is arranged on the base part, and the clamp part is used for clamping the ultrasonic probe; The clamp part includes: a left clamp, a right clamp and an adjustment part; the left clamp and the right clamp are arranged opposite to each other, and the ultrasonic probe is clamped between the left clamp and the right clamp; the left clamp . The right clamp is detachably connected through the adjustment part, and the adjustment part can adjust the distance between the left clamp and the right clamp to adapt to different types of ultrasonic probes. 2 . The fixture for connecting a robot and an ultrasonic probe according to claim 1 , wherein the adjustment parts comprise three, respectively: a first adjustment part, a second adjustment part and a third adjustment part; wherein , The first adjustment part and the second adjustment part are respectively arranged on the front ends of the left clamp and the right clamp, close to the front end of the ultrasonic probe, for positioning the front end of the ultrasonic probe; The third adjusting part is disposed at the rear end of the left clamp and/or the right clamp, close to the rear end of the ultrasonic probe, and is used for positioning the rear end of the ultrasonic probe. 3 . The fixture for connecting a robot and an ultrasonic probe according to claim 2 , wherein the adjusting member adopts an adjusting screw or an adjusting bolt. 4 . 4 . The fixture for connecting a robot and an ultrasonic probe according to claim 1 , wherein a button slot for assembling buttons is reserved on the surface of the fixture component. 5 . 5 . The fixture for connecting a robot and an ultrasonic probe according to claim 4 , wherein the button slot is equipped with a detection enable button for enabling the robot to enter a detection mode. 6 . 6 . The fixture for connecting a robot and an ultrasonic probe according to claim 4 , wherein the key slot is equipped with a follow-up mode key for making the robot enter a follow-up mode. 7 . 7. The fixture for connecting a robot and an ultrasonic probe according to claim 1, wherein the base member comprises: a base, a flange and a positioning screw hole; wherein, The flange is arranged at the bottom of the base, and the positioning screw holes are arranged on the base; The base is connected with the end joint of the robot through the flange and the positioning screw hole. 8 . The fixture for connecting a robot and an ultrasonic probe according to claim 7 , wherein the inside of the base is a hollow structure for the passage of signal lines. 9 .