CN106361371B - Clamping device and ultrasonic diagnostic equipment with same - Google Patents
Clamping device and ultrasonic diagnostic equipment with same Download PDFInfo
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- CN106361371B CN106361371B CN201610831739.6A CN201610831739A CN106361371B CN 106361371 B CN106361371 B CN 106361371B CN 201610831739 A CN201610831739 A CN 201610831739A CN 106361371 B CN106361371 B CN 106361371B
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- clamping
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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
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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
- A61B8/42—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
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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
- A61B8/44—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
- A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- Radiology & Medical Imaging (AREA)
- Engineering & Computer Science (AREA)
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- Heart & Thoracic Surgery (AREA)
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Abstract
The invention belongs to the technical field of medical equipment, and provides a clamping device and ultrasonic diagnostic equipment with the same, which can be used for clamping an ultrasonic probe, and comprises a clamping assembly capable of movably clamping or loosening the ultrasonic probe, a driving assembly for driving the clamping assembly to move directionally and a supporting assembly for connecting the clamping assembly and the driving assembly, wherein the clamping assembly comprises a first clamping piece and a second clamping piece which can be attached to the surface of the ultrasonic probe, and the first clamping piece and the second clamping piece move in opposite directions to clamp the ultrasonic probe or move in opposite directions to loosen the ultrasonic probe; the design can solve the problem of poor adaptability of the ultrasonic probe connected with the mechanical arm in the existing ultrasonic diagnostic equipment.
Description
Technical Field
The invention belongs to the technical field of medical equipment, and particularly relates to a clamping device and ultrasonic diagnostic equipment with the same.
Background
In the prior art, ultrasonic diagnosis is widely applied to the medical field, and is a diagnosis method for applying ultrasonic detection technology to a human body, finding diseases and making prompts by measuring data and morphology of physiological or tissue structures. In order to match with ultrasonic diagnosis, the existing ultrasonic diagnosis equipment fixes an ultrasonic probe through the front end of a mechanical arm and realizes intelligent detection of the ultrasonic probe through multidimensional movement of the mechanical arm, but because the diagnostic parts are different, the frequency and the external dimension of the ultrasonic probe are different, and the existing equipment needs to use different equipment according to different patients due to the fact that the ultrasonic probe is fixed, so that the applicability of the equipment is poor, and the cost of ultrasonic diagnosis is improved.
Disclosure of Invention
The invention aims to provide a clamping device and aims to solve the problem that an ultrasonic probe connected to a mechanical arm in the existing ultrasonic diagnostic equipment is poor in adaptability.
The invention solves the problems as follows: the clamping device can be used for clamping an ultrasonic probe and comprises a clamping assembly capable of movably clamping or loosening the ultrasonic probe, a driving assembly for driving the clamping assembly to directionally move and a supporting assembly for connecting the clamping assembly and the driving assembly, wherein the clamping assembly comprises a first clamping piece and a second clamping piece which can be attached to the surface of the ultrasonic probe, and the first clamping piece and the second clamping piece can oppositely move to clamp the ultrasonic probe or deviate from the movement to loosen the ultrasonic probe; the driving assembly comprises a driving shaft connected to the supporting assembly and a transmission assembly connected to the driving shaft and driving the first clamping piece and the second clamping piece to move in opposite directions or in opposite directions; the transmission assembly comprises a sliding piece, a connecting piece, a first pushing piece and a second pushing piece, wherein the sliding piece is connected to the supporting assembly in a limiting movement mode, the connecting piece is connected to the sliding piece, and the first pushing piece and the second pushing piece are respectively connected to two ends of the connecting piece; the first clamping piece comprises a first clamping head and a first supporting piece for supporting the first clamping head, the second clamping piece comprises a second clamping head and a second supporting piece for supporting the second clamping head, the first supporting piece is provided with a first inclined surface which forms a first acute angle with the vertical surface, the second supporting piece is provided with a second inclined surface which forms a second acute angle with the vertical surface, the first supporting piece is connected to the first inclined surface in a sliding mode, and the second supporting piece is connected to the second inclined surface in a sliding mode.
Compared with the prior art, the clamping device provided by the invention has the technical effects that: through the setting of first holder and second holder with ultrasonic probe surface laminating, drive assembly drive first holder and second holder directional movement simultaneously, and then can press from both sides tight or loosen ultrasonic probe to can realize the change of not unidimensional ultrasonic probe, and then the adaptability of whole structure is stronger.
The invention also provides ultrasonic diagnostic equipment which comprises a driving device, a mechanical arm connected to the driving device and the clamping device connected to the tail end of the mechanical arm.
According to the ultrasonic diagnosis equipment provided by the invention, the arrangement of the ultrasonic probe can be replaced through the clamping device connected to the tail end of the mechanical arm, so that the diagnosis of different patients can be realized through one equipment and a plurality of ultrasonic probes with different sizes, and the adaptability is better.
Drawings
Fig. 1 is a perspective view of a clamping device provided in an embodiment of the present invention in one direction.
Fig. 2 is a perspective view of a clamping device according to an embodiment of the present invention in another direction.
Fig. 3 is a rear view of a clamping device provided by an embodiment of the present invention.
Fig. 4 is a structural diagram of a clamping device provided by an embodiment of the present invention after clamping an ultrasonic probe.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It should be noted that, in the embodiments of the present invention, terms such as left, right, up, and down are merely relative concepts or references to normal use states of the product, and should not be construed as limiting.
Referring to fig. 1 to 4, in an embodiment of the present invention, a clamping device is provided for clamping an ultrasonic probe, and includes a clamping assembly, a driving assembly and a supporting assembly, wherein the clamping assembly can movably clamp or unclamp the ultrasonic probe 10; the driving component is used for directionally driving the clamping component to move and driving the clamping component to clamp or unclamp the ultrasonic probe 10 during the directional movement; the supporting component is used for supporting and connecting the clamping component and the driving component, the clamping component comprises a first clamping piece 201 and a second clamping piece 202 which can be attached to the surface of the ultrasonic probe 10, and the first clamping piece 201 and the second clamping piece 202 move towards each other to clamp the ultrasonic probe 10 or move away from each other to loosen the ultrasonic probe 10; the ultrasonic probe 10 has a conventional structure, and due to the smooth characteristic of the structure, the first clamping member 201 and the second clamping member 202 can be attached to the outer surface of the ultrasonic probe 10, so that the ultrasonic probe 10 can be clamped without slipping or loosening.
According to the clamping device of the ultrasonic probe 10, through the arrangement of the first clamping piece 201 and the second clamping piece 202, which are attached to the outer surface of the ultrasonic probe 10, the driving assembly drives the first clamping piece 201 and the second clamping piece 202 to move directionally, and then the ultrasonic probe 10 can be clamped or loosened, so that the convenience of replacing the ultrasonic probe 10 and the adaptability to the sizes of the ultrasonic probes 10 of different models and different manufacturers can be realized.
Specifically, as shown in fig. 1 to 4, in the embodiment of the present invention, the driving assembly includes a driving shaft 301 connected to the supporting assembly and a transmission assembly connected to the driving shaft 301 and driving the first clamping member 201 and the second clamping member 202 to move toward or away from each other; the transmission assembly comprises a sliding part 302 connected to the supporting assembly in a limiting movement manner, a connecting part 303 connected to the sliding part 302, and a first pushing part 304 and a second pushing part 305 respectively connected to two ends of the connecting part 303.
In this embodiment, the driving shaft 301 may be a driving rod driven by a driving motor to stretch out and draw back, or may be a screw rod structure with external threads, in this embodiment, a screw rod 301a is preferred, meanwhile, a threaded through hole matched with the screw rod 301a is formed on the sliding member 302, and the sliding member 302 is driven to move up and down along the screw rod 301a in the rotating process of the screw rod 301a, so as to drive the connecting member 303 to move up and down, and simultaneously drive the first pushing member 304 and the second pushing member 305 at two ends of the connecting member 303 to move up and down; in the present embodiment, the connection member 303 is preferably a bar-shaped connection plate, and the bar-shaped connection plate is perpendicular to the central axis of the screw member 301 a; this design ensures that the first abutment member 304 and the second abutment member 305 move parallel to each other in the axial direction of the screw member 301a during rotation of the screw member 301 a.
Specifically, as shown in fig. 1 to 4, in the embodiment of the present invention, the first clamping member 201 includes a first clamping head 2011 and a first supporting member 2012 supporting the first clamping head 2011, the second clamping member 202 includes a second clamping head 2021 and a second supporting member 2022 supporting the second clamping head 2021, the first pushing member 304 is provided with a first inclined surface 3041 having a first acute angle with respect to the vertical, the second pushing member 305 is provided with a second inclined surface 3042 having a second acute angle with respect to the vertical, the first supporting member 2012 is slidably connected to the first inclined surface 3041, the second supporting member 2022 is slidably connected to the second inclined surface 3042, and at the same time, the first inclined surface 3041 and the second inclined surface 3042 are disposed opposite to each other, and the first acute angle and the second acute angle are equal to each other and greater than or equal to 10 ° and less than 90 °.
In the present embodiment, the first clamping head 2011 and the second clamping head 2021 are both in a U-shaped structure, and the openings of the two U-shaped structures are opposite to each other and face the ultrasonic probe 10, and of course, the ultrasonic probe 10 is connected between the first clamping head 2011 and the second clamping head 2021; in addition, in the present embodiment, the cross-sectional areas of the first pushing member 304 and the second pushing member 305 increase from top to bottom; of course, the cross-sectional area may also decrease from top to bottom.
In this embodiment, when the screw member 301a rotates, the first pushing member 304 and the second pushing member 305 move up and down, and the first inclined surface 3041 and the second inclined surface 3042 are disposed opposite to each other, so that the first clamping head 2011 and the second clamping head 2021 are close to or far away from each other by the first inclined surface 3041 and the second inclined surface 3042 pressing against each other, so as to clamp the ultrasonic probe 10 between the first clamping head 2011 and the second clamping head 2021.
In this embodiment, the angle of the first acute angle and the second acute angle is preferably 15 °, 30 °, 45 °, 60 ° or 75 °, which is designed to ensure that the first clamping head 2011 and the second clamping head 2021 have a sufficient distance and length to clamp the ultrasound probe 10 of different sizes when the first pushing member 304 and the second pushing member 305 move upwards during the rotation of the screw member 301 a; at the same time, the threaded fit between the wire rod 301a and the sliding member 302 can further ensure the stability of clamping.
In this embodiment, since the angles of the first acute angle and the second acute angle are equal, that is, the slopes between the first inclined surface 3041 and the second inclined surface 3042 and the vertical surface are equal, and thus the moving speed of the first clamping head 2011 and the second clamping head 2021 relative to the ultrasonic probe 10 is the same in the moving process of the screw rod member 301a, the horizontal heights of the first clamping head 2011 and the second clamping head 2021 are the same, and thus the centering property of the first clamping head 2011 and the second clamping head 2021 in moving can be ensured, that is, the vertical center line of the ultrasonic probe 10 is ensured to be located at the middle of the first clamping head 2011 and the second clamping head 2021, so the design can facilitate the rotation of the ultrasonic probe 10 around the vertical center line thereof in the later stage of detection.
Specifically, as shown in fig. 1 to 4, in the embodiment of the present invention, a first tangential plane 20121 is further disposed on the first supporting member 2012 corresponding to the first inclined plane 3041, and the first tangential plane 20121 and the first inclined plane 3041 are parallel to each other; meanwhile, the second supporting member 2022 is further provided with a second tangential plane 20221 corresponding to the second inclined plane 3042, and the second tangential plane 20221 and the second inclined plane 3042 are parallel to each other; this arrangement ensures that the upward movement of the first and second abutments 304, 305 drives the movement of the first and second supports 2012, 2022 towards each other more easily.
Specifically, as shown in fig. 1 to 4, in the embodiment of the present invention, a first adjusting device 2013 for adjusting the contact angle between the first clamping head 2011 and the outer surface of the ultrasonic probe 10 is further connected between the first supporting member 2012 and the first clamping head 2011, and a second adjusting device 2023 for adjusting the contact angle between the second clamping head 2021 and the outer surface of the ultrasonic probe 10 is further connected between the second supporting member 2022 and the second clamping head 2021.
In the present embodiment, the first adjusting device 2013 is fixed on the end surface of the first supporting member 2012, the second adjusting device 2023 is fixed on the end surface of the second supporting member 2022, and when in use, the first clamping head 2011 and the second clamping head 2021 are tightly attached to the outer surface of the ultrasonic probe 10 according to the radian direction of the outer surface of the ultrasonic probe 10, so as to prevent the ultrasonic probe 10 from loosening.
Specifically, as shown in fig. 1 to 4, in the embodiment of the present invention, the support assembly includes a support plate 401 to which the driving shaft 301 is connected, and a slide rail 402 fixed to the support plate 401 and to which the first support 2012 and the second support 2022 are slidably connected, and the slide rail 402 is horizontally disposed.
In the present embodiment, the driving shaft 301 is connected to the supporting plate 401, and the supporting plate 401 is disposed along the axial direction of the driving shaft 301, and the sliding rail 402 can support the first supporting member 2012 and the second supporting member 2022, so that the first supporting member 2012 and the second supporting member 2022 can only move along the direction of the sliding rail 402.
Specifically, as shown in fig. 1 to 4, in the embodiment of the present invention, the driving shaft 301 and the sliding rail 402 are respectively connected to two opposite surfaces of the supporting plate 401, and a slot 4011 for limiting and sliding the sliding member 302 is further formed in the supporting plate 401, and the slot 4011 is disposed along a vertical direction.
In this embodiment, the sliding rail 402 is located on the face of the supporting plate 401 facing the ultrasonic probe 10, the connecting piece 303 and the sliding rail 402 are located on the same side of the supporting plate 401, and the driving shaft 301 is located on the face of the supporting plate 401 facing away from the ultrasonic probe 10; the arrangement of the slot 4011 on the supporting plate 401 enables the sliding member 302 to be connected to the connecting member 303 through the slot 4011, so that when the driving shaft 301 drives the sliding member 302 to move on the slot 4011, the connecting member 303 is driven to move up and down, and then the first pushing member 304 and the second pushing member 305 are driven to move up and down, and finally the first chuck and the second chuck are driven to move on the sliding rail 402 in opposite directions to clamp the ultrasonic probe 10, or move away from each other to release the ultrasonic probe 10.
The invention also provides ultrasonic diagnostic equipment which comprises a driving device, a mechanical arm connected to the driving device and a clamping device of the ultrasonic probe 10 connected to the tail end of the mechanical arm.
In this embodiment, the upper end of the support plate 401 further extends perpendicularly and outwardly to form a fixing plate 403, and the fixing plate 403 is connected to the mechanical arm to complete the connection between the two.
The ultrasonic diagnostic equipment designed above can replace the setting of the ultrasonic probe 10 through the clamping device connected to the tail end of the mechanical arm, so that the whole ultrasonic diagnostic equipment can realize the diagnosis of different patients through one equipment and a plurality of ultrasonic probes 10 with different sizes, and the adaptability is better.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (7)
1. A clamping device, characterized in that: the ultrasonic probe clamping device comprises a clamping assembly capable of movably clamping or loosening the ultrasonic probe, a driving assembly for driving the clamping assembly to directionally move and a supporting assembly for connecting the clamping assembly and the driving assembly, wherein the clamping assembly comprises a first clamping piece and a second clamping piece which can be attached to the surface of the ultrasonic probe, and the first clamping piece and the second clamping piece can oppositely move to clamp the ultrasonic probe or move away from the ultrasonic probe to loosen the ultrasonic probe; the driving assembly comprises a driving shaft connected to the supporting assembly and a transmission assembly connected to the driving shaft and driving the first clamping piece and the second clamping piece to move in opposite directions or in opposite directions; the transmission assembly comprises a sliding piece, a connecting piece, a first pushing piece and a second pushing piece, wherein the sliding piece is connected to the supporting assembly in a limiting movement mode, the connecting piece is connected to the sliding piece, and the first pushing piece and the second pushing piece are respectively connected to two ends of the connecting piece; the first clamping piece comprises a first clamping head and a first supporting piece for supporting the first clamping head, the second clamping piece comprises a second clamping head and a second supporting piece for supporting the second clamping head, the first supporting piece is provided with a first inclined surface which forms a first acute angle with the vertical surface, the second supporting piece is provided with a second inclined surface which forms a second acute angle with the vertical surface, the first supporting piece is connected to the first inclined surface in a sliding mode, and the second supporting piece is connected to the second inclined surface in a sliding mode.
2. The clamping device as claimed in claim 1, wherein: the first inclined surface and the second inclined surface are arranged in opposite directions, and the first acute angle and the second acute angle are equal and are both larger than or equal to 10 degrees and smaller than 90 degrees.
3. The clamping device as claimed in claim 1, wherein: a first tangent plane is arranged on the first supporting piece corresponding to the first inclined plane, and the first tangent plane is parallel to the first inclined plane; the second supporting piece is provided with a second tangent plane corresponding to the second inclined plane, and the second tangent plane is parallel to the second inclined plane.
4. The clamping device as claimed in claim 1, wherein: the ultrasonic probe comprises a first supporting piece, a first clamping head, a second supporting piece, a second clamping head and a second adjusting device, wherein the first supporting piece is connected with the first clamping head, the first adjusting device is connected between the first supporting piece and the first clamping head and is used for adjusting the contact angle between the first clamping head and the outer surface of the ultrasonic probe, and the second adjusting device is connected between the second supporting piece and the second clamping head and is used for adjusting the contact angle between the second clamping head and the outer surface of the ultrasonic probe.
5. Clamping device according to any of claims 1-4, characterized in that: the support assembly comprises a support plate for connecting the driving shaft and a slide rail which is fixed on the support plate and is used for slidably connecting the first support piece and the second support piece, and the slide rail is horizontally arranged.
6. The clamping device as recited in claim 5, wherein: the driving shaft and the sliding rail are respectively connected to two opposite surfaces of the supporting plate, a slot for limiting sliding of the sliding piece is further formed in the supporting plate, and the slot is arranged in the vertical direction.
7. An ultrasonic diagnostic apparatus comprising a driving device and a robot arm connected to the driving device, characterized in that: a gripping device according to any one of claims 1-6 attached to the end of the arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610831739.6A CN106361371B (en) | 2016-09-19 | 2016-09-19 | Clamping device and ultrasonic diagnostic equipment with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610831739.6A CN106361371B (en) | 2016-09-19 | 2016-09-19 | Clamping device and ultrasonic diagnostic equipment with same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106361371A CN106361371A (en) | 2017-02-01 |
| CN106361371B true CN106361371B (en) | 2023-05-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610831739.6A Active CN106361371B (en) | 2016-09-19 | 2016-09-19 | Clamping device and ultrasonic diagnostic equipment with same |
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| CN (1) | CN106361371B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108065959A (en) * | 2017-08-31 | 2018-05-25 | 深圳市罗伯医疗科技有限公司 | Long-range ultrasonic medical system |
| CN109481040A (en) * | 2019-01-17 | 2019-03-19 | 厦门市领汇医疗科技有限公司 | A kind of manipulator fixture |
| CN109745075B (en) * | 2019-02-13 | 2021-06-18 | 潍坊高新技术产业开发区人民医院 | Automatic coupling probe composite set |
| CN110680400A (en) * | 2019-11-08 | 2020-01-14 | 刘大伟 | Heart tip probing device used in cardiac surgery |
| CN112223311A (en) * | 2020-10-09 | 2021-01-15 | 武汉大学 | Flexible ultrasonic detection device with touch sense and visual sense |
| CN112450977B (en) * | 2020-12-08 | 2023-08-18 | 上海科技大学 | Automated Scanning Robot for Ultrasound Imaging and Photoacoustic Imaging |
| WO2025013280A1 (en) * | 2023-07-13 | 2025-01-16 | 株式会社Fuji | Probe holding mechanism |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102398266B (en) * | 2010-09-16 | 2014-03-26 | 鸿富锦精密工业（深圳）有限公司 | Clamping device |
| CN203028010U (en) * | 2013-01-25 | 2013-07-03 | 崔春花 | Mechanical arm grabbing mechanism and dumpling grabbing device using same |
| CN203468632U (en) * | 2013-08-29 | 2014-03-12 | 中慧医学成像有限公司 | Medical imaging system with mechanical arm |
| CN206548529U (en) * | 2016-09-19 | 2017-10-13 | 深圳华大智造科技有限公司 | A kind of clamping device and the ultrasonic diagnostic equipment with the device |
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- 2016-09-19 CN CN201610831739.6A patent/CN106361371B/en active Active
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