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WO2025013280A1 - Mécanisme de maintien de sonde - Google Patents

Mécanisme de maintien de sonde Download PDF

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Publication number
WO2025013280A1
WO2025013280A1 PCT/JP2023/025882 JP2023025882W WO2025013280A1 WO 2025013280 A1 WO2025013280 A1 WO 2025013280A1 JP 2023025882 W JP2023025882 W JP 2023025882W WO 2025013280 A1 WO2025013280 A1 WO 2025013280A1
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WO
WIPO (PCT)
Prior art keywords
probe
holding mechanism
movable pieces
stopper
base
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/JP2023/025882
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English (en)
Japanese (ja)
Inventor
匡隆 由村
直史 吉田
泰弘 山下
佳宏 白川
宗 石川
友汰 松本
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fuji Corp
Original Assignee
Fuji Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fuji Corp filed Critical Fuji Corp
Priority to PCT/JP2023/025882 priority Critical patent/WO2025013280A1/fr
Publication of WO2025013280A1 publication Critical patent/WO2025013280A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves

Definitions

  • This specification discloses a probe holding mechanism.
  • a holder for holding an ultrasonic probe on a robot arm has been proposed (see, for example, Patent Document 1).
  • the holder holds the ultrasonic probe so that it moves along an arc-shaped trajectory centered on a rotation axis (third rotation axis) provided on the arm or rotates coaxially with the rotation axis.
  • the ultrasonic probes When using a commercially available ultrasonic probe, the ultrasonic probes come in a variety of shapes and sizes. When using a dedicated holder to hold the ultrasonic probe, it is necessary to measure the shape of the ultrasonic probe and create a new holder every time the ultrasonic probe is changed, which increases costs and makes it difficult to respond quickly.
  • the primary objective of this disclosure is to provide a probe holding mechanism capable of holding multiple types of probes with different shapes and sizes.
  • the probe retention mechanism of the present disclosure comprises: A probe holding mechanism that is attached to an arm of a robot and holds a probe, The main body, a holder having a plurality of movable pieces supported by the main body and movable to come into contact with and separate from the probe, the plurality of movable pieces coming into contact with the probe to hold the probe on the main body;
  • the gist of the project is to provide the following:
  • the probe holding mechanism disclosed herein holds the probe by contacting multiple movable pieces that can move back and forth relative to the main body. This makes it possible to hold multiple types of probes with different shapes and sizes.
  • FIG. 2 is an external perspective view of the robot system and the ultrasound diagnostic device.
  • FIG. 1 is a schematic configuration diagram of a robot. 2 is an enlarged view of a hand portion of the robot including the probe holding mechanism of the present embodiment.
  • FIG. 1 is an enlarged view of a hand portion of the robot including a probe holding mechanism that holds an ultrasonic probe.
  • FIG. 2 is an external perspective view of a probe holding mechanism.
  • FIG. 2 is a front view of the probe holding mechanism excluding the front block.
  • FIG. 4 is a side cross-sectional view of the probe holding mechanism.
  • FIG. 4 is a partial enlarged view showing a front side mechanism of the probe holding mechanism.
  • FIG. 4 is a partial enlarged view showing a front side mechanism of the probe holding mechanism.
  • FIG. 4 is a partial enlarged view showing a front side mechanism of the probe holding mechanism.
  • FIG. 4 is a partial enlarged view showing the mechanism on the rear side of the probe holding mechanism.
  • FIG. 4 is a partial enlarged view showing a side surface of the probe holding mechanism.
  • 4 is a side cross-sectional view centered on a second stopper of the probe holding mechanism.
  • FIG. FIG. 2 is a front view of a probe holding mechanism that holds an ultrasonic probe.
  • FIG. 2 is a side cross-sectional view of a probe holding mechanism that holds an ultrasonic probe.
  • FIG. 11 is a process diagram showing a probe mounting process.
  • FIG. FIG. 2 is a perspective view of the appearance of a jig to which an ultrasonic probe is attached.
  • FIG. 2 is a perspective view of the appearance of a jig to which a probe holding mechanism is attached.
  • FIG. 2 is an explanatory diagram showing a state in which an ultrasonic probe is attached to a probe holding mechanism.
  • FIG. 1 is an external perspective view of the robot system 10 and the ultrasound diagnostic device 100.
  • FIG. 2 is a schematic diagram of the robot 20.
  • FIG. 3 is an enlarged view of the hand portion of the robot 20 including the probe holding mechanism 60 of this embodiment.
  • FIG. 4 is an enlarged view of the hand portion of the robot 20 including the probe holding mechanism 60 holding an ultrasound probe 101.
  • FIG. 5 is an external perspective view of the probe holding mechanism 60.
  • FIG. 6 is a front view of the probe holding mechanism 60 excluding the front block 64.
  • FIG. 7 is a side cross-sectional view of the probe holding mechanism 60.
  • the front-rear direction is the X-axis
  • the left-right direction is the Y-axis
  • the up-down direction is the Z-axis.
  • the robot system 10 includes a robot 20 having a multi-joint robot arm 21, a probe holding mechanism 60 that is detachably attached to the hand of the robot 20 and holds an ultrasound probe 101 of the ultrasound diagnostic device 100, and a control device (not shown) that controls the robot 20.
  • the robot system 10 holds an ultrasonic probe 101 in a probe holding mechanism 60, and controls the robot 20 to move while pressing the ultrasonic probe 101 against the surface of the human body, thereby making the ultrasonic diagnostic device 100 acquire ultrasonic echo images of the human body.
  • the robot 20 is used as an ultrasonic echo guide during surgery, such as catheter surgery.
  • the operator (surgeon) who operates the catheter guide wire instructs the robot 20 to press the ultrasonic probe 101 against the surface of the human body (patient), and while recognizing the positional relationship between the tip of the guide wire and the blood vessel from the obtained ultrasonic echo image, advances the guide wire, thereby allowing the guide wire to pass accurately through the center of the occlusion or stenosis of the blood vessel.
  • the operator manually operates the robot arm 21, and while checking the ultrasonic echo image acquired by placing the ultrasonic probe 101 held by the robot arm 21 against the patient, determines the points (images) to be reproduced during surgery and performs direct teaching to register them in the control device of the robot 20.
  • the ultrasound diagnostic device 100 includes an ultrasound probe 101 and an ultrasound diagnostic device main body 110 connected to the ultrasound probe 101 via a cable 102.
  • the ultrasound diagnostic device main body 110 processes the received signal from the ultrasound probe 101 to generate an ultrasound echo image, and displays the generated ultrasound echo image on a display.
  • the robot arm 21 is a seven-axis articulated arm, and has a first arm 22, a second arm 23, a base 24, a first arm driver 35, a second arm driver 36, a position holding device 37, and a three-axis rotating mechanism 50.
  • the base end of the first arm 22 is connected to the base 24 via a first joint shaft 31 that extends in the vertical direction (Z-axis direction).
  • the first arm drive device 35 has a motor that is connected to the first joint shaft 31 via a reduction gear.
  • the first arm drive device 35 rotates (pivots) the first arm 22 along a horizontal plane (XY plane) with the first joint shaft 31 as a fulcrum by driving the first joint shaft 31 to rotate with the motor.
  • the base end of the second arm 23 is connected to the tip end of the first arm 22 via a second joint shaft 32 that extends in the vertical direction.
  • the second arm drive device 36 has a motor connected to the second joint shaft 32 via a reduction gear.
  • the second arm drive device 36 rotates (pivots) the second arm 23 along a horizontal plane with the second joint shaft 32 as a fulcrum by driving the second joint shaft 32 to rotate with the motor.
  • the base 24 is arranged so that it can be raised and lowered relative to the base 25 by a lifting device 40 installed on the base 25.
  • the lifting device 40 includes a slider 41 fixed to the base 24, a guide member 42 that extends in the vertical direction to guide the movement of the slider 41, a ball screw shaft 43 (lifting shaft) that extends in the vertical direction and is screwed into a ball screw nut (not shown) fixed to the slider 41, and a motor 44 that rotates and drives the ball screw shaft 43.
  • the lifting device 40 moves the base 24 fixed to the slider 41 up and down along the guide member 42 by rotating and driving the ball screw shaft 43 with the motor 44.
  • the three-axis rotating mechanism 50 is connected to the tip of the second arm 23 via the attitude-maintaining shaft 33 extending in the vertical direction.
  • the three-axis rotating mechanism 50 includes a first rotating shaft 51, a second rotating shaft 52, and a third rotating shaft 53 that are perpendicular to one another, a first rotating device 55 that rotates the first rotating shaft 51, a second rotating device 56 that rotates the second rotating shaft 52, and a third rotating device 57 as a hand drive device that rotates the third rotating shaft 53 to which the probe holding mechanism 60 is connected.
  • the first rotating shaft 51 is supported in an orthogonal position relative to the attitude-maintaining shaft 33.
  • the second rotating shaft 52 is supported in an orthogonal position relative to the first rotating shaft 51.
  • the third rotating shaft 53 is supported in an orthogonal position relative to the second rotating shaft 52.
  • the first rotating device 55 has a motor that rotates the first rotating shaft 51.
  • the second rotating device 56 has a motor that rotates the second rotating shaft 52.
  • the third rotation device 57 has a motor that rotates the third rotation shaft 53.
  • the robot 20 of this embodiment operates the robot arm 21 by a combination of translational motion in three directions, the X-axis direction, the Y-axis direction, and the Z-axis direction, by the first arm driving device 35, the second arm driving device 36, and the lifting device 40, and rotational motion in three directions, the X-axis direction Rb (pitching), the Y-axis direction (rolling) Ra, and the Z-axis direction (yawing) Rc, by the three-axis rotation mechanism 50.
  • the attitude holding device 37 holds the attitude of the three-axis rotating mechanism 50 (the orientation of the first rotating shaft 51) in a constant direction regardless of the attitude of the first arm 22 and the second arm 23.
  • the attitude holding device 37 has a motor connected to the attitude holding shaft 33 via a reducer.
  • the attitude holding device 37 sets a target rotation angle of the attitude holding shaft 33 based on the rotation angle of the first joint shaft 31 and the rotation angle of the second joint shaft 32 so that the axial direction of the first rotating shaft 51 is always in the left-right direction (X-axis direction), and drives and controls the corresponding motor so that the attitude holding shaft 33 is at the target rotation angle. This makes it possible to control the translational motion in three directions and the rotational motion in three directions independently, making control easier.
  • the probe holding mechanism 60 holds the ultrasonic probe 101 and is detachably attached to the third rotation shaft 53.
  • the probe holding mechanism 60 is held by an operator when the operator moves the ultrasonic probe 101 attached to the probe holding mechanism 60 by hand.
  • the probe holding mechanism 60 is provided with a direct teaching switch 81 for allowing the operator to manually operate the robot arm 21.
  • One end of a cable 82 is connected to a terminal of the direct teaching switch 81.
  • the other end of the cable 82 is removably connected to a connector provided on the robot arm 21.
  • the robot 20 is used in surgery. For this reason, during surgery, it is required to cover the robot 20 including the probe holding mechanism 60 and the ultrasound diagnostic device 100 including the ultrasound probe 101 with a sterile cover.
  • the ultrasound probe 101 is attached to the probe holding mechanism 60 as follows. The operator covers the robot 20 including the probe holding mechanism 60 with a transparent or semi-transparent sterile cover C1, and covers the entire ultrasound diagnostic device 100 including the ultrasound probe 101 and cable 102 with a transparent or semi-transparent sterile cover C2. The operator then attaches the ultrasound probe 101 to the probe holding mechanism 60 (see Figure 4).
  • the probe holding mechanism 60 holds the ultrasonic probe 101 by supporting the front, back, left, right and top of the gripping portion of the ultrasonic probe 101 at multiple points.
  • the probe holding mechanism 60 includes a base plate 61 (rear block), a left side block 62, a right side block 63, a front block 64, and a number of stoppers (first, second, third, fourth, fifth, sixth, seventh and eighth stoppers 71, 72, 73, 74, 75, 76, 77, 78) that can advance and retreat relative to the corresponding blocks and abut against the ultrasonic probe 101 to hold the ultrasonic probe 101.
  • the probe holding mechanism 60 holds the ultrasonic probe 101 coaxially with the third rotation shaft 53 when attached to the third rotation shaft 53.
  • the upper part of the base plate 61 is provided with an insertion part 65 through which the tip (cylindrical part) of the third rotating shaft 53 is inserted.
  • a fastener 66 is provided slightly below and on the rear side of the insertion part 65 of the base plate 61 for fixing the base plate 61 (probe holding mechanism 60) to the third rotating shaft 53 with the tip of the third rotating shaft 53 inserted into the insertion part 65.
  • the fastener 66 is a fastener (e.g., a snap lock or a snap lock) that hooks onto a protrusion (not shown) provided on the outer circumferential surface of the tip of the third rotating shaft 53.
  • a relief part ES is provided on the upper part of the base plate 61 for allowing the cable 102 extending from the base end of the ultrasonic probe 101 to escape while the ultrasonic probe 101 is held coaxially with the third rotating shaft 53.
  • the front side of the base plate 61 is provided with a first stopper 71 and a second stopper 72 that support the base end of the ultrasonic probe 101, and a seventh stopper 77 and an eighth stopper 78 that support the back side of the ultrasonic probe 101.
  • the first stopper 71 and the second stopper 72 have cylindrical portions 71a, 72a and protruding portions 71b, 72b extending tangentially from the outer periphery of the cylindrical portions 71a, 72a.
  • the first stopper 71 and the second stopper 72 are configured to support two surfaces of both corners at the base end of the ultrasonic probe 101 by the cylindrical portions 71a, 72a and the protruding portions 71b, 72b, as shown in FIG. 13.
  • the base plate 61 has long holes H1, H2 that are inclined in the vertical direction so that they approach each other as they go downward.
  • the center of the cylindrical portion 71a is fixed to the base plate 61 by a fixing screw S1 inserted through the long hole H1
  • the center of the cylindrical portion 72a is fixed to the base plate 61 by a fixing screw S2 inserted through the long hole H2 (see FIG. 12).
  • the first stopper 71 and the second stopper 72 can rotate around the center of the cylindrical portions 71a and 72a and can move forward and backward along the extension direction of the long holes H1 and H2.
  • the first stopper 71 and the second stopper 72 can be well fitted to the base end of the ultrasonic probe 101 of different shapes and sizes.
  • the seventh stoppers 77 are lined up on the left and right, and each has a circular abutment surface.
  • a female threaded hole H7 is formed below the long holes H1 and H2 of the base plate 61, and a feed screw S7 is attached to the seventh stopper 77 and threaded into the female threaded hole H7.
  • the feed screw S7 is fixed to the base plate 61 by a nut N7. This allows the seventh stopper 77 to move forward and backward relative to the base plate 61 by loosening the nut N7 and rotating the feed screw S7.
  • the eighth stopper 78 has a rectangular abutment surface. As shown in FIG. 10, below the female threaded hole H7 of the base plate 61, multiple rows (three rows) of long holes H81, H82, and H83 are formed that extend vertically and are aligned horizontally, and feed screws S81 and S82 are attached to both left and right ends of the eighth stopper 78.
  • the feed screws S81 and S82 are fixed to the base plate 61 by plate members P8 and nuts N81 and N82 that are screwed onto the feed screws S81 and S82 so as to sandwich the base plate 61.
  • the eighth stopper 78 can move forward and backward relative to the base plate 61 by loosening the nuts N81 and N82 and rotating the feed screws S81 and S82 alternately little by little.
  • a female threaded hole M83 is formed in the center of the plate member P8 in the left-right direction, into which a temporary fixing screw (not shown) is screwed through the long hole H83 to temporarily fix the plate member P8 to the base plate 61.
  • the left side block 62 is fixed to the left end of the base plate 61.
  • a long hole H01 extending in the vertical direction is formed in the left end of the base plate 61, and the left side block 62 is fixed to the left end of the base plate 61 by a fixing screw S01 inserted into the long hole H01.
  • the height position of the left side block 62 relative to the base plate 61 can be adjusted by loosening the fixing screw S01.
  • the left side block 62 has a fixed plate 621 fixed to the base plate 61, a cover plate 622 fixed to the fixed plate 621 by a front-to-rear adjustment screw 623b, and a movable plate 623 disposed between the fixed plate 621 and the cover plate 622.
  • a long hole 623a extending in the front-to-rear direction is formed in the movable plate 623, and a front-to-rear adjustment screw 623b is inserted into the long hole 623a. Therefore, the movable plate 623 can slide forward and backward relative to the fixed plate 621 by loosening the front-to-rear adjustment screw 623b.
  • the left side block 62 is provided with a third stopper 73 that abuts against and supports the left side of the ultrasonic probe 101.
  • a female threaded hole is formed in the left side block 62 (fixed plate 621), and a feed screw S3 that is screwed into the female threaded hole is attached to the third stopper 73.
  • the feed screw S3 is fixed to the left side block 62 (fixed plate 621) by a nut N3. This allows the third stopper 73 to move back and forth to the left and right relative to the left side block 62 by loosening the nut N3 and rotating the feed screw S3.
  • the right side block 63 is fixed to the right end of the base plate 61.
  • a long hole H02 extending in the vertical direction is formed in the right end of the base plate 61, and the right side block 63 is fixed to the right end of the base plate 61 by a fixing screw S02 inserted into the long hole H02.
  • the height position of the right side block 63 relative to the base plate 61 can be adjusted by loosening the fixing screw S02.
  • the right side block 63 is provided with a fourth stopper 74 that abuts against and supports the right side of the ultrasonic probe 101.
  • a female threaded hole is formed in the right side block 63, similar to the third stopper 73, and the fourth stopper 74 is attached with a feed screw S4 that is screwed into the female threaded hole, as shown in FIG. 9.
  • the feed screw S4 is fixed to the right side block 63 with a nut N4. This allows the fourth stopper 74 to move back and forth to the left and right relative to the right side block 63 by loosening the nut N4 and rotating the feed screw S4.
  • the third stopper 73 and the fourth stopper 74 can move back and forth so as to approach and move away from each other, and support both sides of the ultrasonic probe 101 so as to clamp them from the left and right.
  • the front block 64 is a block that supports the front surface of the ultrasonic probe 101. As shown in Figures 8 and 9, the left end of the front block 64 is rotatably connected to the movable plate 623 of the left side block 62 via a pivot shaft 67. The right end of the front block 64 is detachably engaged with the right side block 63 by a fastener 68.
  • the fastener 68 is a fastener (e.g., a snap lock or a snap lock) that hooks a fastener body 681 onto a protrusion 682 provided on the right end of the front block 64, similar to the fastener 66.
  • An extension portion 641 is formed on the right end of the front block 64, bending from the right end and extending rearward.
  • the extension portion 641 has a long hole 641a extending in the front-rear direction, and the protrusion 682 is fixed to the front block 64 (extension portion 641) by inserting a fixing screw 641b from the protrusion 682 into the long hole 641a and screwing it into the slide member 685.
  • a feed screw 686 extending from the front block 64 in the front-rear direction is screwed into the slide member 685. Therefore, the protrusion 682 can slide forward and backward together with the slide member 685 by loosening the fixing screw 641b and rotating the feed screw 686.
  • the movable plate 623 of the left side block 62 can slide forward and backward relative to the fixed plate 621 by loosening the front-rear adjustment screw 623b. Therefore, the front block 64 can move forward and backward relative to the base plate 61, that is, to approach and move away from the base plate 61.
  • the front block 64 is provided with a fifth stopper 75 and a sixth stopper 76 that abut against and support the front surface of the ultrasonic probe 101.
  • the fifth stopper 75 is disposed to face the eighth stopper 78.
  • the fifth stopper has a rectangular abutment surface.
  • a long hole H5 extending vertically is formed in the front block 64, and the fifth stopper 75 is fixed to the front block 64 by a fixing screw S5 inserted into the long hole H5. This allows the fifth stopper 75 to move vertically by loosening the fixing screw S5.
  • the front block 64 is movable forward and backward, and therefore the fifth stopper 75 moves forward and backward together with the front block 64.
  • the sixth stopper 76 is disposed opposite the seventh stopper 77.
  • the sixth stopper 76 has a circular abutment surface.
  • the front block 64 has a plurality of rows (three rows) of long holes H61, H62, and H63 extending vertically and aligned horizontally above the long hole H5.
  • the plate member P6 is fixed to the front block 64 by fixing screws S61 and S62 inserted through the long holes H61 and H62.
  • a female screw hole is formed in the center of the plate member P6 in the horizontal direction, and the sixth stopper 76 is attached to a feed screw S63 screwed into the female screw hole.
  • the feed screw S63 is fixed to the plate member P6 by a nut N63.
  • the sixth stopper 76 can move up and down together with the plate member P6 by loosening the fixing screws S61 and S62, and can move back and forth relative to the front block 64 by loosening the nut N63 and rotating the feed screw S7. Note that since the sixth stopper 76 is provided on the front block 64, it moves back and forth together with the front block 64.
  • the probe holding mechanism 60 of this embodiment supports the ultrasonic probe 101 at multiple points from the front, back, left, right, and above, as shown in Figures 13 and 14, using the first, second, third, fourth, fifth, sixth, seventh, and eighth stoppers 71, 72, 73, 74, 75, 76, 77, and 78. That is, the first and second stoppers 71 and 72 can move forward and backward in a direction inclined in the vertical direction so that they approach each other as they move downward, and support the ultrasonic probe 101 by abutting against both corners at the base end of the ultrasonic probe 101 in pairs.
  • the third and fourth stoppers 73 and 74 can move forward and backward in the horizontal direction, and support the ultrasonic probe 101 by abutting against both side surfaces of the ultrasonic probe 101 in pairs. Furthermore, the fifth and eighth stoppers 75 and 78 and the sixth and seventh stoppers 76 and 77 can move forward and backward, respectively, and support the ultrasonic probe 101 by abutting against the front and back surfaces of the ultrasonic probe 101 in pairs. As a result, the probe holding mechanism 60 of this embodiment can properly fit ultrasonic probes 101 of various shapes and sizes, and can hold the ultrasonic probe 101 in the proper position.
  • the contact surface of the fifth stopper 75 is made of an elastic material such as rubber, and the contact surfaces of the other stoppers (first stopper 71, second stopper 72, third stopper 73, fourth stopper 74, sixth stopper 76, seventh stopper 77, and eighth stopper 78) are made of metal.
  • the stopper made of an elastic material is not limited to the fifth stopper 75, and may be any of the other stoppers as long as they are part of the multiple stoppers (first to eighth stoppers 71 to 78).
  • the contact surfaces of all the stoppers may be made of metal or elastic material.
  • FIG. 15 is an explanatory diagram showing an example of the probe attachment procedure.
  • the ultrasonic probe 101 is attached to the probe holding mechanism 60 using a jig 200 as shown in FIG. 16.
  • the jig 200 includes a base 201, four probe support parts 210a, 210b, 210c, and 210d that are provided on the base 201 and support the ultrasonic probe 101 from four directions, i.e., front, back, left, and right, and a holding mechanism support part 220 that supports the probe holding mechanism 60.
  • the probe support parts 210a and 210b can slide back and forth to move closer to and away from each other.
  • the opposing surfaces of the probe support parts 210a and 210b are provided with abutment parts 211 that abut against the front and back of the ultrasonic probe 101.
  • the probe support parts 210c and 210d can slide left and right to move closer to and away from each other.
  • the opposing surfaces of the probe support parts 210c and 210d are provided with abutment parts 211 that abut against the left and right sides of the ultrasonic probe 101.
  • the probe supports 210a, 210b, 210c, and 210d are provided with fixing screws 212 for fixing the probe supports 210a, 210b, 210c, and 210d to the base 201.
  • the holding mechanism support 220 has a female threaded hole 220a formed therein, and the probe holding mechanism 60 is fixed to the holding mechanism support 220 by inserting a fixing screw into a mounting hole 61a (see FIG. 10) formed in the base plate 61 and screwing it into the female threaded hole 220a.
  • the probe attachment procedure is performed by executing steps S100 to S170 in order.
  • step S100 the ultrasonic probe 101 is attached to the jig 200.
  • the ultrasonic probe 101 is attached by clamping the front and back of the ultrasonic probe 101 between the probe support parts 210a and 210b and the left and right sides of the ultrasonic probe 101 between the probe support parts 210c and 210d, and tightening the fixing screws 212.
  • the ultrasonic probe 101 is supported by the jig 200 in an upright position.
  • Figure 17 shows an external perspective view of the jig 200 to which the ultrasonic probe 101 is attached.
  • step S110 the ultrasonic probe 101 is removed from the jig 200 with the probe support parts 210a, 210b, 210c, and 210d left as they are, and the probe holding mechanism 60 is attached to the holding mechanism support part 220.
  • the probe holding mechanism 60 is attached to the holding mechanism support part 220 by inserting a fixing screw into the mounting hole 61a (see FIG. 10) formed in the base plate 61 and screwing it into the female threaded hole 220a formed in the holding mechanism support part 220.
  • FIG. 18 shows an external perspective view of the jig 200 to which the probe holding mechanism 60 is attached.
  • step S120 the ultrasonic probe 101 is reattached to the jig 200, and the first and second stoppers 71, 72 are then moved until they contact both corners of the base end of the ultrasonic probe 101, and the first and second stoppers 71, 72 are temporarily secured in place with the fixing screws S1, S2.
  • step S130 the height positions of the left side block 62 and the right side block 63 relative to the base plate 61 are adjusted, and then the third and fourth stoppers 73, 74 are moved until they come into contact with the left and right sides of the ultrasonic probe 101, and the third and fourth stoppers 73, 74 are temporarily fixed with nuts N3 and N4.
  • the height positions of the left side block 62 and the right side block 63 are adjusted by connecting both side blocks 62, 63 at the same height using a connecting jig (not shown), moving both side blocks 62, 63 up and down so that the height positions of the third and fourth stoppers 73, 74 match the narrowed parts on both sides of the ultrasonic probe 101, tightening the fixing screws S01, S02 (see Figure 10), and then removing the connecting jig.
  • step S140 the front-to-rear position of the front block 64 is adjusted so that the fifth stopper 75 contacts the narrowed portion of the front of the ultrasonic probe 101, and the height position of the fifth stopper 75 is adjusted, and the fifth stopper 75 is temporarily fixed in place using the front-to-rear adjustment screw 623b (see FIG. 11) and the fixing screw S5 (see FIG. 8 and FIG. 9).
  • step S150 the height position of the sixth stopper 76 is adjusted by the fixing screws S61 and S62 so that the sixth stopper 76 contacts the front surface of the ultrasonic probe 101, and the front-to-rear position of the sixth stopper 76 is adjusted by the feed screw S63, and the sixth stopper 76 is temporarily fixed by the fixing screws S61 and S62 and the nut N63. Furthermore, the front-to-rear position of the seventh stopper 77 is adjusted by the feed screw S7 so that the seventh stopper 77 contacts the rear surface of the ultrasonic probe 101, and the seventh stopper 77 is temporarily fixed by the nut N7.
  • step S160 the height and front-to-rear positions of the eighth stopper 78 are adjusted by the feed screws S81 and S82 so that the eighth stopper 78 contacts the narrowed portion of the back surface of the ultrasonic probe 101, and the eighth stopper 78 is temporarily fixed by the nuts N81 and N82.
  • the height position of the eighth stopper 78 is adjusted to the same height position as the opposing fifth stopper 75 using a height adjustment jig (not shown).
  • the front-to-rear position of the eighth stopper 78 is adjusted by screwing a temporary fixing screw into the female threaded hole M83 after adjusting the height position, while maintaining the adjusted height position of the eighth stopper 78.
  • step S170 the fixing screws and nuts are tightened to the specified torque to position and fix the first, second, third, fourth, fifth, sixth, seventh and eighth stoppers 71, 72, 73, 74, 75, 76, 77 and 78.
  • step S180 the protrusion 682 is fixed to the extension 641 of the front block 64, the fastener body 681 is attached to the right side block 63, the fastener body 681 is hooked onto the protrusion 682, and the right end of the front block 64 is engaged with the right side block 63 by the fastener 68, completing the process.
  • the protrusion 682 is fixed after adjusting the front-to-rear position so that the ultrasonic probe 101 is not loosely held by the probe holding mechanism 60.
  • the ultrasonic probe 101 is held in an upright position by the probe holding mechanism 60 through multiple support by the first, second, third, fourth, fifth, sixth, seventh and eighth stoppers 71, 72, 73, 74, 75, 76, 77 and 78.
  • the robot 20 corresponds to the robot
  • the robot arm 21 corresponds to the arm
  • the base plate 61 corresponds to the left side block 62
  • the right side block 63 and the front block 64 correspond to the main body
  • the first, second, third, fourth, fifth, sixth, seventh and eighth stoppers 71, 72, 73, 74, 75, 76, 77, 78 correspond to the movable pieces
  • these stoppers 71 to 78 the fixing screws S1, S2, S5, S61, S62, 623b, the feed screws S3, S4, S63, S7, S81, S82, the nuts N3, N4, N63, N7, N81, N82, etc.
  • the fifth and eighth stoppers 75, 78 and the sixth and seventh stoppers 76, 77 correspond to a pair of first movable pieces.
  • the third and fourth stoppers 73, 74 correspond to a pair of second movable pieces.
  • the first and second stoppers 71, 72 correspond to a pair of third movable pieces.
  • the base plate 61, the left side block 62, and the right side block 63 correspond to a base
  • the front block 64 corresponds to a surrounding member
  • the fastener 68 corresponds to a locking member.
  • the probe holding mechanism 60 includes the first, second, third, fourth, fifth, sixth, seventh, and eighth stoppers 71, 72, 73, 74, 75, 76, 77, and 78, but some of the stoppers may be omitted.
  • the third and fourth stoppers 73, 74, the fifth and eighth stoppers 75, 78, and the sixth and seventh stoppers 76, 77 that form pairs are configured to be movable forward and backward, but one of any pair of stoppers may be fixed so that it cannot move forward or backward.
  • the robot 20 is configured as a seven-axis articulated robot capable of translational movement in three directions and rotational movement in three directions.
  • the number of axes can be any number.
  • the robot 20 may also be configured as a so-called vertical articulated robot or horizontal articulated robot.
  • the probe holding mechanism of the present disclosure holds the probe by contacting multiple movable pieces that can move back and forth relative to the main body with the probe. This makes it possible to hold multiple types of probes with different shapes and sizes.
  • the holding portion may hold the gripping portion of the probe.
  • the plurality of movable pieces may have a pair of first movable pieces that can move toward and away from two opposing longitudinal sides among the four side surfaces around the gripping portion. In this way, the probe can be held stably.
  • the pair of first movable pieces may be movable in the axial direction of the gripping portion when in a position where the gripping portion holds the probe. In this way, the pair of first movable pieces can be appropriately fitted to a plurality of types of probes having different shapes and sizes.
  • the plurality of movable pieces may have a pair of second movable pieces that can move toward and away from two opposing short sides of the four sides around the gripping portion. In this way, the probe can be stably held.
  • the multiple movable pieces may have a pair of third movable pieces which can move toward and away from the base end of the gripping portion.
  • the pair of third movable pieces may have a shape which allows them to abut against two faces of a corner portion at the base end of the gripping portion.
  • the pair of third movable pieces may be capable of moving toward and away from the gripping portion in a direction inclined with respect to the axial direction of the gripping portion in a posture in which the gripping portion is held, so as to move toward each other as they approach the base end of the gripping portion. This allows the pair of third movable pieces to be appropriately fitted to multiple types of probes with different shapes and sizes.
  • the main body may have a base, an enclosing member having one end rotatably connected to the base and surrounding the gripping portion together with the base, and a locking member provided on the other end of the enclosing member and detachably locking to the base.
  • the probe holding mechanism can stably hold the probe.
  • the enclosing member may be capable of moving toward and away from the opposing surface of the base. In this way, multiple types of probes with different thicknesses can be held in the appropriate position.
  • the main body may be attached to the rotation axis of the arm so as to hold the probe coaxially with the rotation axis, and may have an escape section for escaping the cable extending from the base end of the gripping section. In this way, it is possible to prevent the probe cable from interfering with the main body, and the probe can be held in the correct position (coaxially with the rotation axis of the arm).
  • the probe holding mechanism of the present disclosure may hold the probe covered with a cover.
  • the probe is held by multiple movable pieces, so that the probe can be held in the correct position even when the probe is covered with a cover.
  • This disclosure can be used in the robot manufacturing industry, etc.

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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

Ce mécanisme de maintien de sonde est fixé à un bras d'un robot et maintient une sonde. Le mécanisme de maintien de sonde comprend un corps et une partie de maintien. La partie de maintien a une pluralité de pièces mobiles qui sont supportées par le corps et peuvent venir en butée contre la sonde et être séparées de celle-ci, et maintient la sonde sur le corps en amenant la pluralité de pièces mobiles à venir en butée contre la sonde.
PCT/JP2023/025882 2023-07-13 2023-07-13 Mécanisme de maintien de sonde Pending WO2025013280A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2023/025882 WO2025013280A1 (fr) 2023-07-13 2023-07-13 Mécanisme de maintien de sonde

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2023/025882 WO2025013280A1 (fr) 2023-07-13 2023-07-13 Mécanisme de maintien de sonde

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WO2025013280A1 true WO2025013280A1 (fr) 2025-01-16

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JP2006506128A (ja) * 2002-11-12 2006-02-23 プロウロケア，インコーポレイテッド インテリジェント医療機器バリア装置
CN106361371A (zh) * 2016-09-19 2017-02-01 深圳市罗伯医疗科技有限公司 一种夹持装置及具有该装置的超声诊断设备
US20190175143A1 (en) * 2016-08-26 2019-06-13 Vinno Technology (Suzhou) Co., Ltd. Probe robot device
US20190328500A1 (en) * 2016-11-16 2019-10-31 Regeneron Pharmaceuticals, Inc. Medical imaging table, table support assembly, probe support assembly, system, and method of use
CN209966555U (zh) * 2018-10-09 2020-01-21 成都博恩思医学机器人有限公司 一种滑台定位装置
CN211131155U (zh) * 2019-11-13 2020-07-31 威朋（苏州）医疗器械有限公司 超声探头定位快拆夹具
CN211355582U (zh) * 2020-01-13 2020-08-28 李拓 一种超声科检查用辅助托架
CN112386280A (zh) * 2020-10-12 2021-02-23 武汉大学 一种超声机器人软体柔性末端
CN212729850U (zh) * 2020-07-31 2021-03-19 南京信息职业技术学院 一种乳腺超声检查自动扫描装置
JP2022161110A (ja) * 2021-04-08 2022-10-21 キヤノンメディカルシステムズ株式会社 情報処理装置、超音波診断装置及びプログラム

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004136066A (ja) * 2002-03-25 2004-05-13 Olympus Corp 超音波観察システム
JP2006506128A (ja) * 2002-11-12 2006-02-23 プロウロケア，インコーポレイテッド インテリジェント医療機器バリア装置
US20190175143A1 (en) * 2016-08-26 2019-06-13 Vinno Technology (Suzhou) Co., Ltd. Probe robot device
CN106361371A (zh) * 2016-09-19 2017-02-01 深圳市罗伯医疗科技有限公司 一种夹持装置及具有该装置的超声诊断设备
US20190328500A1 (en) * 2016-11-16 2019-10-31 Regeneron Pharmaceuticals, Inc. Medical imaging table, table support assembly, probe support assembly, system, and method of use
CN209966555U (zh) * 2018-10-09 2020-01-21 成都博恩思医学机器人有限公司 一种滑台定位装置
CN211131155U (zh) * 2019-11-13 2020-07-31 威朋（苏州）医疗器械有限公司 超声探头定位快拆夹具
CN211355582U (zh) * 2020-01-13 2020-08-28 李拓 一种超声科检查用辅助托架
CN212729850U (zh) * 2020-07-31 2021-03-19 南京信息职业技术学院 一种乳腺超声检查自动扫描装置
CN112386280A (zh) * 2020-10-12 2021-02-23 武汉大学 一种超声机器人软体柔性末端
JP2022161110A (ja) * 2021-04-08 2022-10-21 キヤノンメディカルシステムズ株式会社 情報処理装置、超音波診断装置及びプログラム

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