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 artWhen scanning input movement consistency it is poor, the variation of scanning angle and stress between ultrasonic probe and breast is easy to increaseThe 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 executionModule；The execution module includes substrate, circular scanning driving assembly and pose adjustment component；The circular scanning driving assemblyIncluding the first driving motor, driving gear and the driven gear engaged with the driving gear on the substrate is arranged；InstituteRheme appearance adjustment component includes the pedestal being arranged on the driven gear, is arranged on the pedestal and can be towards or away from instituteIt states the workbench of the central rotating shaft movement of driven gear, the X-axis driving mechanism between the pedestal and workbench and setIt sets on the workbench for installing the collet of detecting head；The control module respectively with first driving motor and X-axisDriving 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-axisThe 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 installationThe articulated shaft of frame is vertical with the central rotating shaft of the driven gear；Pose adjustment component further include setting the pedestal withThe first rotating mechanism between the driven gear, first rotating mechanism is located remotely from the articulated shaft, for drivingThe pedestal is rotated around the articulated shaft.
Preferably, first rotating mechanism include the second driving motor being arranged on the driven gear, setting existIt 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 simultaneouslyThe 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 connectingThe 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 drivesDynamic 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 colletSecond rotating mechanism, second rotating mechanism for driving the collet to rotate, the central rotating shaft of the collet and it is described fromThe 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 interiorWall 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 breastAccording to image-forming module, the image-forming module includes the camera that the base lower surface and case inside wall is arranged in, Yi JiyuThe image processing unit of the camera connection, the control module are also used to adjust the detecting head according to the three-dimensional dataScanning posture and scanning path.
Preferably, the breast annular scanning equipment further includes that two execution modules arranged side by side and adjusting two execute mouldsThe spacing of block spacing adjusts module；The spacing adjustment module includes first straight line movement mechanism disposed in parallel and second straight lineMovement mechanism, the first straight line movement mechanism are connect with the substrate of a wherein execution module, the second straight line movement mechanismIt 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 headThe 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, poseBlock, then component is adjusted by the annular turntable driving component of control module control and pose and is automatically performed scanning campaign, make this breastThe scanning motion of annular scanning equipment has preferable consistency to obtain standardized scan data, solves the prior artThe consistency that scanning input acts when middle artificial detection is poor, the change of scanning angle and stress between ultrasonic probe and breastThe error for changing supersonic sounding easy to increase is unfavorable for the problem of accurate scanning diagnoses.
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 endSame or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attachedThe 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 thisEmbodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative effortsExample 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 tuneWhole group part 300；The circular scanning driving assembly 200 includes the first driving motor 210 being arranged on the substrate 100, drivesMoving gear 220 and the driven gear 230 engaged with the driving gear 220；The pose adjustment component 300 includes being arranged in instituteState 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 230The workbench 340 of pivot, the X-axis driving mechanism 320 between the pedestal 310 and workbench 340 and setting existCollet on the workbench 340；The control module is electric with first driving motor 210 and X-axis driving mechanism 320 respectivelyConnection, 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 100The 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 toThe 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 innerThe 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 210Setting 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 ringIt is dynamic.In pose adjustment component 300, pedestal 310 is arranged on gear ring, and installation collet and detection are additionally provided on pedestal 310The workbench 340 of head, the sliding pair that direction gear ring axis is provided between pedestal 310 and workbench 340 make substrate 100 and workIt can opposite sliding between platform 340.Sliding pair include the sliding rail being arranged on pedestal 310 and be arranged on workbench 340 and withThe 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 320Formula 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 fromThe 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 adjustThe 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 STM32Device is responsible for the generation of control instruction and coordinates other modules to be operated together, the model STM32F407 system that the present embodiment usesColumn.Control module is connect with the driving motor of circular scanning driving assembly 200 and X-axis driving mechanism 320 respectively, with control ringShape turntable driving component 200 completes circular scanning motion, and control X-axis driving mechanism 320 completes detecting head sweep radiusAdjustment.
The present invention includes substrate 100, circular scanning driving assembly 200, pose adjustment component 300 and detecting head by settingExecution module 1, then annular turntable driving component 200 controlled by control module and pose adjusts component 300 and is automatically performed and sweepsMovement is looked into, makes the scanning motion of this breast annular scanning equipment that there is preferable consistency to obtain standardized scanning numberAccording to the consistency that scanning input acts when solving artificial detection in the prior art is poor, between ultrasonic probe and breastThe 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 310The first slide rail pair 321 between the workbench 340, is arranged described the X-axis rack gear being arranged on the workbench 340X-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 gearThe 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 driveThe 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 assemblySlot, 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 grooveRail 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 workbench340 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 310Its 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 grooveIt 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 hairBright middle X-axis driving mechanism 320 is driven by rack pinion and stepper motor, internal structure is simple and control precision compared withIt 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 describedPedestal 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 downDirectly；The pose adjustment component 300 further includes the first rotation being arranged between the pedestal 310 and the driven gear 230Mechanism 330, first rotating mechanism 330 are located remotely from the articulated shaft, for driving the pedestal 310 around described hingedAxis 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 310The articulated shaft of bracket, articulated stand turns respectively at the glide direction of workbench 340 and the center of circular scanning driving assembly 200Axis 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 inRack gear 332, the second driving motor 331 being arranged on the first rack gear 332 and be arranged on the second driving motor 331 firstGear 333.First rack gear 332 is vertically arranged and engages with first gear 333, under the driving of the second driving motor 331, firstRack gear 332 is rotated with moving base 310 by shaft of articulated shaft.In the present embodiment, the rotated by setting driving pedestal 310One 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 breastImprove 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, instituteStating Z axis driving mechanism includes connecting the second slide rail pair and the driving pedestal of the pedestal 310 and the driven gear 230The 310 Z axis driving motors moved in the second slide rail pair, the glide direction of second slide rail pair and the driven gear 230Central rotating shaft be arranged in parallel.The second sliding pair includes being vertically arranged on driven gear 230 (gear ring) in the present embodimentThe 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 setsSet 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 motorThere 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 230Strip 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 everywhereIt 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 workThe second rotating mechanism 350 connecting on platform 340 and with the collet, second rotating mechanism 350 is for driving the colletRotation, 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 worksThe 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 plateSecond rotating mechanism 350, second rotating mechanism 350 include the rotary electric machine (not shown) being arranged on connecting plate, are turnedThe 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.ColletIt 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 throughSecond 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 headThe 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 100It 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 chamferingIt 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.SubstrateThe 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 simultaneouslyThe breast of patient is covered, scanning mechanical arm under the control of control module swept automatically by the achievable breast to enclosure interiorIt 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 shellIt 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 breastThe image-forming module of three-dimensional data, image-forming module include be arranged in 100 lower surface of substrate and case inside wall camera andThe 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 sweepLook into track.In the present embodiment, shell overall structure is square setting, and camera includes being arranged in 100 lower surface of substrate and positionThe first camera right above breast, and the second camera of the adjacent side of shell is set, the first camera is used forThe 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 preferredThe OpenMV machine vision module that can carry out edge detection can obtain breast in vertical side according to above-mentioned top view and side viewTo and side profile diagram to obtain the 3D model of breast, the above modeling method is common technological means, is not made hereinIt 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 basisThe 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 twoPerson's fitting.
In an alternative embodiment of the invention, referring to Fig. 3, breast automatic scanning device includes two execution modules arranged side by side1 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 1100 connections, second straight line movement mechanism 520 are connect with the substrate 100 of wherein another execution module 1.In the present embodiment, breastAutomatic 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 machineStructure 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 andThe 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 connectIt 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 fortuneMotivation 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 itsIn an executing agency substrate 100 connect.Thus control module can control the rotation of driving motor to control execution machine respectivelyRelative 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 pair512, 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 rod521 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 anotherThe 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-handedThe 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-handedThe 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-handedScrew 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 leftIt 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 shellFemale 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 silkThick 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 itOn 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 screwWhen 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, thusExterior contour (bus) data of the cross section of breast are obtained, so that the posture that control module adjusts scanning manipulator 300 makes to visitIt 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 340The upper, sensor for detecting contact pressure between detecting head and breast.In the present embodiment, collet 340 and rotating mechanism 330Between be additionally provided with sliding pair, detecting head can slide on sliding pair with head, sliding pair far from detecting head test surface oneEnd 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, whenAfter pressure sensor detects pressure change, then show that detecting head is bonded completely with breast, scanning manipulator 300 is located at best appearanceState.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 embodimentRange 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 thisThe 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 itBetween add sliding pair and/or revolute pair and its driving assembly increase pose adjustment component 300 freedom degree.Specific embodiment existsThis is not elaborated.
Above is only part or preferred embodiment of the invention, therefore either text or attached drawing cannot all limit thisThe 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 contentEquivalent structure transformation, or directly/be used in other related technical areas indirectly and be included in the scope of protection of the invention.