Robot for ultrasonic examination
A robot for medical ultrasonic examination has an articulated robot arm with a plurality of arm units ( 14 - 16 ), mounted one on the other to be pivotable, and a computerized system for controlling the movements of the arm, the outermost arm unit being arranged to carry a probe. The outermost arm unit has a carrying member rotatable about a longitudinal axis (IV), and carries a probe holder pivotable about a transverse axis (V) perpendicular to the longitudinal axis (IV). The probe holder has a housing rotatable about the transverse axis, and a holder sleeve rotatable about a longitudinal axis (VI). The three axes (IV, V, VI) intersect at a single point. The probe holder has an opening through which the probe can be inserted from the back and locked in position in the probe holder.
1. A robot for medical ultrasonic examination comprising:
an articulated robot arm comprising a plurality of arm units ( 14 - 16 ) successively mounted one on the other to be pivotable one on the other,
a carrying member ( 17 , 18 , 19 ) mounted on the outermost one of the arm units ( 16 ) so as to be rotatable about the longitudinal axis (IV) thereof, and
a probe holder ( 20 ) mounted on the carrying member so as to be pivotable about an axis (V) perpendicular to said longitudinal axis (IV) and comprising a holder sleeve ( 25 ) rotatable about an axis (VI), said holder sleeve being arranged to carry a probe coaxially therein, and
a computerised system ( 34 ) for remote control of the movements of the arm units and for movements about said three axes (IV, V, VI), said three axes intersecting at a single point,
the computerised system including motors for effecting the movements for positioning the probe,
the probe holder ( 20 ) having an opening through which the probe ( 40 ) can be inserted from the back and be locked in position in the probe holder when the probe holder is in a position transverse to the longitudinal axis (IV) of the outermost arm.
2. A robot according to claim 1 , wherein said carrying member ( 17 , 18 , 19 ) has a lateral opening ( 32 ) through which a cable ( 41 ) from the rear end of the probe ( 40 ) extends when the probe is mounted.
3. A robot according to claim 2 , wherein a force sensor ( 31 ) in the probe holder ( 20 ) is arranged to sense the axial force on the probe ( 40 ).
4. A robot according to claim 2 , wherein the holder sleeve ( 25 ) comprises a replaceable insert ( 26 ) adapted to the form of the actual probe ( 40 ) in use.
5. A robot according to claim 2 , wherein the probe holder is arranged such that the intersection of the three axes (IV, V, VI) lies within the probe when the probe ( 40 ) is mounted in the probe holder ( 20 ).
6. A robot according to claim 1 , wherein said carrying member ( 17 , 18 , 19 ) has a bifurcated portion in which the probe holder ( 20 ) is pivotably mounted for permitting a cable of the probe to extend sideways out between the two extensions of the bifurcated portion.
7. A robot according to claim 6 , wherein a force sensor ( 31 ) in the probe holder ( 20 ) is arranged to sense the axial force on the probe ( 40 ).
8. A robot according to claim 6 , wherein the holder sleeve ( 25 ) comprises a replaceable insert ( 26 ) adapted to the form of the actual probe ( 40 ) in use.
9. A robot according to claim 6 , wherein the probe holder is arranged such that the intersection of the three axes (IV, V, VI) lies within the probe when the probe ( 40 ) is mounted in the probe holder ( 20 ).
10. A robot according to claim 1 , wherein a force sensor ( 31 ) in the probe holder ( 20 ) is arranged to sense the axial force on the probe ( 40 ).
11. A robot according to claim 10 , wherein the computerised system ( 34 ) is arranged to permit for an adjustment of the maximum allowed force to be sensed by the force sensor ( 31 ) when the probe ( 40 ) is in contact with a patient.
12. A robot according to claim 10 , wherein the holder sleeve ( 25 ) comprises a replaceable insert ( 26 ) adapted to the form of the actual probe ( 40 ) in use.
13. A robot according to claim 10 , wherein the probe holder is arranged such that the intersection of the three axes (IV, V, VI) lies within the probe when the probe ( 40 ) is mounted in the probe holder ( 20 ).
14. A robot according to claim 1 , wherein the probe holder comprises a housing ( 21 ), in which the holder sleeve is limitedly axially movable, and a force sensor ( 31 ) is coupled between the holder sleeve and the housing.
15. A robot according to claim 14 , wherein the computerised system ( 34 ) is arranged to permit for an adjustment of the maximum allowed force to be sensed by the force sensor ( 31 ) when the probe ( 40 ) is in contact with a patient.
16. A robot according to claim 1 , wherein the holder sleeve ( 25 ) comprises a replaceable insert ( 26 ) adapted to the form of the actual probe ( 40 ) in use.
17. A robot according to claim 16 , wherein the replaceable insert ( 26 ) is longitudinally split.
18. A robot according to claim 1 , wherein the probe holder is arranged such that the intersection of the three axes (IV, V, VI) lies within the probe when the probe ( 40 ) is mounted in the probe holder ( 20 ).