CN105147335A - Ultrasonic probe rotating device and using method and application thereof - Google Patents
Ultrasonic probe rotating device and using method and application thereof Download PDFInfo
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- CN105147335A CN105147335A CN201510669913.7A CN201510669913A CN105147335A CN 105147335 A CN105147335 A CN 105147335A CN 201510669913 A CN201510669913 A CN 201510669913A CN 105147335 A CN105147335 A CN 105147335A
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Abstract
The invention discloses an ultrasonic probe rotating device and a using method and application thereof. The ultrasonic probe rotating device mainly comprises a rotating magnet, a rotating motor and a rotating guide part. The rotating magnet is connected with an output shaft of the rotating motor. The rotating guide part is connected with the rotating magnet in a magnetic attracting mode. The side face of the rotating magnet is tangent with the periphery of the rotating guide part. According to the technical scheme, as the rotating motor drives the magnet to drive the rotating guide part to rotate, and the rotating guide part is controlled in time, the rotating guide part compensates non-expected displacement of an ultrasonic probe of an asymmetric structure, the situations that control over the motor is lost, or due to the non-expected displacement, the target organ deforms, equipment is damaged, and even an accepter is injured accidentally are avoided, and the system safety is improved.
Description
Technical field
The present invention relates to medical instruments field, more particularly, relate to the medical apparatus and instruments of operation on prostate.
Background technology
Prostate is the property secreting gland that human body is very rare, have inside and outside dual secretory function, as Semen Castaneae, the end, upward, is affixed with bladder, point down, to urogenital diaphragm, before paste pubic symphysis, after according to rectum, the centre of prostate gland has urethra to pass, hold urethra suitable for reading, so prostate is ill, to urinate first influenced.When there is pathological changes in prostate, one method is " rectal touch ", the stereognosis prostate back side, experience by means of doctor judges, another kind method carries out prostate biopsy, namely take out the sub-fraction of tissue as sample from prostate, checked by the research of cell, tissue and organ under the microscope by pathologist or medical practitioner, observe more intuitively and judge.
Prostate biopsy is generally carried out at Urology Surgery, used time is greatly about 15-20 minutes, usual use endorectal ultrasonography (TRUS) carries out prostatic development, and under the development of endorectal ultrasonography helps, doctor uses cell taking gun to sample prostatic focal area.Carrying out in sampling process, cell taking gun can be selected through rectal wall, or Perineal approach enters prostate, no matter select which approach, all need under the development of endorectal ultrasonography helps, avoid the peripheral organs such as urethra or tissue, avoid the injury to peripheral organs or tissue, therefore the development quality of endorectal ultrasonography just one of important factor in order becoming prostate biopsy.
In recent years, transrectal ultrasonography is imaged in prostate Minimally Invasive Surgery and is used widely, but there are the following problems for prior art, reduces the reliability and security of equipment:
1. the unexpected displacement of ultrasonic probe inside cavity or rotating speed: the equipment of current clinical middle application, the motion adopting single Electric Machine Control ultrasonic probe more.If motor is out of control in running, the ultrasonic probe of intracavity may be caused to produce uncontrollable displacement or rotating speed, if can not to retrieve in time, remedy, very easily cause the injury to patient, cause malpractice, be a large hidden danger of operation.Therefore how to overcome the motor impact brought out of control, there is important clinical significance.
2. in prior art for realize ultrasonic probe rotate drive mechanism, adopt gear connecting way, by motor output shaft through transmission more, drive ultrasonic probe rotates, need extra structure and space to be used for fixed gear, take working place comparatively large, complicated in mechanical structure degree increases.Meanwhile, gear drive has certain error, affects equipment precision.
3., in currently used ultrasonic probe inside cavity, is no lack of asymmetric ultrasonic probe (the front central axle of namely popping one's head in does not overlap with handle center axle, and such as probe front end is thin, handle end is thick); And the existing device for clamping ultrasonic probe; adopt the design of symmetrical structure, homogeneous thickness more; acquiescence rotates around by the central shaft of retaining part (ultrasonic probe handle); but not rotate around the central shaft of the target rotation portion (ultrasonic probe is anterior) of intracavity; ultrasonic probe is directly caused to make eccentric rotary in human body; targeted scans metallaxis may be caused, reduce imaging precision; even damage ultrasonic probe protective sleeve; cause the injury to operation receiveing person, cause malpractice.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, a kind of ultrasonic probe rotary apparatus is provided, avoid intracavity asymmetric ultrasonic probe generation eccentric rotary, cause unexpected displacement or rotating speed, bring injury to patient, enhance system security.
Technical purpose of the present invention is achieved by following technical proposals:
Ultrasonic probe rotary apparatus, comprises motor, Magnetitum and rotary steering parts, wherein:
The quantity of Magnetitum is at least two, and the quantity of motor is at least two, and a Magnetitum is only connected with the output shaft of a motor;
The excircle of rotary steering parts contacts tangent with the excircle of Magnetitum, rotary steering parts and Magnetitum is attached together by magnetic force;
The entirety of rotary steering parts presents U-shaped groove structure, and from the opening of U-shaped groove structure to the bottom circular arc of U-shaped groove structure, the thickness of U-shaped groove is thinning gradually.Further, for increasing safety, the reliability of this structure, arrange controller in ultrasonic probe rotary apparatus of the present invention, described controller is connected with motor, for detecting in real time the running status of motor, and is processed the signal collected.When detecting that certain motor status is abnormal, controller sends signal out of service can to all motors, and concurrent alarm of being out of order, makes doctor know the system failure, stops operation in time, carries out subsequent treatment, prevent the further injury to patient.
In technique scheme, connection is contacted better with Magnetitum for realizing rotary steering parts better, the outer surface of rotary steering parts arranges swivelling chute, for contacting with the external peripheral surface of Magnetitum, to realize the tangent of both magnetic and both external peripheral surfaces.At the two ends of swivelling chute, barrier is set, namely the barrier exceeding swivelling chute surface certain altitude is set at swivelling chute two ends, when rotary steering parts turn to two ends extreme position, because the barrier at swivelling chute two ends, can not continue to rotate, and then the ultrasonic probe clamped wherein is also stopped the rotation, avoid the uncontrollable rotation of the over range of ultrasonic probe.
In technique scheme, the Magnetitum that driven by motor is attached thereto rotates, Magnetitum be rotated through magnetic-adsorption, drive whole rotary steering parts to rotate, with realize drive ultrasonic probe rotate object.
In technique scheme, the opening of U-shaped groove structure can hold ultrasonic probe handle and can take out smoothly or put into, contact tangent with the inner surface of rotary steering parts at the outer surface of ultrasonic probe handle and produce clamping action between the two, to ensure that ultrasonic probe does not shake and is as the criterion putting into U-shaped groove, realize after ultrasonic probe handle is put into rotary steering parts simultaneously, the common rotary part of ultrasonic probe handle and rotary steering parts composition, has identical rotary middle spindle with ultrasonic probe front portion.
In technique scheme, the circumference along rotary steering parts carries out the setting of Magnetitum, with the vertical plane of symmetry of rotary steering parts (i.e. vertical radial direction) for the plane of symmetry, is symmetrical arranged Magnetitum or asymmetricly arranges Magnetitum.
In technique scheme, the quantity of Magnetitum is 2-4, and the quantity of motor is 2-4.
Magnetitum in ultrasonic probe rotary apparatus of the present invention and motor can be placed in fixture, and fixture and slide rail are carried out with the use of, compared with prior art, the present invention adopts motor synergetic structure to control the rotation of ultrasonic probe, when a motor is out of control, all the other motors can suppress the abnormal motion of faulty motor, prevent motor abnormality move the ultrasonic probe caused rotating speed sudden change or high-speed and continuous rotate, increase security of system, avoid the injury to patient, device security is improved from principle, reliability, and controller can be utilized to realize motor fault warning, doctor is facilitated to process emergency case.Use Magnetitum to replace traditional gear connection structure, on the one hand, simplify mechanical complexity, avoid the error of gear structure, reduce the wearing and tearing between parts, reduce costs, save operative space, make clinically with it with the use of pricking device etc. can closer to ultrasonic probe, thus realize location and monitoring more accurately, on the other hand, magnetic-type connection is a kind of structural cooperation well, Magnetitum is convenient to dismounting and is changed, and ensure that the reliability of magnetic-type connection preferably; Simultaneously, magnetic-type connection does not belong to and is rigidly connected, mechanically there is no engaging structure, even if guiding parts is rotated to the extreme position at two ends, also stall, the even damage equipment of the motor be connected with Magnetitum can not be caused, and there is relative sliding before just making Magnetitum and rotary steering parts at most, enhance the safety of system.The rotary integral be made up of ultrasonic probe front portion, ultrasonic probe handle and rotary steering parts is considered and has symmetrical structure, now by controlling the rotation of rotary steering parts, the central shaft of this rotary integral around ultrasonic probe front portion comprising ultrasonic probe can be made to rotate, thus compensate eccentric rotary and the adverse effect thereof of the ultrasonic probe inside cavity that ultrasonic probe unsymmetric structure causes.
Accompanying drawing explanation
Fig. 1 is the assembly structure schematic diagram of the ultrasonic probe rotary apparatus utilizing technical solution of the present invention, and wherein 1 for rotating Magnetitum, and 2 is electric rotating machine, 3 is buckle structure, and 4 is rotary steering parts, and 5 is fixture, 6 is guide rail, and 7 is that ultrasonic probe is anterior, and 8 is ultrasonic probe handle.
Fig. 2 is electric rotating machine and the connected mode schematic diagram rotating Magnetitum in technical solution of the present invention, and wherein 1 for rotating Magnetitum, and 2 is electric rotating machine.
Fig. 3 is electric rotating machine in technical solution of the present invention, the syndeton schematic diagram rotating Magnetitum and rotary steering parts, and wherein 1 for rotating Magnetitum, and 2 is electric rotating machine, and 4 is rotary steering parts, and 4-1 is swivelling chute, and 4-2 is barrier.
Fig. 4 is electric rotating machine in technical solution of the present invention, the mounting structure schematic diagram rotating Magnetitum, and wherein 1 for rotating Magnetitum, and 2 is electric rotating machine, and 5 is fixture.
Fig. 5 is the mounting structure schematic diagram rotating Magnetitum and rotary steering parts in technical solution of the present invention, and wherein 1 for rotating Magnetitum, and 4 is rotary steering parts, and 5 is fixture.
Fig. 6 is the design principle schematic diagram of rotary steering parts in technical solution of the present invention, wherein 4 is rotary steering parts, 42 is the 3rd circumference (i.e. the excircle of rotary steering parts), 7 is that ultrasonic probe is anterior, 71 is the center of circle that ultrasonic probe front is justified, 72 is ultrasonic probe front circle (i.e. the first circumference), 8 is ultrasonic probe hands handle, 81 is the center of circle that ultrasonic probe handle cross section is justified, 82 is ultrasonic probe handle cross section circle (i.e. the second circumference), R3 is ultrasonic probe front radius of a circle, R2 is the radius of rotary steering parts excircle, R1 is ultrasonic probe handle cross section radius of a circle.
Fig. 7 is the symmetrical mounting means schematic diagram rotating Magnetitum in the present invention, and wherein 1 for rotating Magnetitum, and 4 is rotary steering parts, and 8 is ultrasonic probe handle.
Fig. 8 is the asymmetric mounting means schematic diagram of rotation Magnetitum of the present invention, and wherein 1 for rotating Magnetitum, and 4 is rotary steering parts, and 8 is ultrasonic probe handle.
Detailed description of the invention
Technical scheme of the present invention is further illustrated below in conjunction with specific embodiment.
As shown in Figure 1, adopt asymmetric ultrasonic probe, namely the front central axle of popping one's head in does not overlap with handle center axle, probe front end is thin, handle end slightly, ultrasonic probe handle to be fixed in rotary steering parts and to use fixture (such as buckle structure) to be fixed.(rotation) Magnetitum is connected with the output shaft of (rotation) motor, and Magnetitum and motor are fixedly mounted in fixture, rotary steering parts and rotation Magnetitum joint, namely the excircle of rotary steering parts is tangent with the excircle rotating Magnetitum, by magnetic force, rotary steering parts and rotation Magnetitum are attached together, now electric rotating machine drives the rotation Magnetitum be attached thereto to rotate, Magnetitum be rotated through magnetic-adsorption, whole rotary steering parts are driven to rotate, to realize the object driving ultrasonic probe to rotate.Whole fixture is arranged on guide rail, and can carry out relative movement along guide rail, to drive the movable of ultrasonic probe.
As shown in Figure 2, rotate Magnetitum and be connected with the output shaft of electric rotating machine, and can rotate around motor output shaft, adopt bi-motor Collaborative Control mode, the characteristic of two motors is identical with parameter.The quantity of electric rotating machine is 2, and the quantity rotating Magnetitum is 2, and a rotation Magnetitum is only connected with an electric rotating machine.As shown in Figure 4, rotation Magnetitum after connection and electric rotating machine are arranged in fixture along the direction parallel with fixture horizontal length, the size of Magnetitum and motor can be fixedly mounted in fixture, do not affect the proper motion of the miscellaneous part be arranged on outside fixture and be advisable.Two motors are spaced in intervals and arrange in fixture, and in like manner rotation Magnetitum is spaced in intervals and arranges in fixture.This spacing can keep the respective independent operation of two motors and two Magnetitums, and ensures that overall installation coordinates, the spacing of such as 5-50mm.
Controller (not shown) is connected with electric rotating machine, and the running status of motor (such as rotating speed, turn to) is detected in real time, when the motor status of in two motors abnormal (such as speed runaway), another normal motor can provide the torque contrary with the torque direction that faulty motor provides, to suppress the abnormal motion of faulty motor, the rotating speed of rotary steering parts is avoided to undergo mutation, prevent ultrasonic probe from continuous, high speed rotating occurring further, increase security of system, avoid the injury to patient.Further, for strengthening system reliability, the operating state signal of controller to collect two motors is processed, signal out of service is sent to all two motors, concurrent alarm of being out of order, make doctor know the system failure, stop operation in time, carry out subsequent treatment, prevent the further injury to patient.After abnormal motor receives stop signal, if cannot brake in time due to fault, can continue to rotate under effect of inertia, produce an inertia torque at connected rotation Magnetitum 1 with the contact position of rotary steering parts 4; Can stop rapidly after the motor of normal work receives stop signal, and produce a holding torque connected rotation Magnetitum (i.e. conducting parts) 1 with the contact position of rotary steering parts 4, for overcoming the inertia torque of abnormal motor, weaken or eliminate the impact of abnormal motor velocity jump.When adopting the scheme of multiple Magnetitum and motor, such as 4 Magnetitums match with 4 motors respectively, when one of them motor occurs abnormal, its excess-three motor normally works, now the motor of normal work can provide the torque contrary with the torque direction that faulty motor produces, to suppress the abnormal motion of faulty motor, ensure the duty of rotary steering parts, the rotating speed of rotary steering parts is avoided to undergo mutation, prevent ultrasonic probe from continuous, high speed rotating occurring further, increase security of system, avoid the injury to patient.
As shown in Figure 3, better connection is contacted with conducting parts (rotation Magnetitum) for realizing rotary steering parts better, the outer surface of rotary steering parts arranges swivelling chute, for with rotate the external peripheral surface of Magnetitum and contact, to realize the tangent of both magnetic and both external peripheral surfaces.At the two ends of swivelling chute, barrier is set, namely the barrier exceeding swivelling chute surface certain altitude is set at swivelling chute two ends, when rotary steering parts turn to two ends extreme position, because the barrier at swivelling chute two ends, can not continue to rotate, and then the ultrasonic probe clamped wherein is also stopped the rotation, avoid the uncontrollable rotation of the over range of ultrasonic probe.
The entirety of rotary steering parts presents U-shaped groove structure, and the handle portion by ultrasonic probe is arranged in U-shaped groove, to hold handle portion, and is fixed by buckle structure, as shown in Figure 1.When ultrasonic probe is the consistent symmetrical structure of front and back thickness, ultrasonic probe front end is consistent with the rotary middle spindle of handle (i.e. rear end), rotary steering parts are the uniform U-shaped groove structure of thickness, and meet grip size, the assembling demand of ultrasonic probe, namely ultrasonic probe and rotary steering parts regard as and have identical center of rotation (or rotating shaft).
As shown in Figure 6, the design principle schematic diagram of rotary steering parts in technical solution of the present invention, adopt sectional view (perspective view) to show, the center of circle is wherein center of rotation, is rotary middle spindle from single unit system.When ultrasonic probe is the unsymmetric structure that front end is thin, handle end is thick, the rotary middle spindle of ultrasonic probe front end and handle (i.e. rear end) is inconsistent, i.e. ultrasonic probe front circle (the first circumference, its radius is R3) the center of circle and ultrasonic probe handle cross section circle (the second circumference, its radius is R1) the center of circle do not overlap.When ultrasonic probe handle is clamped in rotary steering parts, namely when ultrasonic probe handle is held in rotary apparatus of the present invention, driven the rotation of ultrasonic probe front end by rotary steering parts and the common rotation (both rotate with identical angular velocity) of handle, namely can be considered that the common rotary part that ultrasonic probe handle and rotary steering parts form drives ultrasonic probe front end to rotate.The opening of U-shaped groove structure can hold ultrasonic probe handle and can take out smoothly or put into, from the opening of U-shaped groove structure to the bottom circular arc of U-shaped groove structure, the thickness of U-shaped groove is thinning gradually, the outer surface of ultrasonic probe handle contacts tangent with the inner surface of rotary steering parts and produces clamping action between the two, to ensure that ultrasonic probe does not shake and is as the criterion putting into U-shaped groove, realize after ultrasonic probe handle is put into rotary steering parts simultaneously, common rotary part (the 3rd circumference being circumference with rotary steering parts outer wall of ultrasonic probe handle and rotary steering parts composition, with 71 for the center of circle, radius is R2), with ultrasonic probe front portion, there is identical center of rotation (axle) 71.
Namely for by rotary steering parts 4, ultrasonic probe handle 8, the entirety of anterior 7 compositions of ultrasonic probe, its cross section can regard as and have the common center of circle (center of rotation)---the round heart 71 of-ultrasonic probe front, its entirety can regard as the central shaft having common central shaft (rotary middle spindle)-----ultrasonic probe front portion 7, namely one is passed the round heart 71 of ultrasonic probe front, and is parallel to the high straight line of the barrel portion of ultrasonic probe front end 7 and ultrasonic probe handle 8 simultaneously.Ultrasonic probe is positioned at the part of intracavity----ultrasonic probe front portion 7, is positioned at external part with ultrasonic probe----ultrasonic probe handle 8, can central shaft jointly around ultrasonic probe front portion 7 rotate.Therefore, rotary steering parts 4 compensate for from principle the intracavity eccentric rotary that ultrasonic probe may cause due to structure asymmetric (front fine and rear thick structure as shown in the figure).
During use, ultrasonic probe handle 8 is placed in rotary steering parts 4 inner, and with buckle 3, ultrasonic probe handle 8 is fixed.When electric rotating machine 2 rotates, rotate Magnetitum 1 and rotate thereupon, and at the tangent place of itself and rotary steering parts 4, to rotary steering parts 4 torque, make it rotate, and then the control ultrasonic probe handle 8 be clamped in rotary steering parts 4 rotate, so the ultrasonic probe of intracavity anterior 7 rotates.The running status (such as rotating speed, turn to) of systems soft ware to motor detects in real time, and when certain motor status is abnormal, all the other motors can suppress the abnormal motion of faulty motor, ensures that the rotating speed of rotary steering parts is not undergone mutation.Further, for strengthening the safety of system, when detecting that certain motor status is abnormal, controller sends signal out of service can to all motors 2, and concurrent alarm of being out of order, makes doctor know the system failure, timely stopping is performed the operation, is carried out subsequent treatment, prevents the further injury to patient.After abnormal motor receives stop signal, if cannot brake in time due to fault, can continue to rotate under effect of inertia, produce an inertia torque at connected rotation Magnetitum 1 with the contact position of rotary steering parts 4; After the motor of normal work receives stop signal, can stop rapidly, and produce a holding torque at connected rotation Magnetitum 1 with the contact position of rotary steering parts 4, for overcoming the inertia torque of abnormal motor, weaken or eliminate the impact of abnormal motor motion.Above-mentioned rotary apparatus and occupation mode are adapted to prostate biopsy or radioactive prospecting instrument, to make ultrasonic probe inside cavity rotate around the procephalic central shaft of spy, and the impact weakening or suppress motor abnormality to move.
As depicted in figures 7 and 8, the ultrasonic probe that before and after adopting, thickness is consistent and the rotary steering parts of consistency of thickness are example, and now ultrasonic probe (front portion and handle) is consistent with the center of rotation (axle) of rotary steering parts.Motor and Magnetitum are arranged in fixture when using by reality, and coordinate guide rail to use; Can change the structure of fixture, consider the setting of carrying out rotating Magnetitum along the circumference of rotary steering parts, with the vertical plane of symmetry of rotary steering parts (i.e. vertical radial direction) for the plane of symmetry, be symmetrical arranged and rotate Magnetitum or asymmetric rotation Magnetitum be set, to adapt to structure and the Systematical control requirement of fixture.
Above to invention has been exemplary description; should be noted that; when not departing from core of the present invention, any simple distortion, amendment or other those skilled in the art can not spend the equivalent replacement of creative work all to fall into protection scope of the present invention.
Claims (10)
1. a ultrasonic probe rotary apparatus, is characterized in that, comprises motor, Magnetitum and rotary steering parts, wherein:
The quantity of Magnetitum is at least two, and the quantity of motor is at least two, and a Magnetitum is only connected with the output shaft of a motor; The excircle of rotary steering parts contacts tangent with the excircle of Magnetitum;
The entirety of rotary steering parts presents U-shaped groove structure, and from the opening of U-shaped groove structure to the bottom circular arc of U-shaped groove structure, the thickness of U-shaped groove is thinning gradually; Contact tangent with the inner surface of rotary steering parts at the outer surface of ultrasonic probe handle and produce clamping action between the two, realize after ultrasonic probe handle is put into rotary steering parts simultaneously, the common rotary part of ultrasonic probe handle and rotary steering parts composition, has identical rotary middle spindle with ultrasonic probe front portion.
2. a kind of ultrasonic probe rotary apparatus according to claim 1, is characterized in that, the outer surface of rotary steering parts arranges swivelling chute, arrange barrier at the two ends of swivelling chute.
3. a kind of ultrasonic probe rotary apparatus according to claim 1, it is characterized in that, Magnetitum quantity is 2-4, and number of motors is 2-4.
4. a kind of ultrasonic probe rotary apparatus according to claim 1, it is characterized in that, circumference along rotary steering parts carries out the setting of Magnetitum, with the vertical plane of symmetry of rotary steering parts for the plane of symmetry, is symmetrical arranged and rotates Magnetitum or asymmetricly arrange rotation Magnetitum.
5. a kind of ultrasonic probe rotary apparatus according to claim 1 or 2 or 3 or 4, it is characterized in that, the controller be connected with motor is provided with in described ultrasonic probe rotary apparatus, and the running status of motor is detected in real time, when a motor status is abnormal, controller sends signal out of service, the concurrent alarm signal that is out of order to all motors.
6. the application of a kind of ultrasonic probe rotary apparatus in prostate biopsy or radioactive prospecting instrument as described in one of claim 1-4.
7. the application of a kind of ultrasonic probe rotary apparatus as claimed in claim 5 in prostate biopsy or radioactive prospecting instrument.
8. the using method of ultrasonic probe rotary apparatus, is characterized in that,
Magnetitum is connected with the output shaft of motor, and is fixedly mounted in fixture by Magnetitum and motor;
The excircle of rotary steering parts and the excircle of Magnetitum tangent, by magnetic force, rotary steering parts and Magnetitum are attached together;
Ultrasonic probe handle to be fixed in rotary steering parts and to use fixture to be fixed;
The Magnetitum that driven by motor is attached thereto rotates, Magnetitum be rotated through magnetic-adsorption rotary steering parts and driven rotary guiding parts rotates, rotate to drive ultrasonic probe;
Fixture is arranged on guide rail, and can carry out relative movement along guide rail, to drive the movable of ultrasonic probe;
The motor of normal work provides the torque contrary with the torque direction that faulty motor produces, and to suppress the abnormal motion of faulty motor, ensures the duty of rotary steering parts.
9. the using method of ultrasonic probe rotary apparatus according to claim 8, it is characterized in that, the controller be connected with motor is provided with in described ultrasonic probe rotary apparatus, and the running status of motor is detected in real time, when a motor status is abnormal, controller sends signal out of service to all motors, after abnormal motor receives stop signal, if cannot brake due to fault, can continue to rotate under effect of inertia, produce inertia torque at the contact position of connected Magnetitum and rotary steering parts; Can stop rapidly after the motor of normal work receives stop signal, and produce holding torque at the contact position of connected Magnetitum and rotary steering parts, for overcoming the inertia torque of abnormal motor.
10. the application of using method in prostate biopsy or radioactive prospecting instrument of the ultrasonic probe rotary apparatus as described in claim 8 or 9.
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| US20160320348A1 (en) * | 2015-04-30 | 2016-11-03 | The Boeing Company | Ultrasound scanning system, assembly, and method for inspecting composite structures |
| US9778230B2 (en) * | 2015-04-30 | 2017-10-03 | The Boeing Company | Ultrasound scanning system, assembly, and method for inspecting composite structures |
| CN114748165A (en) * | 2022-04-18 | 2022-07-15 | 山西医科大学 | Ultrasonic radar three-dimensional scanning device for resectoscope |
| CN114748165B (en) * | 2022-04-18 | 2023-07-14 | 山西医科大学 | Ultrasonic radar three-dimensional scanning device for electric cutting mirror |
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