| 摘要 |
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.
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