A flexible navigation probe and surgical navigation system

Abstract

The present invention provides a flexible navigation probe and a surgical navigation system, the navigation probe comprising: a plurality of needle tube sections, an elastic reset member, and a pull rope connected to each non-starting needle tube section; each needle tube section is connected in sequence, and two adjacent needle tube sections can be bent and rotated; an elastic reset member is provided at the rotation connection of two adjacent needle tube sections, and the elastic reset member has a tendency to restore the preset angle between the two adjacent needle tube sections; each pull rope is inserted into the flexible navigation probe, one end of the pull rope is fixed to the corresponding non-starting needle tube section, and the other end is led out from the starting needle tube section, and the bending angle of the corresponding non-starting needle tube section can be adjusted by adjusting the state of the pull rope. The present invention can flexibly adjust the bending angle between each needle tube section by designing the navigation probe as a multi-section bendable needle tube structure, and cooperates with the pull rope and the elastic reset member provided at the bending position, thereby expanding the range that the probe can indicate.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a flexible navigation probe and a surgical navigation system. Background Art

[0002] The surgical navigation system can provide position guidance for surgery. For example, the doctor designs the surgical approach based on medical images in advance, establishes a registration relationship between the navigation space and the medical imaging space in the operating room, and then uses a probe to indicate the corresponding surgical approach in the navigation space.

[0003] Current surgical navigation systems can usually only provide guidance on the patient's body surface or within the wound area, but are difficult to indicate the tissues and locations within the body. Figure 1 , Figure 2 As shown in the figure, in some skull base surgeries, doctors use surgical tools to reach certain parts of the skull base through the nasal cavity to perform surgery (this procedure does not require craniotomy). The target part needs to be located before the operation. Optical navigation has high accuracy, but because the surgical approach passes through the narrow nostrils, the rigid optical navigation probe has a limited range of motion and cannot reach the target part, while the accuracy of the electromagnetic navigation probe is poor. In general, the existing navigation probes are difficult to reach certain target parts in the skull for precise guidance and cannot meet the needs.

[0004] In order to solve or partially solve the defect in the prior art that the navigation probe is difficult to reach the guiding position of certain target parts in the body, the present invention provides a flexible navigation probe and a surgical navigation system. Summary of the invention

[0005] The present invention provides a flexible navigation probe, which is used to solve the defect that the navigation probe in the prior art is difficult to reach the guiding position of certain target parts in the body.

[0006] In a first aspect, the present invention provides a flexible navigation probe, comprising: a plurality of needle tube sections, an elastic reset member, and a pull rope connected to each non-starting needle tube section;

[0007] Each section of the needle tube is connected in sequence, and two adjacent sections of the needle tube can be bent and rotated;

[0008] An elastic reset member is provided at the rotation connection of two adjacent sections of the needle tube, and the elastic reset member has a tendency to restore the preset angle between the two adjacent sections of the needle tube;

[0009] Each pull rope is inserted into the flexible navigation probe, one end of the pull rope is fixed to the corresponding non-starting needle tube, and the other end is led out from the starting needle tube. The bending angle of the corresponding non-starting needle tube can be adjusted by adjusting the state of the pull rope.

[0010] Optionally, the navigation probe comprises two or more sections of needle tube.

[0011] Optionally, the elastic reset element is an elastic needle, an elastic sheet or a torsion spring.

[0012] Furthermore, the elastic reset member is a torsion spring, the rotating shaft between adjacent needle tubes passes through the torsion spring, an extension section of the torsion spring is fixed in one needle tube, and another extension section of the torsion spring is fixed in another needle tube.

[0013] Further, the pull rope and the extended section of the torsion spring are located on opposite sides of the rotating shaft; or, the pull rope and the extended section of the torsion spring are located on the same side of the rotating shaft.

[0014] Optionally, before penetrating into the target site, the initial state of the bendable navigation probe is a bent state, and the angle between two adjacent needle tube sections is a preset angle.

[0015] Optionally, before penetrating the target site, the initial state of the flexible navigation probe is a straight state, at which time the elastic return member is in a state of zero restoring force; after penetrating the target site, the pull rope is pulled to overcome the restoring force of the elastic return member so that the needle tube at the fixed end of the pull rope rotates.

[0016] Optionally, before penetrating the target site, the initial state of the flexible navigation probe is a straight state, at which time the elastic return member is in a state where the restoring force is not zero; after penetrating the target site, by loosening the pull rope, the needle tube at the fixed end of the pull rope is driven by the restoring force of the elastic return member to rotate in a first direction, or, by pulling the pull rope, the restoring force of the elastic return member is overcome, so that the distal needle tube rotates in an opposite second direction.

[0017] Optionally, two pull ropes are provided in the same needle tube, respectively used to control the needle tube to rotate in different directions.

[0018] Optionally, the connection ends of the needle tubes of each section are also provided with a limiting structure to limit the travel path of the pull rope.

[0019] Optionally, the drawstring of each needle tube is led out from the starting section of the needle tube and fixed by an adjusting member, and the adjusting screw can adjust the state of the corresponding drawstring.

[0020] Furthermore, the adjusting member is an adjusting screw or a self-locking knob.

[0021] Furthermore, the adjusting screw or the starting section of the needle tube is provided with scales, and different scales correspond to different states of the pull rope and different bending angles of the needle tube connected to the pull rope.

[0022] Optionally, the distal end of the terminal needle tube is a pointed tip.

[0023] In a second aspect, the present invention further provides a surgical navigation system, comprising: a processing module, a navigation tracking module, and any one of the aforementioned flexible navigation probes.

[0024] The flexible navigation probe and surgical navigation system provided by the present invention have at least the following beneficial effects:

[0025] 1. The angles of each section of the needle tube can be adjusted by adjusting the state of the pull rope, so that the navigation probe can be bent, expanding the ability of the probe to indicate more locations in the body.

[0026] 2. The flexible navigation probe includes multiple sections of needle tubes, which have a wider reach and a path that is more adapted to the body's tissue environment, thus reducing damage to the human body.

[0027] 3. The initial state of the flexible navigation probe is a straight state, which is convenient for penetrating into human tissue.

[0028] 4. The initial state of the elastic reset member can be a "tightened state" in which the restoring force is not zero. The navigation probe can be conveniently bent in a first direction by loosening the pull rope, or the navigation probe can be bent in an opposite second direction by pulling the pull rope.

[0029] 5. By setting a pull rope limiting structure to standardize the pull rope wiring method, the state of the pull rope can be smoothly adjusted to prevent the pull rope from being stuck by the rotating shaft or other needle tube sections.

[0030] 6. Through the combination of screws and scales, the bending angle of the corresponding needle tube can be accurately adjusted to improve the indication accuracy of the navigation probe. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 It is a sagittal magnetic resonance image of the head;

[0033] Figure 2 This is a schematic diagram of the surgical approach to the skull base through the nasal cavity;

[0034] Figure 3 This is one of the structural schematic diagrams of the bendable navigation probe provided by the present invention;

[0035] Figure 4 yes Figure 3 A partial enlarged view of the middle C area;

[0036] Figure 5 yes Figure 3 A partial enlarged view of the D area in the middle;

[0037] Figure 6 This is the second partial structural schematic diagram of the bendable navigation probe provided by the present invention;

[0038] Figure 7 This is the third schematic diagram of the partial structure of the bendable navigation probe provided by the present invention;

[0039] Figure 8 This is the fourth partial structural schematic diagram of the bendable navigation probe provided by the present invention;

[0040] Fig. 9 This is the fifth partial structural schematic diagram of the bendable navigation probe provided by the present invention;

[0041] Fig.10 This is the sixth partial structural schematic diagram of the flexible navigation probe provided by the present invention.

[0042] Reference numerals:

[0043] 101, 102, 103-needle tube; 201, 202-elastic reset member;

[0044] 302, 303-pull rope; 121-rotating shaft; 131, 132-adjusting screw. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] Combine the following Figure 1-Figure 10 A flexible navigation probe and a surgical navigation system of the present invention are described.

[0047] like Figure 3-5 As shown, a flexible navigation probe provided in this embodiment includes: a plurality of needle tube sections, an elastic reset member, and a pull rope connected to each non-starting needle tube section;

[0048] Figure 11 shows three sections of needle tubes 101, 102, and 103 connected in sequence, and needle tubes 101 and 102 can be bent and rotated, and needle tubes 102 and 103 can be bent and rotated. It can be understood that the above "several" refers to an integer not less than 2, and the number of needle tubes can also be two, four or more sections. The more the number of needle tube sections, the higher the flexibility of the probe bending.

[0049] An elastic reset member 201 is provided at the rotational connection between the needle tube 101 and the needle tube 102, and an elastic reset member 202 is provided at the rotational connection between the needle tube 102 and the needle tube 103. The elastic reset member has a tendency to restore the preset angle between the two adjacent needle tube sections. The preset angles between different needle tube sections can be the same or different, and the preset angles can be, for example, 180°, 150°, 140°, 120°, etc.

[0050] Each non-starting needle tube corresponds to at least one drawstring. The needle tubes 102 and 103 are non-starting needle tubes, and at least one drawstring is disposed inside each of them. Figure 5 A drawstring 303 is fixed to the inner wall of the needle tube 103. The drawstring 303 passes through the needle tubes 102 and 101, and the other end thereof is led out from the starting section of the needle tube 101. With the cooperation of the elastic reset member 202, the bending angle of the needle tube 103 relative to the needle tube 102 can be adjusted by pulling or loosening the drawstring 303. Figure 4 A drawstring 302 is fixed to the inner wall of the needle tube 102. The drawstring 302 passes through the needle tube 101, and the other end thereof is led out from the starting needle tube 101. By pulling or loosening the drawstring 302, the bending angle of the needle tube 102 relative to the needle tube 101 can be adjusted. Similarly, when the flexible navigation probe includes more needle tubes, the drawstring fixed to the non-starting needle tube can be used to adjust the bending angle between the non-starting needle tube and the previous needle tube in cooperation with the elastic reset member between the non-starting needle tube and the previous needle tube.

[0051] It is understandable that, as a tool used in conjunction with a navigation system, the bendable navigation probe provided in this embodiment is also provided with a positioning mark. For example, when the probe is used in conjunction with an optical navigation system, an optical positioning mark is provided on the starting section of the needle tube of the probe, and the position indicated by the distal end of the probe can be determined according to the position of the starting section of the needle tube and the bending angles of each needle tube section.

[0052] This embodiment designs the navigation probe as a multi-section bendable needle tube structure, and cooperates with a pull rope and an elastic reset member provided at the bending position to flexibly adjust the bending angle between each section of the needle tube, thereby expanding the range that the probe can indicate.

[0053] Based on the previous embodiment, in some embodiments, the elastic reset element is an elastic needle, an elastic sheet or a torsion spring.

[0054] Specifically, refer to Figure 6The elastic reset member can be an elastic needle, one end of which is fixed in one needle tube, and the other end is fixed in another needle tube. For example, a protruding structure is provided on the inner wall of the needle tube, and a pinhole is provided in the protruding structure. The elastic needle passes through the pinhole to be fixed in position. Furthermore, the elastic needle is also provided with an annular ring in the middle area, and the rotating shaft between the two sections of the needle tube passes through the annular ring, which can increase the installation stability of the elastic needle (at this time, the structure of the elastic needle can refer to the watch hand); in other embodiments, the elastic reset member is an elastic sheet, and the structure of the elastic sheet can refer to the elastic needle, and the two are only slightly different in shape; in other embodiments, the elastic reset member is a torsion spring, an extension section of the torsion spring is fixed in one needle tube, and the other extension section is fixed in the other needle tube, and the torsion spring has a tendency to drive the needle tubes at both ends to restore the preset angle. It is understandable that the above-mentioned "fixing" should be understood in a broad sense, so that the extension section of the torsion spring can transmit the driving force to the corresponding needle tube. For example, the extension section of the torsion spring is supported on the inner wall of the needle tube. For another example, a long groove is provided in the needle tube to limit the extension section of the elastic sheet. For another example, a hole structure or a cylindrical structure is provided in the needle tube for one end of the elastic needle / torsion spring to pass through, and the structure is connected to the inner wall of the needle tube. The specific fixing structure can be set according to the needs, and the present invention is not limited.

[0055] Based on any embodiment, in some embodiments, the elastic reset member is a torsion spring, the rotating shaft between adjacent needle tubes passes through the torsion spring, an extension section of the torsion spring is fixed in one needle tube, and another extension section of the torsion spring is fixed in another needle tube.

[0056] Specifically, refer to Figure 4 To illustrate with an example, a rotating shaft 121 is provided between the needle tubes 101 and 102, and the needle tubes 101 and 102 can rotate around the rotating shaft 121. The rotating shaft 121 also passes through the torsion spring 201, that is, the rotating shaft 121 passes through the interior of the torsion spring 201 along the axial direction of the torsion spring 201, and one extension section of the torsion spring 201 is fixed in the needle tube 101, and the other extension section is fixed in the needle tube 102.

[0057] Reference Figure 7 , Fig. 9 , based on the previous embodiment, in some embodiments, the extension section of the pull rope and the torsion spring are on opposite sides of the rotating shaft; refer to Figure 8 , Fig.10 In other embodiments, the extension section of the pull rope and the torsion spring are on the same side of the rotating shaft.

[0058] Specifically, Figure 7-10 The cases where only one pull rope is passed through are respectively illustrated. It can be understood that when there are multiple pull ropes in the flexible navigation probe, for each bending and rotating area, each pull rope can be arranged on the opposite side or the same side of the torsion spring according to needs.

[0059] In this embodiment, the pull rope and the extended section of the torsion spring are arranged on opposite sides or on the same side of the rotating shaft, which can increase the wiring flexibility.

[0060] Based on any embodiment, in some embodiments, before penetrating the target site, the initial state of the flexible navigation probe is a straight state, at which time the elastic reset member is in a state of zero restoring force; after penetrating the target site, the pull rope is pulled to overcome the restoring force of the elastic reset member so that the needle tube at the fixed end of the pull rope rotates.

[0061] Specifically, Figure 7 -A shows the state of the navigation probe before it penetrates the target part. At this time, the elastic reset part is in its zero position, the restoring force is zero, the pull rope is also in a relaxed state, and the navigation probe is in a straight line state, which is convenient for initial penetration into the target part. After penetrating the target part, the pull rope is pulled to make the lower needle tube section rotate to the left to achieve Figure 7 -B indicates the state where the probe tip can indicate the desired position. Figure 7 The difference in the example is that Figure 8 In the example shown, the extension of the pull rope and the torsion spring are located on the same side of the shaft. Figure 8 -A shows the state of the navigation probe before it penetrates the target area. Figure 8 -B shows the state after the navigation probe penetrates the target part and the lower needle tube section is rotated to the right by pulling the rope.

[0062] It can be understood that the “left” and “right” described in the text are only relative to the illustrated state. When the probe is rotated by a certain angle along the axial direction, the rotation direction of the probe below it changes.

[0063] In this embodiment, the navigation probe is designed so that when the restoring force of the elastic reset member is zero, the navigation probe is in a straight line state, so as to facilitate preliminary penetration into the target site.

[0064] Based on any embodiment, in some embodiments, before penetrating the target site, the initial state of the bendable navigation probe is a bent state, and the angle between adjacent needle tube segments is a preset angle. It is understandable that the above-mentioned bending can be a partial bending or an overall bending, and the bending angles (preset angles) of each adjacent needle tube segment can be the same or different. Setting the initial state of the bendable navigation probe to a bent state facilitates penetration into a curved path, meets special operation requirements of specific scenarios, and improves operation efficiency.

[0065] Based on any embodiment, in some embodiments, before penetrating the target site, the initial state of the flexible navigation probe is a straight state, and at this time, the elastic reset member is in a state where the restoring force is not zero; after penetrating the target site, by loosening the pull rope, the needle tube at the fixed end of the pull rope is driven by the restoring force of the elastic reset member to rotate in the first direction, or, by pulling the pull rope, the restoring force of the elastic reset member is overcome, so that the distal needle tube rotates in the opposite second direction.

[0066] Specifically, Fig. 9 -A shows the state of the navigation probe before it penetrates the target part. At this time, the elastic reset part is in a state where the restoring force is not zero, which has a tendency to make the lower needle tube bend to the right. The pull rope is also in a taut state. The pull rope cooperates with the elastic reset part to make the navigation probe in a straight line, which is convenient for initial penetration into the target part. After penetrating into the target part, the pull rope can be gradually loosened to make the lower needle tube section rotate to the right under the drive of the elastic reset part. Fig. 9 -B indicates the state where the pull cord is relaxed and the elastic reset element reaches its zero position. Alternatively, after the needle penetrates the target part, the pull cord can be continuously pulled to overcome the restoring force of the elastic reset element, causing the lower needle tube to swing to the left. Fig. 9 The difference in the example is that Fig.10 In the example shown, the extension of the pull rope and the torsion spring are located on the same side of the shaft. Fig.10 -A shows the state of the navigation probe before it penetrates the target part. At this time, the elastic reset part has a tendency to make the lower needle tube rotate to the left, and the pull rope is in a taut state. The cooperation of the two makes the navigation probe in a straight line state. By gradually loosening the pull rope, the lower needle tube section can rotate to the left under the drive of the elastic reset part. Fig.10 -B illustrates the state where the pull rope is relaxed and the elastic reset member reaches its zero position after the navigation probe penetrates the target part. Alternatively, after penetrating the target part, the pull rope can be continuously pulled to overcome the restoring force of the elastic reset member, causing the lower needle tube to swing to the right.

[0067] This embodiment sets the initial state of the navigation probe to a straight state, which facilitates initial penetration into the target area. After penetration, the bending state of the needle tube can be conveniently adjusted by loosening the pull rope, or the pull rope can be continued to be pulled to adjust the bending state of the needle tube in another direction, thereby improving operational convenience and flexibility.

[0068] Based on any embodiment, in some embodiments, two pull ropes are provided in the same needle tube segment, respectively used to control the needle tube to rotate in different directions.

[0069] Specifically, refer to Figure 6 In this example, pull ropes connected to the next section of the needle tube are respectively provided on both sides of the elastic reset member, and the two pull ropes can adjust the lower needle tube to rotate in different directions.

[0070] In this embodiment, two pull ropes are arranged on the same needle tube to control the needle tube to rotate in different directions, thereby expanding the bending angle range of the needle tube.

[0071] Based on any embodiment, in some embodiments, the connection end of each section of the needle tube is also provided with a limiting structure to limit the travel path of the pull rope.

[0072] Specifically, the limiting structure, for example, forms a protrusion on the inner wall of the needle tube, and the protrusion is provided with a hole for the pull rope to pass through. The limiting structure is also for example a hook-shaped limiting structure, and the hook handle of the hook-shaped limiting structure is connected to the needle tube, and its bent part limits the pull rope in the hook.

[0073] This embodiment limits the travel path of the pull rope through the limiting structure, standardizes the wiring method, and prevents the pull rope from being stuck.

[0074] Based on any embodiment, in some embodiments, the drawstring of each needle tube is led out from the needle tube of the starting section and fixed by an adjusting member, and the adjusting member can adjust the state of the corresponding drawstring.

[0075] Specifically, refer to Figure 3-5 The pull cord of each needle tube is led out from the starting needle tube 101 and fixed by the adjusting member, the pull cord of the connecting needle tube 302 is fixed by the adjusting member 131 after being led out from the starting needle tube 101, and the pull cord of the connecting needle tube 303 is fixed by the adjusting member 132 after being led out from the starting needle tube 101. The fixing method is, for example, winding around the adjusting member, and the tension of the pull cord can be adjusted by rotating the adjusting member, thereby adjusting the bending angle of the corresponding needle tube.

[0076] In this embodiment, the draw cord is adjusted and fixed at the starting section of the needle tube by the adjusting member, so that the bending angle of the corresponding needle tube can be adjusted conveniently.

[0077] Furthermore, in one embodiment, the adjusting member is an adjusting screw, a threaded hole is provided on the starting section needle tube, the depth of the adjusting screw in the threaded hole is adjustable, the draw cord is wound around the adjusting screw, and the tension of the draw cord can be adjusted by rotating the adjusting screw. In another embodiment, the adjusting screw is a self-locking knob provided on the starting section needle tube, and when the self-locking knob is pressed / pulled out, the knob can be rotated to adjust the tension of the draw cord wound around the knob, and when the self-locking knob is released, the knob is locked, and the tension of the draw cord is also locked. Alternatively, as a variation, the self-locking knob can be rotated to adjust the tension of the draw cord when it is pulled up, and is locked when it is pressed.

[0078] Based on the previous embodiment, in some embodiments, scales are provided on the adjusting screw or the starting section of the needle tube, and different scales correspond to different states of the pull rope and different bending angles of the needle tube connected to the pull rope.

[0079] Specifically, a scale can be set on the adjustment screw, and after the tension of the drawstring is adjusted by rotating the adjustment screw, a corresponding reading is read, and the reading corresponds to the bending angle of the needle tube connected to the drawstring. It can be understood that the corresponding relationship between the reading and the bending angle can be measured (calibrated) in advance. Of course, the scale can also be set on the starting section of the needle tube, and the adjustment screw can be rotated to indicate a certain reading on the needle tube scale.

[0080] In this embodiment, by setting a scale on the adjusting screw or the starting section of the needle tube, the bending angle of the needle tube and the position indicated by the distal end of the navigation probe can be conveniently determined.

[0081] Based on any embodiment, in some embodiments, the distal end of the navigation probe terminal needle tube is a tip. Specifically, the proximal end in the present invention refers to the end close to the starting needle tube, and the distal end refers to the end away from the starting needle tube, still referring to Figure 3 , setting the distal end of the terminal needle tube as a tip can accurately indicate a specific position and improve the navigation indication accuracy of the probe.

[0082] The present invention also provides a surgical navigation system. The surgical navigation system described below can be cross-referenced with the flexible navigation probe described above.

[0083] The present invention provides a surgical navigation system, comprising a processing module, a navigation tracking module and any one of the aforementioned flexible navigation probes.

[0084] The navigation tracking module is capable of tracking the position of the starting segment of the flexible navigation probe;

[0085] The processing module can determine the position of the tip of the bendable navigation probe according to the position of the starting section of the bendable navigation probe and the bending angles of each needle tube section.

[0086] Specifically, the navigation tracking module can be an optical-based navigation tracking module. The starting segment of the flexible navigation probe is provided with an optical positioning mark that actively emits light or passively reflects light. The navigation tracking module determines the position of the optical positioning mark based on these lights. The processing module calculates the position of the tip of the navigation probe based on the position of the optical positioning mark in the starting segment, the length of each segment of the needle tube, and the bending angle of each segment of the needle tube, or also outputs the spatial position of each segment of the needle tube (that is, outputs the spatial position of the entire navigation probe).

[0087] In addition, the processing module and the navigation tracking module can be independently arranged or integrated together, for example, the processing module is arranged in an independent operating table, or the processing module is integrated into the navigation tracking module. The processing module can adopt a general computer architecture, which includes a processor and a memory, and the processor executes a computer program stored in the memory to implement the above processing content.

[0088] The surgical navigation system provided in this embodiment, in conjunction with a flexible navigation probe, improves the flexibility of use and the reach of the probe, and satisfies the navigation needs of users with high precision.

[0089] More embodiments of the surgical navigation system of the present invention may correspond to the flexible navigation probe described above, which will not be described in detail here.

[0090] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0091] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flexible navigation probe, characterized in that: include: An adjusting member, a plurality of needle tube sections, an elastic reset member, and a drawstring connected to each non-initial needle tube section; Each section of the needle tube is connected in sequence through a rotating shaft, and two adjacent sections of the needle tube can be bent and rotated around the rotating shaft; The elastic reset member is provided at the connecting part of the rotating shafts of two adjacent sections of the needle tubes, and the elastic reset member has a tendency to restore the preset angle between the two adjacent sections of the needle tubes; Each pull rope is inserted into the bendable navigation probe, one end of the pull rope is fixed to the corresponding non-starting section needle tube, and the other end is led out from the starting section needle tube. By adjusting the state of the pull rope, the bending angle of the corresponding non-starting section needle tube can be adjusted; The pull rope of each needle tube is led out from the starting section needle tube and fixed by the adjusting member, and the adjusting member can adjust the state of the corresponding pull rope; the adjusting member or the starting section needle tube is provided with a scale, and different scales correspond to different states of the pull rope and different bending angles of the needle tube connected to the pull rope.

2. The flexible navigation probe according to claim 1, characterized in that: The elastic reset element is an elastic needle, an elastic sheet or a torsion spring.

3. The flexible navigation probe according to claim 2, characterized in that: The elastic reset member is a torsion spring, the rotating shaft between adjacent needle tubes passes through the torsion spring, an extension section of the torsion spring is fixed in one needle tube, and the other extension section of the torsion spring is fixed in the other needle tube.

4. The flexible navigation probe according to claim 3, characterized in that: The pull rope and the extended section of the torsion spring are located on opposite sides of the rotating shaft; or, the pull rope and the extended section of the torsion spring are located on the same side of the rotating shaft.

5. The flexible navigation probe according to claim 1, characterized in that: Before penetrating into the target part, the initial state of the bendable navigation probe is a straight state, at which time the elastic reset member is in a state of zero restoring force; After the needle penetrates the target part, the pull rope is pulled to overcome the restoring force of the elastic reset member so that the needle tube at the fixed end of the pull rope rotates.

6. The flexible navigation probe according to claim 1, characterized in that: Before penetrating into the target part, the initial state of the bendable navigation probe is a straight state, at which time the elastic reset member is in a state where the restoring force is not zero; After penetrating the target area, the pull rope is loosened so that the needle tube at the fixed end of the pull rope rotates in the first direction driven by the restoring force of the elastic reset member, or the pull rope is pulled to overcome the restoring force of the elastic reset member so that the distal needle tube rotates in the opposite second direction.

7. The flexible navigation probe according to claim 1, characterized in that: Two pull ropes are arranged in the same needle tube, which are respectively used to control the needle tube to rotate in different directions.

8. The flexible navigation probe according to claim 1, characterized in that: The connecting ends of the needle tubes of each section are also provided with a limiting structure to limit the travel path of the pull rope.

9. The flexible navigation probe according to claim 1, characterized in that: The adjusting member is an adjusting screw or a self-locking knob.

10. The flexible navigation probe according to claim 1, characterized in that: The distal end of the terminal needle tube is a sharp tip.

11. A surgical navigation system, characterized in that: It comprises a processing module, a navigation tracking module and a flexible navigation probe as described in any one of claims 1-10.

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