Ultrasonic probe clamping device for surgical navigation and ultrasonic probe clamping kit for surgical navigation

Abstract

The invention discloses an ultrasonic probe clamping device for surgical navigation, which is suitable for an ultrasonic probe with symmetry in the width direction and the height direction, and comprises a frame body which is provided with a connecting piece capable of being connected with a tracer; the two clamping pieces are in sliding connection with the frame body and are symmetrically arranged relative to the first datum plane, the motion path of the clamping pieces is perpendicular to the first datum plane, and the two clamping pieces can do constant-speed reverse linear motion and can be close to the first datum plane at the same speed at the same time so as to clamp the side wall of the ultrasonic probe; the limiting piece is connected with the frame body and can position the tail end of the ultrasonic probe; the working unit is provided with an abutting part capable of abutting against the center position of the contact face of the ultrasonic probe and a calibration piece capable of being coaxially arranged with the ultrasonic probe, and a user can be helped to conveniently obtain the coordinates of the middle position of the contact face of the ultrasonic probe and establish the virtual axis of the ultrasonic probe in a surgical navigation system.

Description

Technical Field

[0001] This application belongs to the technical field of surgical navigation, and specifically relates to an ultrasonic probe clamping device for surgical navigation and a surgical navigation ultrasonic probe clamping kit. Background Art

[0002] In neurosurgery, the brain tissue will move and shift during the surgical operation, namely brain drift. Currently, the traditional neurosurgical navigation system is established based on the preoperative images scanned when the patient takes a standard position in the examination room. The loss of cerebrospinal fluid, the loss of brain tissue, and the effect of gravity on the brain tissue in the special position of the patient during the craniotomy will all make the navigation image not completely match the actual brain tissue during the operation, resulting in errors.

[0003] The intraoperative imaging techniques currently used to correct the navigation errors caused by brain drift include intraoperative MRI (Intraoperative MRI, iMRI), intraoperative CT (Intraoperative CT, iCT), and intraoperative ultrasound (Intraoperative ultrasound, IoUS). Among them, the imaging technique that provides the most accurate intraoperative real-time information is iMRI. However, the iMRI device is extremely expensive and requires a dedicated operating room, non-magnetic dedicated tools, and specially trained daily users. Moreover, each scan takes about an hour or longer, which is not convenient for multiple intraoperative scans. This makes it difficult for iMRI to become a conventional equipment in hospitals. Currently, iMRI is only available in the largest leading academic centers. And intraoperative CT is limited in application due to radioactive contamination in the operating room. Relatively speaking, intraoperative ultrasound is currently a more convenient option for error correction, and it can more conveniently register and fuse the preoperative images, intraoperative ultrasound, and pre-planned navigation information.

[0004] Currently, the ultrasonic probes applied to the ultrasound-neurosurgical navigation system are integrally connected to the instrument or are ultrasonic probes of a specified model by a third-party manufacturer. Non-specified ultrasonic probes cannot be directly applied to the ultrasound-neurosurgical navigation system, which is inconvenient to use. And when non-specified ultrasonic probes are applied to the ultrasound-neurosurgical navigation system, a calibration operation needs to be performed to determine the precise position of the ultrasonic probe in the positioning marker coordinate system. However, in the manufacturing process of most existing ultrasonic probes, the application of the ultrasonic probe to the ultrasound-neurosurgical navigation system is not considered, so the ultrasonic probe itself does not have a structure that can assist the ultrasonic probe in the calibration operation, and it is rather inconvenient during calibration. Summary of the Invention

[0005] In order to facilitate the calibration operation of different ultrasonic probes to facilitate the subsequent integration of intraoperative ultrasound and preoperative navigation data, this application provides an ultrasonic probe clamping device for surgical navigation and a surgical navigation ultrasonic probe clamping kit.

[0006] A surgical navigation ultrasonic probe clamping device, which is suitable for ultrasonic probes with symmetry in both width and height directions, comprises: a frame, which is provided with a connector capable of connecting a tracer; two clamping members, which are slidably connected to the frame and symmetrically arranged with respect to a first reference plane parallel to the length direction of the frame, the movement path of the clamping members is perpendicular to the first reference plane, and the two clamping members are also connected by an adjustment structure so that the two clamping members can perform uniform reverse linear motion, and the two clamping members can approach the first reference plane at the same speed at the same time to adjust the width direction or height direction of the ultrasonic probe. The side wall of the ultrasonic probe is clamped in the direction; the limiting member is connected to the frame and can position the tail end of the ultrasonic probe; the working unit, which is provided with a calibration member and abutment portion with a fixed distance in the axial direction of the calibration member, and the working unit is detachably connected to the frame. When the working unit is connected to the frame, the two clamping members are located between the working unit and the limiting member, the axis of the calibration member and the abutment portion are arranged in the first reference plane, the axis of the calibration member is parallel to the length direction of the frame, the working unit is also slidably connected to the frame, and can approach the limiting member along the length direction of the frame, so that the abutment portion can abut against the middle position of the contact surface of the ultrasonic probe.

[0007] The connecting piece is provided with a hole or a rod, or other structures, which can connect the tracer. When the ultrasonic probe is placed on the frame, the length direction of the ultrasonic probe is parallel to the length direction of the frame, the two clamping pieces clamp the ultrasonic probe, the axis of the calibration piece and the axis of the ultrasonic probe can be colinear, and the abutment portion can abut against the middle position of the contact surface of the ultrasonic probe, and the length of the calibration piece and the abutment portion is fixed, so that when the calibration piece is matched with a calibration device provided with a tracer and the virtual axis of the device is registered after calibration, the working unit is separated from the frame, and N millimeters (the distance between the calibration piece and the abutment portion in the axial direction of the calibration piece) is subtracted from the virtual axis of the device to obtain the coordinates of the center position of the contact surface of the ultrasonic probe, and the region of interest is scanned by the ultrasonic probe to obtain regional ultrasonic imaging.

[0008] In an embodiment of the present application, the working unit is provided with two connecting rods and two clamping plates. The extending direction of the clamping plates is perpendicular to the first reference plane, and the two clamping plates are spaced apart in a direction perpendicular to the moving plane of the clamping member. The clamping plates are provided with guiding portions, and the extending direction of the guiding portions is perpendicular to the first reference plane. The middle positions of the two connecting rods are pivotally connected through a first pivot shaft, and the two connecting rods are cross - arranged. The first end of the connecting rod is slidably and pivotally connected to one of the clamping plates, and the second end of the connecting rod is slidably and pivotally connected to the guiding portion of the other clamping plate. When one clamping plate moves away from the other clamping plate, the first ends of the two connecting rods approach each other along the extending direction of the guiding portion. When one clamping plate approaches the other clamping plate, the first ends of the two connecting rods move away from each other along the extending direction of the guiding portion, so that the first pivot shaft is located at the middle position between the two clamping plates. The working unit further includes a working base. The calibration member is slidably connected to the working base and can move in a direction perpendicular to the moving plane of the clamping member. The first pivot shaft is connected to the calibration member and is coaxially arranged.

[0009] Due to the connection relationship between the clamping plates, the connecting rods and the first pivot shaft, when the distance between the two clamping plates increases or decreases, the first pivot shaft can only move in a direction perpendicular to the moving plane of the clamping member. The first pivot shaft can always be located at the middle position between the two clamping plates, and the two clamping plates can clamp the ultrasonic probe. The first pivot shaft is located at the middle position in the height direction of the frame body. Thus, in the height direction of the frame body, the axis of the calibration member is flush with the axis of the ultrasonic probe. Under the action of the clamping member, in the width direction of the frame body, the axis of the calibration member is flush with the axis of the ultrasonic probe, thereby realizing the coaxial setting of the calibration member and the ultrasonic probe.

[0010] In an embodiment of the present application, the working base is provided with an adjustment guide rail perpendicular to the moving plane of the clamping member. One of the clamping plates is slidably connected to the adjustment guide rail and can move along the extending direction of the adjustment guide rail. The other clamping plate is slidably connected to the adjustment guide rail and can move along the extending direction of the adjustment guide rail, or the other clamping plate is fixedly connected to the working base.

[0011] In an embodiment of the present application, the working unit further includes a working base. The calibration member is slidably connected to the working base. The calibration member is provided with a first scale. When the working unit is connected to the frame body through the working base, the calibration member can move in a direction perpendicular to the moving plane of the clamping member. The first scale extends in a direction perpendicular to the moving plane of the clamping member.

[0012] Furthermore, the connecting member is slidably connected to the frame body and can move in a direction perpendicular to the moving plane of the clamping member. The connecting member is provided with a second scale, and the second scale extends in a direction perpendicular to the moving plane of the clamping member.

[0013] The calibration piece can move in a direction perpendicular to the movement plane of the clamping piece, so that in the height direction of the frame body, the axis of the calibration piece is flush with the axis of the ultrasonic probe. The position change of the calibration piece is obtained through the first scale. Subsequently, according to the change of the first scale, the connecting piece moves in a direction perpendicular to the movement plane of the clamping piece, and at the same time, the change of the second scale is observed to ensure that the relative positions of the calibration piece and the tracer connected by the connecting piece do not change, which is convenient for subsequent calibration and registration operations.

[0014] In an embodiment of the present application, the calibration piece is fixedly connected to the abutting part.

[0015] In an embodiment of the present application, the adjusting structure includes two racks and a gear located between the two clamping pieces. The two racks are perpendicular to the first reference plane. One of the racks is fixedly connected to one of the clamping pieces, and the other rack is fixedly connected to the other clamping piece. The two racks are respectively located on both sides of the rotation axis of the gear and are meshed with the gear.

[0016] In an embodiment of the present application, the adjusting structure is a double-headed stud. The double-headed stud is perpendicular to the first reference plane, and both ends of the double-headed stud are threadedly connected to the two clamping pieces respectively.

[0017] A clamping kit for an ultrasonic probe used in surgical navigation, which includes any one of the above-mentioned clamping devices for an ultrasonic probe used in surgical navigation, and further includes a calibration instrument. The calibration instrument is provided with a fulcrum. After the calibration piece is connected to the fulcrum, it can perform a conical pendulum movement around the fulcrum.

[0018] In an embodiment of the present application, the calibration piece is a probe, the fulcrum is a calibration hole for the probe to insert, and there are a plurality of calibration holes with different inner diameters in a plane of the calibration instrument.

[0019] The beneficial effects of the present application at least include:

[0020] 1. The connecting piece is provided with a hole or a rod, or other structures that can connect the tracer. When the ultrasonic probe is placed on the frame body, the length direction of the ultrasonic probe is parallel to the length direction of the frame body. The two clamping pieces clamp the ultrasonic probe. The axis of the calibration piece can be collinear with the axis of the ultrasonic probe, and the calibration piece can abut against the contact surface of the ultrasonic probe. The length of the calibration piece is fixed. Therefore, when the calibration piece cooperates with the calibration instrument provided with the tracer and is calibrated and then registered to obtain the virtual axis of the instrument, the working unit is separated from the frame body, and N millimeters is subtracted from the virtual axis of the instrument to obtain the central position of the ultrasonic probe. The central position of the ultrasonic probe is the spatial coordinate of the ultrasonic probe displayed in real time, and the region of interest is scanned by the ultrasonic probe to obtain regional ultrasonic imaging.

[0021] 2. Due to the connection relationship between the clamping plates, the connecting rod, and the first pivot shaft, when the distance between the two clamping plates increases or decreases, the first pivot shaft can only move in a direction perpendicular to the movement plane of the clamping member. The first pivot shaft can always be located at the middle position between the two clamping plates, and the two clamping plates can clamp the ultrasonic probe. The first pivot shaft is located at the middle position in the height direction of the frame body. Thus, in the height direction of the frame body, the axis of the calibration member is flush with the axis of the ultrasonic probe. Under the action of the clamping member, in the width direction of the frame body, the axis of the calibration member is also flush with the axis of the ultrasonic probe, thereby realizing the coaxial setting of the calibration member and the ultrasonic probe. Brief Description of the Drawings

[0022] Figure 1 is a schematic structural diagram of an exemplary embodiment of the present application;

[0023] Figure 2 is a schematic structural diagram of an exemplary embodiment of the first reference plane in the present application;

[0024] Figure 3 is a schematic structural diagram of an exemplary embodiment of the movement plane of the clamping member in the present application;

[0025] Figure 4 is a schematic structural diagram of an exemplary embodiment of the adjustment structure in the present application;

[0026] Figure 5 is a schematic structural diagram of an exemplary embodiment when two clamping members clamp the ultrasonic probe along the width direction of the ultrasonic probe;

[0027] Figure 6 is a schematic structural diagram of an exemplary embodiment when the axis of the ultrasonic probe is flush with the axis of the calibration member in the height direction of the frame body in the present application;

[0028] Figure 7 is a schematic structural diagram of an exemplary embodiment of the length direction, width direction, and height direction of the ultrasonic probe;

[0029] Figure 8 is a schematic structural diagram of an exemplary embodiment in which two clamping plates are provided on the working base in the present application;

[0030] Figure 9 is a schematic structural diagram of an exemplary embodiment of two clamping plates in the present application;

[0031] Figure 10 is a schematic structural diagram of an exemplary embodiment when two clamping plates clamp the ultrasonic probe in the present application;

[0032] Figure 11 is a schematic structural diagram of another exemplary embodiment when two clamping plates clamp the ultrasonic probe in the present application;

[0033] Figure 12 It is a schematic structural diagram of a schematic implementation manner when two clamping plates in the present application are connected by a screw rod;

[0034] Figure 13 It is a schematic diagram when, under the action of two clamping plates, the axis of the calibration piece is flush with the axis of the ultrasonic probe in the height direction of the frame body in the present application;

[0035] Figure 14 It is a schematic structural diagram of a schematic implementation manner when the calibration piece in the present application is slidably connected to the working base;

[0036] Figure 15 It is a schematic structural diagram of a schematic implementation manner of the stud in the present application;

[0037] Figure 16 It is a schematic structural diagram of a schematic implementation manner when the calibration piece in the present application is connected to the working base;

[0038] Figure 17 It is a schematic structural diagram of a schematic implementation manner when both the calibration piece and the connecting piece in the present application can move in the height direction of the frame body;

[0039] Figure 18 It is a schematic diagram of a schematic implementation manner of the first scale in the present application;

[0040] Figure 19 It is a schematic structural diagram of a schematic implementation manner when the working base in the present application is connected to the frame body through a plug rod;

[0041] Figure 20 It is a schematic structural diagram of a schematic implementation manner of the calibration instrument in the present application;

[0042] Figure 21 It is a schematic structural diagram of a schematic implementation manner of the rotation point calibration;

[0043] Figure 22 It is a schematic structural diagram of a schematic implementation manner of the position scale in the present application;

[0044] Figure 23 It is a schematic structural diagram of a schematic implementation manner when there is a gap between the contact surface of the ultrasonic probe and the target area in the present application;

[0045] Figure 24 It is a schematic structural diagram of a schematic implementation manner of the turntable in the present application;

[0046] Figure 25It is a schematic structural diagram of a schematic implementation manner when two clamping members clamp an ultrasonic probe along the height direction of the ultrasonic probe.

[0047] In the figure:

[0048] 101, frame; 102, clamping member; 103, gear; 104, rack; 105, stud; 106, limiting member; 107, jack; 108, placing plane;

[0049] 201, working unit; 202, abutting surface; 203, calibration member; 204, working base; 205, first scale; 206, clamping plate; 207, guiding portion; 208, first pivot shaft; 209, connecting rod; 210, adjusting guide rail;

[0050] 301, connecting member; 302, second scale; 303, working rod; 304, turntable; 305, limiting rod; 306, limiting hole; 307, slider; 308, position scale; 309, locking screw; 310, bolt;

[0051] 401, calibration instrument; 402, calibration hole;

[0052] 501, first reference plane; 502, moving plane of the clamping member;

[0053] 601, ultrasonic probe; 602, tracer; 603, bracket; 604, mounting seat; 605, target area; 606, contact surface. Specific implementation manner

[0054] For a clearer understanding of the technical features, objectives, and effects of the present application, the specific implementation manner of the present application is now described with reference to the accompanying drawings. In the figures, the same reference numerals denote components having the same or similar structures but the same functions.

[0055] In this document, "schematic" means "serving as an example, instance, or illustration", and any illustration or implementation manner described as "schematic" in this document should not be construed as a more preferred or more advantageous technical solution. The connections in the present application can be direct connections or indirect connections. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0056] To simplify the drawings, only the parts related to the present application are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, for the sake of simplicity and easy understanding of the drawings, in some figures, for components having the same structure or function, only one of them is schematically shown, or only one of them is marked.

[0057] Please refer to Figures 1 to 25 to understand the present application.

[0058] See Figure 1 , the ultrasonic probe clamping device for surgical navigation includes a frame body 101, two clamping members 102, a limiting member 106 and a working unit 201. The limiting member 106 is connected to the frame body 101 and can limit and position the tail end of the ultrasonic probe 601. The frame body 101 is also provided with a connecting member 301 capable of connecting the tracer 602. The hole, rod or other structure provided on the connecting member 301 can connect the tracer 602. Refer to Figure 3 , Figure 8 , Figure 18 , Figure 22 .

[0059] The ultrasonic probe clamping device for surgical navigation is applicable to an ultrasonic probe 601 that is symmetric in both the height direction (see point a shown in Figure 7 ) and the width direction (see point b shown in Figure 7 ).

[0060] See Figures 1 to 3 , the two clamping members 102 are slidably connected to the frame body 101 and are symmetrically arranged with respect to a first reference plane 501 parallel to the length direction of the frame body. The clamping member 102 is provided with a guide rod, and the frame body 101 is provided with a guide hole for inserting the guide rod. The axis of the guide hole is perpendicular to the first reference plane 501. Thus, when the guide rod is inserted into the guide hole, the sliding connection between the clamping member 102 and the frame body 101 is realized. Under the guiding action of the guide hole, the clamping member 102 can only move linearly along the axis of the guide hole. Thus, the movement path of the clamping member 102 is perpendicular to the first reference plane 501. When the clamping member 102 slides relative to the frame body 101, it can move in a direction perpendicular to the first reference plane 501. The movement plane 502 of the clamping member is perpendicular to the first reference plane 501 and parallel to the length direction of the frame body 101. Of course, there are other ways to realize the sliding connection between the clamping member 102 and the frame body 101. For example, the frame body 101 is provided with a slide rail, and the clamping member 102 is provided with a slider 307 slidably connected to the slide rail. Thus, the clamping member 102 is slidably connected to the frame body 101 through the slider 307 and the slide rail. Of course, there are also other ways to realize the sliding connection between the clamping member 102 and the frame body 101, which will not be elaborated here.

[0061] The two clamping members 102 are also connected through an adjustment structure so that the two clamping members 102 can perform equal-speed reverse linear motion. The two clamping members 102 can approach or move away from the first reference plane 501 at the same rate simultaneously. The relative positions of the two clamping members 102 are always symmetric with respect to the first reference plane 501, and the distances from the two clamping members 102 to the first reference plane 501 are the same. Thus, when the ultrasonic probe 601 is placed on the placement plane 108 of the frame body 101, the length direction of the ultrasonic probe 601 (refer to Figure 7As shown at position c in the figure, it is parallel to the length direction of the frame body 101. The two clamping members 102 can move along the width direction of the frame body 101. Those skilled in the art to which this application belongs can understand that when the two clamping members 102 clamp the ultrasonic probe 601, it is not limited to clamping the ultrasonic probe 601 along the width direction of the ultrasonic probe 601 as shown in Figure 5 , but can also be clamping the ultrasonic probe 601 along the height direction of the ultrasonic probe 601, so as to clamp the side wall of the ultrasonic probe 601 along the width direction or height direction of the ultrasonic probe, so that the middle position of the width direction (see Figure 5 ) or the height direction (refer to Figure 7 shown at position b in the figure) of the ultrasonic probe 601 is located at the first reference plane 501, so that the axis of the ultrasonic probe 601 can be located within the first reference plane 501.

[0062] There are various adjustment structures for realizing the equal-speed reverse linear motion of the two clamping members 102. For example, in an embodiment of this application, refer to Figure 4 . The adjustment structure includes two racks 104 and a gear 103 located between the two clamping members 102. The modules, pressure angles, and tooth pitches of the two racks 104 are equal. The gear 103 is rotatably connected to the frame body 101. The extending directions of the two racks 104 are perpendicular to the first reference plane 501. One of the racks 104 is fixedly connected to one of the clamping members 102, and the other rack 104 is fixedly connected to the other clamping member 102. The two racks 104 are respectively located on both sides of the rotation axis of the gear 103 and are engaged with the gear 103. When the gear 103 rotates around its own axis in one direction, the moving directions of the two racks 104 are opposite, but the moving speeds are the same, so as to realize that the two clamping members 102 can approach or move away from the first reference plane 501 at the same speed, ensuring that the middle position between the two clamping members 102 is located at the first reference plane 501. Thus, when the two clamping members 102 clamp the ultrasonic probe 601, the axis of the ultrasonic probe 601 can be located in the first reference plane 501.

[0063] Of course, the adjustment structure also has other implementation manners. For example, refer to Figure 15 . In an embodiment of this application, the adjustment structure is a double-headed stud 105. The axis of the double-headed stud 105 is perpendicular to the first reference plane 501. The side walls at both ends of the double-headed stud 105 are respectively provided with left-handed threads and right-handed threads. The two ends of the double-headed stud 105 are respectively threadedly connected to the two clamping members 102. The thread leads at both ends of the double-headed stud 105 are equal, realizing that when the double-headed stud 105 rotates around its own axis, the two clamping members 102 can approach or move away from the first reference plane 501 at the same rate.

[0064] Refer to Figure 4, the working unit 201 is detachably connected to the frame 101. The working unit 201 is provided with a calibration piece 203 and an abutting portion. Figure 4 Among them, the abutting portion is the shown abutting surface 202. The distance between the calibration piece 203 and the abutting portion in the axial direction of the calibration piece is fixed. When the working unit 201 is connected to the frame 101, the two clamping pieces 102 are located between the working unit 201 and the limiting piece 106. The axis of the calibration piece 203 and the abutting portion are arranged in the first reference plane 501. The axis of the calibration piece 203 is parallel to the length direction of the frame 101. The working unit 201 is also slidably connected to the frame 101 and can approach or move away from the limiting piece 106 along the length direction of the frame 101, so that the head end of the calibration piece 203 faces outward, and the abutting surface 202 can abut against the middle position of the contact surface 606 of the ultrasonic probe 601 along its axis, as Figure 4 shown, the frame 101 is provided with a jack 107, and the working unit 201 is provided with a plug rod that can be inserted into the jack 107. When the plug rod is inserted into the jack 107, the working unit 201 is connected to the frame 101. The plug rod can move along the axis of the jack 107 to realize the sliding connection between the working unit 201 and the frame 101, and position the axis of the calibration piece 203 and the abutting portion in the first reference plane 501. The axis of the calibration piece 203 is parallel to the clamping piece movement plane 502. The working unit 201 can approach or move away from the limiting piece 106 along the axis of the calibration piece 203. The two clamping pieces 102 are located between the working unit 201 and the limiting piece 106, and the abutting surface 202 is arranged on the side of the working unit 201 close to the limiting piece 106, and the calibration piece 203 is arranged on the side of the working unit 201 far from the limiting piece 106.

[0065] Further, referring to Figure 4 , the plug rod is provided with ratchet teeth along its extending direction, and the frame 101 is slidably connected with a ratchet pawl. When the plug rod is inserted into the jack 107, the ratchet pawl does not restrict the plug rod from being inserted into the jack 107, but when the plug rod has a tendency to move out of the jack 107, the ratchet pawl restricts the plug rod from leaving the jack 107, so as to ensure that the abutting surface 202 always abuts against the contact surface of the ultrasonic probe 601 during calibration and other operations. When it is necessary to withdraw the plug rod from the jack 107, the ratchet pawl is disengaged from the movement path of the ratchet teeth, and the ratchet pawl no longer restricts the movement of the plug rod through the ratchet teeth, so that the plug rod can be withdrawn from the jack 107 to realize the separation between the working unit 201 and the frame 101.

[0066] Of course, other structures can also be used to lock the relative position of the plug rod and the frame. For example, when the calibration piece 203 abuts against the contact surface of the ultrasonic probe 601, the bolt threadedly connected to the frame can abut against the plug rod of the working base 204 to restrict the movement of the plug rod by friction.

[0067] When the ultrasonic probe 601 is installed in the present device, when the two clamping members 102 clamp the side wall of the ultrasonic probe 601, the two clamping members 102 make the axis of the ultrasonic probe 601 located in the first reference plane 501; see Figure 4 , in an embodiment of the present application, the calibration member 203 is fixedly connected to the abutting portion (abutting surface 202), the distance between the calibration member 203 and the abutting portion in the axial direction of the calibration member 203 is fixed, the tail end of the ultrasonic probe 601 can be located at the limiting member 106, the limiting member 106 positions the tail end of the ultrasonic probe 601, the working unit 201 is connected to the frame body 101, and the working unit 201 approaches the limiting member 106 along the length direction of the frame body 101, the abutting surface 202 abuts against the middle position of the contact surface 606 of the ultrasonic probe 601, so that the distance between the head end of the calibration member 203 and the contact surface 606 is equal to the distance between the head end of the calibration member 203 and the abutting portion, and during this process, the distance between the axis of the calibration member 203 and the placement plane 108 of the frame body 101 always remains unchanged. When an ultrasonic probe 601 of a certain specific size is placed on the placement plane 108, the distance between the axis of the ultrasonic probe 601 and the placement plane 108 can be equal to the distance between the axis of the calibration member 203 and the placement plane 108 of the frame body 101, so that the axis of the ultrasonic probe 601 and the axis of the calibration member 203 are located in the same plane parallel to the moving plane 502 of the clamping member; see Figure 6 .

[0068] The following is an example for illustration; see Figure 5 , when the two clamping members 102 clamp the side wall of the ultrasonic probe 601 along the width direction of the ultrasonic probe 601, the two clamping members 102 make the axis of the ultrasonic probe 601 located in the first reference plane 501. The calibration member 203 approaches the limiting member 106 along the length direction of the frame body 101 and clamps the ultrasonic probe 601 with the limiting member 106 in the length direction of the ultrasonic probe, and the axis of the calibration member 203 is also located in the first reference plane 501. Through the dimensional matching relationship, the distance between the axis of the calibration member 203 and the placement plane 108 is equal to half of the height of the ultrasonic probe 601, so that the axis of the calibration member 203 can be coaxially arranged with the axis of the ultrasonic probe 601. If it is necessary for the clamping member 102 to clamp the ultrasonic probe 601 along the height direction of the ultrasonic probe, then the distance between the axis of the calibration member 203 and the placement plane 108 is equal to half of the width of the ultrasonic probe 601. The user can prepare two calibration members of different sizes fixedly connected to the working unit according to needs. Of course, according to one's own needs, only one calibration member of one size can be prepared, the distance between the axis of the calibration member 203 and the placement plane 108 is equal to half of the height of the ultrasonic probe 601, or the distance between the axis of the calibration member 203 and the placement plane 108 is equal to half of the width of the ultrasonic probe 601.

[0069] Of course, since the way the clamping member 102 clamps the ultrasonic probe 601 is not limited to the way that two clamping members 102 cooperate with the placement plane 108 to fix the ultrasonic probe 601, there can be other ways, such as Figure 25 In the way of, the inner wall shape of the clamping member 102 can be as Figure 25 shown. It has two angled planes, and the junction of the two planes is recessed towards the outside of the clamping member 102. The two planes are symmetrically arranged with respect to a plane perpendicular to the central plane, so that the clamping member 102 can better clamp the ultrasonic probe 601. Of course, the cross-sectional shape of the inner wall of the clamping member 102 can also be an arc recessed towards the outside. When there is a gap between the ultrasonic probe and the frame body, the ultrasonic probe can be fixed by the clamping member 102. At this time, the distance between the axis of the calibration member 203 and the frame body 101 should be half of the width or half of the height of the ultrasonic probe 601, plus the distance between the ultrasonic probe and the frame body.

[0070] This application can also use other structures to achieve clamping of ultrasonic probes 601 with different lengths, different heights, and different widths.

[0071] Refer to Figures 8 to 13 , in an embodiment of the present application, the working unit 201 is further provided with two connecting rods 209 and two clamping plates 206. The extending direction of the clamping plates 206 is perpendicular to the first reference plane 501 and parallel to the width direction of the frame body 101. And the two clamping plates 206 are spaced apart in the direction perpendicular to the moving plane of the clamping member 102, and the two clamping plates 206 are spaced apart in the height direction of the frame body 101. The clamping plates 206 are provided with guiding portions 207, and the extending direction of the guiding portions 207 is perpendicular to the first reference plane 501; the middle positions of the two connecting rods 209 are pivotally connected by a first pivot shaft 208, and the two connecting rods 209 can rotate around the first pivot shaft 208. The two connecting rods 209 are cross-set. The first end of the connecting rod 209 is slidably connected and pivotally connected to the guiding portion 207 of one of the clamping plates 206, and the second end of the connecting rod 209 is slidably connected and pivotally connected to the guiding portion 207 of the other clamping plate 206; when one of the clamping plates 206 moves away from the other clamping plate 206, the first ends of the two connecting rods 209 approach each other along the extending direction of the guiding portion 207. When one of the clamping plates 206 approaches the other clamping plate 206, the first ends of the two connecting rods 209 move away from each other along the extending direction of the guiding portion 207, so that the first pivot shaft 208 is located at the middle position between the two clamping plates 206. Refer to Figure 9, the guiding part 207 is a long hole whose extending direction is perpendicular to the first reference plane 501, and the first end and the second end of the connecting rod 209 are round shafts inserted into the long hole. Of course, it is also possible that the first end and the second end of the connecting rod 209 are provided with long holes, and the guiding part 207 is a round shaft, but this will increase the occupied space of the connecting rod 209. Therefore, preferably, the guiding part 207 is a long hole whose extending direction is perpendicular to the first reference plane 501, and the first end and the second end of the connecting rod 209 are round shafts inserted into the long hole.

[0072] Due to the connection relationship between the clamping plates 206, the connecting rod 209, and the first pivot shaft 208, when the distance between the two clamping plates 206 increases or decreases, the first pivot shaft 208 can only move in the direction perpendicular to the movement plane 502 of the clamping member. The first pivot shaft 208 can always be located at the middle position between the two clamping plates 206. The two clamping plates 206 clamp the ultrasonic probe 601, and the first pivot shaft 208 is located at the middle position in the height direction of the ultrasonic probe 601.

[0073] Furthermore, the working unit 201 further includes a working base 204. The calibration member 203 is slidably connected to the working base 204. When the working unit is connected to the frame 101, the calibration member 203 can move in the first reference plane 501 in the direction perpendicular to the movement plane 502 of the clamping member, that is, move in the height direction of the frame 101. The first pivot shaft 208 is connected to the calibration member 203 and is coaxially arranged. The tail end of the calibration member 203 passes through the first pivot shaft 208 and is located between the two clamping plates 206, and can abut against the middle position of the ultrasonic probe contact surface 202. At this time, the abutting part is the tail end of the calibration member 203. In the height direction of the frame 101, the axis of the calibration member 203 can be flush with the axis of the ultrasonic probe 601. Refer to Figure 10 , Figure 11 for comparison, Figure 10 the size of the ultrasonic probe 601 in the height direction of the frame 101 in Figure 11 is larger than the size of the ultrasonic probe 601 in the height direction of the frame 101 in

[0074] However, through the above structure, in the height direction of the frame 101, the calibration member 203 can be located at the middle position of the ultrasonic probe 601. Under the action of the clamping member 102, in the width direction of the frame 101, the axis of the calibration member 203 is flush with the axis of the ultrasonic probe 601, so as to realize the coaxial arrangement of the axis of the calibration member 203 and the axis of the ultrasonic probe 601. Furthermore, the combination formed by the clamping plates 206 and the connecting rod 209 can be detachably connected to the calibration member 203 in a clamping manner or other ways. When calibrating, the clamping plates 206 and the connecting rod 209 can be detached from the calibration member 203, and then the calibration operation can be carried out, which simplifies the structure and ensures the stable progress of calibration.

[0074] In an implementation manner of the present application, the working base 204 is provided with an adjustment guide rail 210, and the adjustment guide rail 210 is perpendicular to the movement plane of the clamping member 102. One of the clamping plates 206 is slidably connected to the adjustment guide rail 210 and can move along the extension direction of the adjustment guide rail 210; the other clamping plate 206 is slidably connected to the adjustment guide rail 210 and can move along the extension direction of the adjustment guide rail 210, or the other clamping plate 206 is fixedly connected to the working base 204, and the adjustment guide rail 210 enables the clamping plate 206 to have a linear motion in only one direction. Of course, there are also other ways to achieve that the clamping plate 206 has a linear motion in only one direction, such as referring to Figure 12 , replace the adjustment guide rail 210 with a double-headed stud, and both ends of the double-headed stud are threadedly connected to the two clamping plates 206 respectively. When the double-headed stud rotates, it drives the two clamping plates 206 to approach or move away from each other along the axis of the double-headed stud.

[0075] Furthermore, the connecting member 301 is slidably connected to the frame body 101 and can move in a direction perpendicular to the movement plane 502 of the clamping member. The connecting member 301 can move in a direction perpendicular to the movement plane 502 of the clamping member according to the position change of the calibration member 203, ensuring that the relative positions of the calibration member 203 and the tracer 602 connected to the connecting member 301 do not change. This structure ensures that the axis of the tracer connected to the connecting member 301 is coaxial with the axis of the ultrasonic probe during the rotation point calibration. However, for the hole calibration, the structure of the movement of the connecting member 301 in the direction perpendicular to the movement plane 502 of the clamping member can be removed.

[0076] There are also other ways to achieve the movement of the calibration member 203 in the height direction of the frame body so that the axis of the calibration member 203 is flush with the axis of the ultrasonic probe 601 in the height direction of the frame body. For example, in an implementation manner of the present application, referring to Figures 14 to 19 , the working unit 201 further includes a working base 204, the calibration member 203 is slidably connected to the working base 204, the calibration member 203 is provided with a first scale 205, and when the working unit 201 is connected to the frame body 101 through the working base 204, the calibration member can move in a direction perpendicular to the movement plane 502 of the clamping member, referring to Figure 18 , and the first scale 205 extends in a direction perpendicular to the movement plane 502 of the clamping member. Figure 18 The abutting portion in

[0077] is the tail end of the calibration member 203.

[0078] In an embodiment of the present application, the connecting member 301 is slidably connected to the frame body 101 and can move in a direction perpendicular to the movement plane 502 of the clamping member. The connecting member 301 is provided with a second scale 302. Refer to Figure 18 , the second scale 302 extends in a direction perpendicular to the movement plane 502 of the clamping member. The position change of the calibration member 203 is obtained through the first scale 205. Subsequently, according to the change of the first scale 205, the connecting member 301 moves in a direction perpendicular to the movement plane 502 of the clamping member, and at the same time, the change of the second scale 302 is observed to ensure that the relative position of the calibration member 203 and the tracer 602 connected to the connecting member does not change. This structure ensures that the axis of the tracer connected to the connecting member 301 is coaxial with the axis of the ultrasonic probe during the rotation point calibration. However, for the hole calibration, the structure of the connecting member 301 moving in a direction perpendicular to the movement plane 502 of the clamping member can be removed, and the connecting member 301 does not move in the height direction of the frame body.

[0079] Those skilled in the art of the technical field of the present application can understand that the working base 204 can be threadedly connected with bolts. After the adjustment of the calibration member 203 is completed, the bolts are used to abut against the calibration member 203 to lock the position of the calibration member 203 relative to the working base 204.

[0080] Since Figure 4 the distance between the head end of the calibration member 203 and the abutting surface 202 (abutting portion) in the axial direction of the calibration member 203 is constant; Figure 9 Or Figure 18The middle abutting part is the tail end of the calibration piece 203, and the distance from the head end to the tail end of the calibration piece 203 is constant. Thus, the distance between the calibration piece 203 and the abutting part in the axial direction of the calibration piece 203 is fixed, which is the preset distance and is a known condition. Of course, the implementation manner of the abutting part is not limited to the abutting surface or the tail end of the calibration piece 203 described above. It can also be other implementation manners. For example, the first pivot shaft 208 is connected to the tail end of the calibration piece 203 and is coaxially arranged. The tail end of the first pivot shaft 208 extends between the two clamping plates 206 and can abut against the middle position of the contact surface 606 of the ultrasonic probe. At this time, the abutting part is the tail end of the first pivot shaft 208. Or, the working base 204 is provided with an abutting part (such as a long rod fixedly connected to the working base 204 and located in the first reference plane when the working base is connected to the frame 101). When the working base 204 is connected to the frame 101, the abutting part is located in the first reference plane. When the working base 204 approaches the contact surface 606 of the ultrasonic probe 601, the abutting part can abut against the middle position of the contact surface 606 of the ultrasonic probe. Subsequently, the calibration piece 203 is adjusted to move in the height direction of the frame so that the calibration piece 203 is coaxially arranged with the ultrasonic probe 601. At this time, the calibration piece 203 is movably arranged relative to the abutting part, rather than fixedly arranged. Since the calibration piece 203 only moves in the height direction of the frame 101, the distance between the calibration piece and the abutting part in the length direction of the frame 101 remains unchanged. In the above several setting manners of the abutting part, because the distance between the head end of the calibration piece 203 and the abutting part in the axial direction of the calibration piece remains unchanged, no matter what size of ultrasonic probe this application is used for, the distance between the head end of the calibration piece 203 and the abutting part is equal to the distance between the calibration piece 203 and the contact surface 606 of the ultrasonic probe in the length direction of the frame 101. The distance between the head end of the calibration piece 203 and the abutting part in the axial direction of the calibration piece 203 is the preset distance, and the preset distance will not change.

[0081] The ultrasonic probe clamping kit for surgical navigation includes any one of the above-mentioned ultrasonic probe clamping devices for surgical navigation, and further includes a calibration instrument 401. See Figure 20 , the calibration instrument 401 is provided with a fulcrum. After the calibration piece 203 is connected to the fulcrum, it can perform a conical pendulum movement around the fulcrum to perform rotation point calibration. See Figure 21 .

[0082] In an implementation manner of this application, the calibration piece 203 is a probe, and the fulcrum is a calibration hole 402 for inserting the probe. A plurality of calibration holes 402 with different inner diameters are provided in a plane of the calibration instrument 401, so as to be able to perform hole calibration on probes with different outer diameters. Other instruments can also be calibrated by using the calibration instrument 401 of this application.

[0083] Principle of Rotation Point Calibration: There is a point on the calibration instrument that accepts the most distal tip of the surgical instrument for pivoting around it. The navigation monitoring system is configured to record the movement of the surgical instrument (movement on the spherical surface) by recording the position of the infrared reflective sphere relative to the calibration instrument tracer when the most distal tip of the surgical instrument is positioned at the pivot point of the calibration instrument. Based on the movement recorded by the infrared reflective sphere connected to the surgical instrument, the tip or virtual axis of the surgical instrument is obtained and virtually represented on the display. Principle of Hole Calibration: When a suitable diameter is selected and inserted into the hole, the instrument orientation and virtual axis are calculated. The virtual length is the length between the instrument tip and the center of the adapter clamping part. Two conditions need to be met when installing the reflective sphere adapter: 1) The adapter clamp fits tightly with the clamped part of the surgical instrument without abnormal movement; 2) The plane where the navigation adapter reference frame is located is parallel to the long axis of the surgical instrument.

[0084] The present invention is designed based on the above two calibration principles for navigation registration.

[0085] Due to the symmetry of the ultrasound probe 601 in its width direction and height direction, the structure described above is used to enable the axis of the calibration piece 203 to be collinear with the axis of the ultrasound probe 601. Subsequently, the tracer 602 connected by the calibration piece 203 and the connecting piece 301 is used for navigation registration through rotation point calibration or hole position calibration to obtain the virtual axis of the ultrasound probe 601. See Figure 20 、 Figure 21 , in the ultrasound probe clamping kit for surgical navigation, a calibration instrument 401 is further included. The calibration instrument 401 is provided with a fulcrum, and a tracer 602 is provided on the calibration instrument 401. The fulcrum is a calibration hole 402, and the calibration piece 203 is a probe. After the calibration piece 203 is connected to the fulcrum, it can perform a conical pendulum movement around the fulcrum. The connecting piece 301 connects the tracer 602. After the calibration piece 203 is connected to the fulcrum and performs a conical pendulum movement around the fulcrum, the position change of the tracer 602 connected by the connecting piece 301 relative to the tracer 602 on the calibration instrument 401 is recorded by the surgical navigation system to perform rotation point calibration of the surgical navigation system and obtain the virtual axis. Further, a plurality of calibration holes 402 with different inner diameters are provided in a plane of the calibration instrument 401, and hole calibration of the surgical navigation system can be realized.

[0086] Subsequently, the insertion rod is withdrawn from the insertion hole 107, and the working unit 201 is separated from the frame body 101. Given the known head end coordinates and axis position of the calibration piece 203, subtracting a preset distance from the virtual axis established by the surgical navigation system can obtain the spatial coordinates of the center position of the contact surface 606 and the virtual axis of the ultrasound probe. The center position of the ultrasound probe 601 is the spatial coordinates of the center position of the contact surface 606 of the real-time displayed ultrasound probe 601. Subsequently, the region of interest is scanned by the ultrasound probe 601 to obtain regional ultrasound imaging.

[0087] See Figures 22 to 24 , in an embodiment of the clamping device for the surgical navigation ultrasonic probe 601, the connecting member 301 includes a working rod 303 connected to the tail end of the frame body 101 and a slider 307 for mounting the tracer 602. The working rod 303 is parallel to the length direction of the frame body 101. The slider 307 is movably arranged on the working rod 303 and can move along the length direction of the working rod 303. A scale (position scale 308) for displaying the relative position of the slider 307 and the working rod 303 is provided on the side wall of the working rod 303 along its length direction. After the tracer 602 connected by the probe and the slider 307 is subjected to navigation registration through rotation point calibration or hole position calibration, and after obtaining the virtual axis of the ultrasonic probe 601, then the slider 307 is made to move along the working rod 303 away from the contact surface 606 for a preset distance of movement (expressed in the direction in Figure 23 , the slider 307 moves to the right), and the preset distance is equal to the distance between the tip of the probe and the contact surface 606 of the ultrasonic probe 601. The end point of the virtual axis of the ultrasonic probe 601 is the central position of the contact surface 606 of the ultrasonic probe 601. The surgical navigation system can obtain the coordinates of the central position of the contact surface 606, so that the doctor can directly operate the slider 307 to enable the surgical navigation system to confirm the position of the center point of the contact surface 606, eliminating the need for operations on the computer side. The doctor can operate by himself, saving waiting time, and then the ultrasonic probe 601 can be used for ultrasonic imaging.

[0088] After completing the navigation registration, the working unit 201 can be separated from the frame body 101. See Figure 23 , that is: See Figure 19 , the probe shown in Figure 1 , or the probe, working base, splint and other structures shown in Figure 8 , or the probe and the working base shown in Figure 18 are separated from the frame body 101 to make it present the connection state of the frame body 101 and the ultrasonic probe 601 shown in Figure 23 . Then, the ultrasonic probe 601 connected to the frame body 101 is used for ultrasonic scanning. The tracer 602 connected to the slider 307 can send the position information of the ultrasonic probe 601 to the controller, and the angle and distance between the virtual axis of the ultrasonic probe 601 and the patient's surgical site are visually displayed through the navigation system. The ultrasonic probe 601 scans the patient's surgical area to obtain intraoperative ultrasonic images. If the coordinates of the target area 605 at a distance from the ultrasonic probe 601 are to be obtained, see Figure 23, the center position of the contact surface 606 can be aligned with the target area 605, and the distance X millimeters from the target area 605 to the tissue surface is measured. X is a natural number greater than or equal to 1. According to the distance from the target area 605 to the tissue surface, the slider 307 is slid X millimeters along the working rod 303 towards the ultrasonic probe 601 in cooperation with the scale of the working rod 303 (expressed in the direction in Figure 24 , the slider 307 moves to the left), and the coordinates of the target area 605 or the tissue point coordinates are obtained. Optionally, the target area 605 on the center (line) of the ultrasonic probe 601 is selected, and the depth of the target area 605 (X millimeters, X is a natural number greater than or equal to 1) is measured. The scale of the slider 307 is adjusted according to the measured depth of the target area 605 (expressed in the direction in Figure 24 , the slider 307 is slid to the left), and the coordinates of the target area 605 within X millimeters in front of the center point of the ultrasonic probe 601 are obtained. Or, when the distance between the contact surface 606 and the target area 605 is to be obtained, the slider 307 can be directly adjusted to move the tracer 602 connected to the slider 307, so that the end point of the virtual axis of the ultrasonic probe coincides with the target area 605. Thus, according to the coordinate information before and after the adjustment of the slider 307, the difference is calculated, and the distance between the contact surface 606 of the ultrasonic probe 601 and the target area 605 is obtained.

[0089] See Figure 22 , in an embodiment of the present application, the slider 307 is threadedly connected with a locking screw 309, and the locking screw 309 can move between a locking position and an unlocking position; when the locking screw 309 is in the locking position, it abuts against the outer wall of the working rod 303, and the movement of the slider 307 along the working rod 303 is restricted by friction; when the locking screw 309 is in the unlocking position, it no longer abuts against the outer wall of the working rod 303, and the slider 307 can move along the working rod 303.

[0090] See Figure 22 、 Figure 24 , in an embodiment of the present application, the working rod 303 is rotatably connected to the tail end of the frame body 101, and the working rod 303 can rotate around its axis. Since the working rod 303 is rotatably connected to the frame body 101, when the tracer 602 interferes with the surgical area, the tracer 602 can be rotated around the axis of the working rod 303, and the rotation angle of the tracer 602 is input to the controller, avoiding the situation that the surgical navigation system mistakenly believes that the position and angle of the ultrasonic probe 601 have changed due to the position change of the tracer 602.

[0091] Further, the working rod 303 is provided with a turntable 304. The turntable 304 is coaxially arranged with the working rod 303 and fixedly connected thereto. The turntable 304 is provided with a plurality of limiting holes 306 arrayed around its axis; the limiting structure includes a limiting rod 305 slidably connected to the frame body 101. The limiting rod 305 can reciprocate between a first position and a second position along the length direction of the frame body 101; when the limiting rod 305 is in the first position, the limiting rod 305 is inserted into one of the limiting holes 306 to prevent the working rod 303 from rotating through the turntable 304; when the limiting rod 305 is in the second position, the limiting rod 305 leaves the limiting hole 306 and the working rod 303 can rotate. Since the limiting holes 306 are arrayed around the axis of the turntable 304, the included angle value between the limiting holes 306 can be directly calculated, which is convenient for inputting the rotation angle of the tracer 602 into the controller. Further, the limiting rod 305 is also connected to the frame body 101 through a spring, so that the limiting rod 305 is maintained in the first position under the action of the spring.

[0092] Of course, those skilled in the art to which this application belongs can understand that the implementation manner of the rotational connection between the working rod 303 and the tail end of the frame body 101 in this application can also be as Figure 8 shown. The connecting member includes a connecting block connected to the tail end of the frame body 101. The connecting block can move along the height direction of the frame body. The turntable structure is connected to the connecting block, so as to realize the rotational connection between the working rod 303 and the tail end of the frame body 101, which will not be elaborated here.

[0093] The surgical navigation ultrasonic probe clamping kit includes any one of the above-mentioned surgical navigation ultrasonic probe 601 clamping devices, and further includes a tracer 602 unit. The tracer 602 unit is detachably connected to the slider 307 through a bolt, screw hole structure or pin hole structure.

[0094] In an embodiment of the present application, the tracer 602 unit includes a mounting seat 604 and a bracket 603 provided with optical indication points, such as infrared balls or reflective balls. The bracket 603 is rotatably connected to the mounting seat 604 through a pivot shaft. The mounting seat 604 is detachably connected to the slider 307. When the mounting seat 604 is connected to the slider 307, the rotating end face of the bracket 603 is parallel to the working rod 303. During installation, the optical indication points can be rotated to avoid occlusion thereof. Subsequently, the bracket 603 and the mounting seat 604 can be fastened with bolts 310 to prevent the bracket 603 from rotating relative to the mounting seat 604 during the surgical process.

[0095] It should be understood that although this specification is described in accordance with various embodiments, not every embodiment only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art. Any equivalent implementation or change made without departing from the technical spirit of this application, such as the combination, division, or repetition of features, shall be included within the protection scope of this application.

Claims

1. An ultrasonic probe clamping device for surgical navigation, which is applicable to an ultrasonic probe having symmetry in both the width direction and the height direction, is characterized in that, Comprising: A frame body provided with a connecting member capable of connecting a tracer; Two clamping members which are slidably connected to the frame body and symmetrically arranged with respect to a first reference plane parallel to the length direction of the frame body. The movement path of the clamping members is perpendicular to the first reference plane. The two clamping members are also connected by an adjusting structure so that the two clamping members can perform linear motion at the same speed in opposite directions, and the two clamping members can approach the first reference plane at the same rate simultaneously to clamp the side wall of the ultrasonic probe in the width direction or height direction of the ultrasonic probe; A limiting member which is connected to the frame body and can position the tail end of the ultrasonic probe; A working unit, the distance between a calibration member and an abutting portion provided on the working unit in the axial direction of the calibration member is fixed. The working unit is detachably connected to the frame body. When the working unit is connected to the frame body, the two clamping members are located between the working unit and the limiting member. The axis of the calibration member and the abutting portion are arranged in the first reference plane. The axis of the calibration member is parallel to the length direction of the frame body. The working unit is also slidably connected to the frame body and can approach the limiting member along the length direction of the frame body so that the abutting portion can abut against the middle position of the contact surface of the ultrasonic probe.

2. The ultrasonic probe clamping device for surgical navigation according to claim 1, wherein The working unit is provided with two connecting rods and two clamping plates. The extending direction of the clamping plates is perpendicular to the first reference plane, and the two clamping plates are spaced apart in a direction perpendicular to the movement plane of the clamping members. The clamping plates are provided with guiding portions, and the extending direction of the guiding portions is perpendicular to the first reference plane; The middle positions of the two connecting rods are pivotally connected by a first pivot shaft. The two connecting rods are cross - arranged. The first end of the connecting rod is slidably and pivotally connected to one of the clamping plates, and the second end of the connecting rod is slidably and pivotally connected to the guiding portion of the other clamping plate; When one clamping plate moves away from the other clamping plate, the first ends of the two connecting rods approach each other along the extending direction of the guiding portion. When one clamping plate approaches the other clamping plate, the first ends of the two connecting rods move away from each other along the extending direction of the guiding portion so that the first pivot shaft is located at the middle position between the two clamping plates; The working unit further includes a working base. The calibration member is slidably connected to the working base and can move in a direction perpendicular to the movement plane of the clamping members. The first pivot shaft is connected to the calibration member and is coaxially arranged.

3. The ultrasonic probe clamping device for surgical navigation according to claim 2, wherein The working base is provided with an adjusting guide rail perpendicular to the movement plane of the clamping members. One of the clamping plates is slidably connected to the adjusting guide rail and can move along the extending direction of the adjusting guide rail; The other clamping plate is slidably connected to the adjusting guide rail and can move along the extending direction of the adjusting guide rail, or The other clamping plate is fixedly connected to the working base.

4. The ultrasonic probe clamping device for surgical navigation according to claim 1, wherein The working unit further includes a working base, the calibration member is slidably connected to the working base, the calibration member is provided with a first scale, when the working unit is connected to the frame through the working base, the calibration member can move in a direction perpendicular to the movement plane of the clamping member; the first scale extends in a direction perpendicular to the movement plane of the clamping member.

5. The ultrasonic probe clamping device for surgical navigation according to claim 4, wherein The connecting member is slidably connected to the frame and can move in a direction perpendicular to the movement plane of the clamping member, the connecting member is provided with a second scale, and the second scale extends in a direction perpendicular to the movement plane of the clamping member.

6. The ultrasonic probe clamping device for surgical navigation according to claim 1, wherein The calibration member is fixedly connected to the abutting portion.

7. The ultrasonic probe clamping device for surgical navigation according to claim 1, wherein The adjusting structure includes two racks and a gear located between the two clamping members. The two racks are perpendicular to the first reference plane. One of the racks is fixedly connected to one of the clamping members, and the other rack is fixedly connected to the other clamping member. The two racks are respectively located on both sides of the rotation axis of the gear and mesh with the gear.

8. The ultrasonic probe clamping device for surgical navigation according to claim 1, wherein The adjusting structure is a double-headed stud, the double-headed stud is perpendicular to the first reference plane, and the two ends of the double-headed stud are respectively threadedly connected to the two clamping members.

9. An ultrasonic probe clamping kit for surgical navigation, characterized in that, Including any one of the ultrasonic probe clamping devices for surgical navigation according to claims 1 to 8, further comprising a calibration instrument, the calibration instrument is provided with a fulcrum, after the calibration member is connected to the fulcrum, it can perform a conical pendulum movement around the fulcrum.

10. The ultrasonic probe clamping kit for surgical navigation according to claim 9, wherein The calibration member is a probe, the fulcrum is a calibration hole for inserting the probe, and a plurality of calibration holes with different inner diameters are provided in a plane of the calibration instrument.

Images