Novel transvaginal flexible ultrasonic probe

Abstract

The invention discloses a novel transvaginal flexible ultrasonic probe, which comprises an ultrasonic probe arranged at one end of a flexible joint and used for forming an ultrasonic image; one end of the flexible joint is connected with the ultrasonic probe, and the other end is connected with the joint controller for controlling the ultrasonic probe to swing; and the joint controller is connected with the flexible joints and used for controlling the flexible joints. Through the system, a doctor can operate by one person without cooperation of a second person, the flexibility of an operation is greatly improved, and the doctor can adjust the imaging position, monitor the operation process in real time, observe the cutting depth and prevent uterus perforation according to needs, so that the operation safety and efficiency are improved to the maximum extent, and complications are reduced. According to the invention, the sizes of the flexible joint and the ultrasonic probe can be greatly reduced on the premise of ensuring the ultrasonic image resolution and penetration depth. According to the intracavity ultrasonic scanning method along the rear fornix, the rear fornix is used as a scanning fulcrum, tissue organs are lifted or deformed, and surgical operation under ultrasonic guidance is completed.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and more particularly to a novel transvaginal flexible ultrasound probe. Background Art

[0002] Ultrasound guidance is widely used in hysteroscopic surgery. It can monitor the surgical process in real time, observe the cutting depth, and prevent uterine perforation, thereby maximizing surgical safety and efficiency and reducing the occurrence of complications. However, there are still some shortcomings in actual application:

[0003] 1) Reliance on the operator's skills and experience: Ultrasound-guided hysteroscopic surgery requires the operator to have extensive experience in ultrasound and hysteroscopic surgery to accurately determine the location of the lesion in the ultrasound image and the position of the surgical instrument tip. Inexperienced operators may lead to inaccurate surgical procedures and even complications.

[0004] 2) The clarity of ultrasound images is affected by many factors: such as the patient's body shape, abdominal fat thickness, intestinal gas, etc. These factors may cause the ultrasound image to be blurred or distorted, thereby affecting the accuracy of the surgical operation.

[0005] 3) Limited real-time communication: During ultrasound-guided hysteroscopy, close communication is required between the ultrasound guide and the surgeon. However, due to factors such as coordination experience and assessment angles, real-time communication may be limited, thus affecting the smooth progress of the surgery.

[0006] 4) Ultrasound probe operation limitations: Transabdominal ultrasound is currently still used for intraoperative guidance. Although abdominal probes offer advantages during hysteroscopy, such as intuitive visualization of the uterus, a wide scanning range, and ease of operation, they also have limitations, including the requirement for two people to perform the procedure, significant influence from intestinal gas and subcutaneous fat, and the need for a full bladder. These factors may increase the complexity and risk of the procedure.

[0007] Among the aforementioned deficiencies, the skills, experience, and communication skills of both the ultrasound guide and the physician can be improved through training and practice. However, optimizing the ultrasound probe is more difficult. Despite the rapid development of hysteroscopic surgery over the past few decades, there has been no upgrade in ultrasound guidance equipment. Therefore, the technical problem addressed by this invention is how to achieve single-person ultrasound scanning and guidance, thereby reducing the complexity and risk of the procedure. Summary of the Invention

[0008] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention is not intended to limit the key features and essential features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0009] To at least partially address the above-mentioned problems, the present invention provides a novel transvaginal flexible ultrasound probe, comprising: an ultrasound probe disposed at one end of a flexible joint for forming an ultrasound image;

[0010] A flexible joint, one end of which is connected to the ultrasound probe and the other end of which is connected to the joint controller, is used to control the swing of the ultrasound probe;

[0011] The joint controller is connected to the flexible joint and is used to control the flexible joint.

[0012] Preferably, the ultrasound probe is a transducer array.

[0013] Preferably, the transducer array is composed of a plurality of micro-convex transducers.

[0014] Preferably, the flexible joint is a planar bending structure.

[0015] Preferably, the planar bending structure has at least one rotation axis controlled by a joint controller.

[0016] Preferably, the flexible joint is a multi-axis rotation structure.

[0017] Preferably, the multi-axis rotating structure consists of at least two rotating axes, and the rotating axes are arranged in a normal direction to each other.

[0018] Preferably, it also includes:

[0019] a casing clamp, disposed on a side wall of the clamp linkage;

[0020] One end of the fixture linkage is connected to the end of the flexible joint away from the ultrasonic probe, and the other end is connected to the joint controller.

[0021] Preferably, the device further comprises a clamp controller for controlling the sleeve clamp to clamp or release the hysteroscope.

[0022] Preferably, the apparatus further comprises a handheld part, the end of the flexible joint away from the ultrasound probe is connected to the handheld part, and the joint controller is arranged on the handheld part and electrically connected to the flexible joint.

[0023] Compared with the prior art, the present invention has at least the following beneficial effects:

[0024] The ultrasound probe integrates two-dimensional ultrasound, three-dimensional ultrasound and ultrasound angiography, and combines it with multi-dimensional fluoroscopic hysteroscopic submucosal myoma resection surgery to form an ultrasound navigation system, providing technical means and judgment criteria for formulating clinical application strategies.

[0025] The present invention allows doctors to perform the operation alone without the need for a second person to cooperate, greatly improving the flexibility of the operation. Doctors can adjust the imaging position as needed, monitor the operation process in real time, observe the cutting depth, and prevent uterine perforation, thereby maximizing the safety and efficiency of the operation and reducing the occurrence of complications.

[0026] To improve the biocompatibility and safety of the present invention, the outer surfaces of the ultrasonic probe and the flexible joint need to use non-toxic, non-irritating materials, and ensure that the surface of the present invention is smooth and has no sharp angles to avoid damaging biological tissues. The present invention needs to be strictly disinfected and cleaned before each operation to ensure its safety in medical applications. Therefore, it is necessary to ensure that the present invention (ultrasound probe, flexible joint, and the connection between each structure and circuit) is fully sealed, so that the external materials of the present invention also need to have sufficient tolerance to common disinfecting media.

[0027] Preferably, the external materials of the ultrasound probe and the flexible joint are materials with good flexibility and biocompatibility, such as polyimide (PI), polydimethylsiloxane (PDMS), etc., to ensure that the present invention can achieve flexible bending, folding or stretching to adapt to different application scenarios.

[0028] The ultrasound probe can form a sector-shaped two-dimensional ultrasound image, such as Figure 6 As shown in the figure, the flexible joint not only provides deflection control for the ultrasound probe, providing sufficient deflection torque to facilitate the doctor's manipulation of the ultrasound probe's imaging plane, but also supports the posterior fornix, enabling the present invention to achieve positioning and supporting the uterus along the posterior fornix, facilitating image acquisition or surgical procedures. By aligning the ultrasound imaging plane with the hysteroscope's operating plane, the present invention reduces the difficulty of ultrasound guidance.

[0029] This invention significantly reduces the size of the flexible joint and ultrasound probe while maintaining ultrasound image resolution and penetration depth. This intracavitary ultrasound scanning method along the posterior fornix creates a new method for ultrasound-guided surgery, using the posterior fornix as a scanning fulcrum to lift or deform tissues and organs.

[0030] The novel transvaginal flexible ultrasound probe described in the present invention, and other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by those skilled in the art through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0032] Figure 1 This is a schematic diagram of the new transvaginal flexible ultrasound probe of the present invention connected to a hysteroscope.

[0033] Figure 2 This is a front view of the novel transvaginal flexible ultrasound probe of the present invention after being connected to a hysteroscope.

[0034] Figure 3 This is a schematic structural diagram of the novel transvaginal flexible ultrasound probe described in the present invention.

[0035] Figure 4 This is a front view of the new transvaginal flexible ultrasound probe described in the present invention.

[0036] Figure 5 This is a schematic diagram of the range of motion of the flexible joints of the novel transvaginal flexible ultrasound probe described in the present invention.

[0037] Figure 6 This is a schematic diagram of the new transvaginal flexible ultrasound probe of the present invention when in use.

[0038] Figure 7 Schematic diagram of a planar bending structure with one rotation axis (shown in A and C) and two rotation axes (shown in B and D).

[0039] Figure 8 Schematic diagram of a multi-axis flexible joint with two rotation axes (shown in A and B) and three rotation axes (shown in C).

[0040] In the figure: 1 ultrasound probe, 2 flexible joint, 3 joint controller, 4 cannula clamp, 5 clamp linkage, 6 clamp controller, 7 handheld unit, 8 hysteroscope. DETAILED DESCRIPTION

[0041] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments so that those skilled in the art can implement the invention with reference to the description.

[0042] It should be understood that terms such as “having”, “including” and “comprising” used herein do not preclude the existence or addition of one or more other elements or combinations thereof.

[0043] like Figures 1-8As shown, the present invention provides a new type of transvaginal flexible ultrasound probe, including: an ultrasound probe 1, which is arranged at one end of a flexible joint 2 and is used to form an ultrasound image. The ultrasound probe 1 can be connected to a probe controller, or electrically connected to a device terminal, and the opening and closing of the ultrasound probe 1 is controlled by the probe controller (or device terminal), wherein the probe controller and the device terminal are both commercially available products or existing technologies. In addition, the ultrasound probe 1 of the present invention has improved image preprocessing, image registration and image fusion algorithms to optimize the integration of high-quality multimodal ultrasound images, and has designed a user interface at the device terminal. The user interface is intuitive and easy to use, and includes functions such as image display, parameter setting, and result export. The ultrasound probe 1 of the present invention is also scalable and upgradeable: it can easily add new imaging modes and functions to adapt to the ever-evolving ultrasound technology and changing clinical needs;

[0044] A flexible joint 2, one end of which is connected to the ultrasound probe 1 and the other end of which is connected to the joint controller 3, is used to control the swing of the ultrasound probe 1 (the swing can be bending and swinging in a single plane or 360-degree torsional swinging, and the specific swinging mode is related to different implementation methods of the flexible joint 2);

[0045] The joint controller 3 is connected to the flexible joint 2 and is used to control the flexible joint 2. The ultrasound probe 1 is set on the flexible joint 2. The position and shape of the flexible joint 2 can be changed by the joint controller 3, thereby adjusting the scanning position of the ultrasound probe 1.

[0046] By adjusting the deflection angle of the front end of the ultrasonic probe 1 through the flexible joint 2, the front end of the ultrasonic probe 1 can be placed close to human tissue without a coupling agent, thereby reducing the impedance of sound wave transmission and improving image quality.

[0047] By adjusting the ultrasound angle of the ultrasound probe 1 , the doctor can adjust the visual plane as needed.

[0048] It should be noted that the joint controller 3 has multiple implementation methods. For example, a mechanical knob can be used as the joint controller 3, which is one of the simple, reliable and low-cost implementation methods. An electrically controlled button can also be used as the joint controller 3 to drive the electric actuator inside the flexible joint 2 to achieve the angular deflection of the ultrasonic probe 1. The electrically controlled adjustment of the flexible joint 2 is one of the more expensive implementation methods. Its adjustment accuracy is higher than that of the mechanical knob, and the stability of the flexible joint 2 is better after adjustment.

[0049] The working principle and beneficial effects of the above technical solution: Through the design of the above structure, the ultrasound probe 1 integrates two-dimensional ultrasound, three-dimensional ultrasound and ultrasound angiography, and combines it with multi-dimensional perspective hysteroscopic submucosal myoma transurethrography surgery to form an ultrasound navigation system, providing technical means and judgment criteria for formulating clinical application strategies.

[0050] The present invention allows doctors to perform the operation alone without the need for a second person to cooperate, greatly improving the flexibility of the operation. Doctors can adjust the imaging position as needed, monitor the operation process in real time, observe the cutting depth, and prevent uterine perforation, thereby maximizing the safety and efficiency of the operation and reducing the occurrence of complications.

[0051] In order to improve the biocompatibility and safety of the present invention, the outer surfaces of the ultrasonic probe 1 and the flexible joint 2 need to use non-toxic, non-irritating materials, and ensure that the surface of the present invention is smooth and has no sharp angles to avoid damage to biological tissues. The present invention needs to be strictly disinfected and cleaned before each operation to ensure its safety in medical applications. Therefore, it is necessary to ensure that the present invention (ultrasound probe 1, flexible joint 2 and the connection between each structure and circuit) is fully sealed, so that the external material of the present invention also needs to have sufficient tolerance to common disinfecting media.

[0052] Preferably, the external materials of the ultrasound probe 1 and the flexible joint 2 are materials with good flexibility and biocompatibility, such as polyimide (PI), polydimethylsiloxane (PDMS), etc., to ensure that the present invention can achieve flexible bending, folding or stretching to adapt to different application scenarios.

[0053] The ultrasonic probe 1 can form a sector-shaped two-dimensional ultrasonic image, such as Figure 6 As shown, the flexible joint 2 not only provides deflection control for the ultrasound probe 1, providing sufficient deflection torque to facilitate the doctor's manipulation of the ultrasound probe 1 to deflect the imaging plane, but also supports the posterior fornix, thereby enabling the present invention to achieve positioning and supporting the uterus along the posterior fornix, facilitating image acquisition or surgical procedures. By aligning the ultrasound imaging plane with the hysteroscope operating plane, the present invention reduces the difficulty of ultrasound guidance.

[0054] The present invention can significantly reduce the size of the flexible joint 2 and the ultrasound probe 1 while ensuring the resolution and penetration depth of ultrasound images. The intracavitary ultrasound scanning method along the posterior fornix creates a new method for using the posterior fornix as a scanning fulcrum to lift or deform tissues and organs, allowing for ultrasound-guided surgical procedures.

[0055] Furthermore, the ultrasound probe 1 is a transducer array. The transducer array uses composite piezoelectric material, which is precisely cut into 128 arrays and operates at an ultra-wide bandwidth of 3 to 12 MHz. It can not only provide fine image resolution, but also achieve better penetration depth. The transducer array unit is connected to the ultrasound host (i.e., the device terminal) via a 128-core ultra-fine coaxial cable. Driven by the flexible joint 2, the transducer array can achieve the following: Figure 5As shown, the maximum twist is 90° on both sides along the horizontal axis. This allows the ultrasound transducer array to conveniently deflect the imaging plane and also to press against the posterior fornix to lock the position of the ultrasound probe 1. Preferably, the transducer array is composed of a plurality of micro-convex transducers.

[0056] Piezoelectric materials are the core component of the ultrasound probe 1, used to generate and receive ultrasound waves. Commonly used piezoelectric materials include piezoelectric ceramics (such as PZT) and piezoelectric polymers (such as PVDF). These materials must exhibit excellent piezoelectric properties and stability. Because the ultrasound probe 1 has a confined interior, a flexible printed circuit board (PCB) substrate is required that can support the piezoelectric material and allow for its flexible bending. The flexible PCB substrate also supports the internal components of the ultrasound probe 1 and facilitates connections for internal electrical components.

[0057] Furthermore, the flexible joint 2 is a planar bending structure. Figure 5 and Figure 7 As shown, the flexible joint 2 can only bend in a single plane, as shown in FIG. Figure 5 As shown in the example, the flexible joint 2 can only adjust the angle in the vertical direction. As one of the implementation methods, the flexible joint 2 can adopt a semi-rigid snake tube structure, and the joint controller 3 is a mechanical knob that can control the torsion of the snake tube. During the operation, the doctor uses the joint controller 3 to drive the steel wire inside the snake tube and control the ultrasound probe 1 to change direction. This allows the ultrasound probe 1 to achieve a maximum deflection angle of 180°. The outer layer of the snake tube needs to be covered with a layer of wear-resistant and corrosion-resistant material to protect its internal structure from damage by the external environment. As one of the implementation methods, a motor or a servo structure can also be used to drive the steel wire to achieve traction control, and an electrically controlled button can be used as the joint controller 3. The doctor controls the torsion of the ultrasound probe 1 through the button switch.

[0058] Preferably, the planar bending structure has at least one rotation axis controlled by the joint controller 3 (the control method can be the aforementioned wire traction or other transmission structure). Currently, the flexible joint 2 can meet the angle adjustment requirements of the ultrasound probe 1 by using a single axis rotation (such as Figure 5 and Figure 7 As shown in A and C, the maximum deflection angle is 180°. It should be noted that the implementation of two rotation axes (or multiple rotation axes) is also included in the protection scope of the present invention. Figure 7 As shown in B and D, the two rotation axes can drive the ultrasound probe 1 to achieve 360-degree omnidirectional rotation in a single plane.

[0059] Furthermore, the flexible joint 2 is a multi-axis rotation structure. Preferably, the multi-axis rotation structure is composed of at least two rotation axes, and the rotation axes are arranged in a normal direction to each other.

[0060] Although the current single-axis design that bends within a single plane can already meet the angle adjustment requirements of the ultrasound probe 1, the implementation of the multi-axis rotation structure is also included in the protection scope of the present invention, such as Figure 7 As shown in A and B, two mutually normal rotation axes are set to achieve bending or rotation of the ultrasound probe 1 in two planes. Figure 7 The C in the middle represents three rotation axes that are arranged in a normal direction to each other, which can achieve a full 360-degree rotation.

[0061] Furthermore, it also includes:

[0062] The sleeve clamp 4 is arranged on the side wall of the clamp linkage 5. The sleeve clamp 4 is installed on the periphery of the hysteroscope or the uterine surgical instrument catheter to realize the connection between the present invention and the hysteroscope 8. When the sleeve clamp 4 is not locked, the hysteroscope or the uterine surgical instrument catheter can slide freely along the sleeve clamp 4; the sleeve clamp 4 is detachably connected to the clamp linkage 5. In actual application, the outer diameter of the hysteroscope sleeve is generally between 3 and 8 mm. To adapt to hysteroscope sleeves of various specifications, sleeve clamps 4 of various specifications are required. Therefore, it is necessary to provide a clamp linkage 5 that can be detachably connected to the sleeve clamp 4, so that the present invention can cope with various specifications of hysteroscope sleeves only through sleeve clamps 4 of different specifications.

[0063] One end of the clamp linkage 5 is connected to the end of the flexible joint 2 away from the ultrasound probe 1 , and the other end is connected to the joint controller 3 .

[0064] The cannula clamp 4 is primarily used to lock the hysteroscope or intrauterine surgical instrument catheter in the axial direction, thereby fixing the relative position of the hysteroscope and the ultrasound probe 1, thereby enabling stable image output during use. As one of many embodiments, the cannula clamp 4 can be a rubber sleeve that achieves locking through the elastic force of the rubber; it can also be a spring sleeve provided with a spring that achieves locking through the pressure of the spring. The above embodiment can achieve a constant locking force, is simple in structure, and is low in cost.

[0065] In this embodiment, the cannula clamp 4 can be sterilized along with the ultrasound probe 1 and the flexible joint 2. However, if the constant locking force is set too high, it will be difficult for the doctor to achieve precise position adjustment during operation. If the constant locking force is set too low, there is a possibility of displacement due to accidental contact. In addition, when adjusting the angle and depth of the hysteroscope, the doctor needs to hold the present invention tightly with one hand and adjust the angle of the hysteroscope with the other hand, which is a relatively cumbersome operation.

[0066] Therefore, if reliable locking is required, it is usually necessary to use electric locking (usually an electric locking mechanism) or pneumatic locking (usually a pneumatic locking mechanism) to achieve the loosening and clamping of the hysteroscope (or the catheter of the intrauterine surgical instrument). Pneumatic locking can achieve the locking and loosening of the hysteroscope (or the catheter of the intrauterine surgical instrument) by inflating and deflating the airbag installed inside the sleeve clamp 4. Therefore, it is necessary to set a clamp controller 6 to control the inflation and deflation of the airbag.

[0067] Furthermore, a clamp controller 6 is included to control the cannula clamp 4 to clamp or release the hysteroscope. If pneumatic locking is selected, a miniature air pump device needs to be installed inside the ultrasound host (i.e., the equipment terminal). Compressed air is connected to the air bag inside the cannula clamp 4 through a pipe. The clamp controller 6 controls the air pump to switch the air inflated and deflated states.

[0068] In order to facilitate the doctor's operation, a handheld part 7 is also included. The end of the flexible joint 2 away from the ultrasound probe 1 is connected to the handheld part 7. The joint controller 3 is arranged on the handheld part 7 and is electrically connected to the flexible joint 2. When the sleeve clamp 4, the clamp linkage 5 and the clamp controller 6 are set, the handheld part 7 is connected to the flexible joint 2 through the clamp linkage 5. Figure 1 As shown, the clamp controller 6 is arranged on the handheld part 7. In order to facilitate the doctor to freely adjust the relative position of the handheld part 7 and the ultrasonic probe 1 during the operation, the connection between the handheld part 7 and the flexible joint 2 (if a clamp linkage 5 is provided, the handheld part and the clamp linkage 5) is connected by a probe hose that can be freely bent and shaped, so that the doctor can adjust the operating angle according to his own habits, and at the same time avoid position conflicts between the hysteroscope and the handheld part 7.

[0069] The connection and use method between the present invention and a hysteroscope (or a uterine surgery instrument catheter) are as follows:

[0070] S1: Control the sleeve clamp 4 to be in a loose state through the clamp controller 6;

[0071] S2: Install the cannula clamp 4 on the hysteroscope (or uterine surgery instrument catheter);

[0072] S3: Adjust the position of the cannula clamp 4 on the hysteroscope;

[0073] S4: Controlling the cannula clamp 4 to be in a locked state through the clamp controller 6 so that the cannula clamp 4 is fixedly connected to the hysteroscope (or the catheter of the uterine surgery instrument);

[0074] S5: Start the ultrasonic probe 1 and insert the hysteroscope and the ultrasonic probe 1 into the vagina. When inserting, the hysteroscope moves together with the ultrasonic probe 1 through the cannula clamp 4. The ultrasonic probe 1 takes real-time images and guides the doctor to operate until the end of the cannula clamp 4 touches the cervix. Figure 6 As shown;

[0075] S6: Release the cannula clamp 4. At this time, the ultrasound probe 1 is located in the posterior fornix, and the end of the cannula clamp 4 is against the cervix. The hysteroscope can slide relative to the cannula clamp 4 to adjust its position for inspection or surgical operation. During this process, the flexible joint 2 can be adjusted by the joint controller 3 to change the imaging position of the ultrasound probe 1. The flexible joint 2 and the ultrasound probe 1 can also be used to lift the uterus along the posterior fornix to perform a lifting operation.

[0076] S7: After the operation is completed, the cannula clamp 4 is locked again with the hysteroscope (or the uterine surgery instrument catheter), and the ultrasonic probe 1 is pulled out, and the hysteroscope is taken out together.

[0077] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0078] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0079] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A novel transvaginal flexible ultrasound probe, characterized in that: include: An ultrasonic probe (1) is arranged at one end of the flexible joint (2) and is used to form an ultrasonic image; A flexible joint (2), one end of which is connected to the ultrasonic probe (1) and the other end of which is connected to the joint controller (3), and is used to control the swing of the ultrasonic probe (1); The joint controller (3) is connected to the flexible joint (2) and is used to control the flexible joint (2).

2. The novel transvaginal flexible ultrasound probe according to claim 1, characterized in that: The ultrasonic probe (1) is a transducer array.

3. The novel transvaginal flexible ultrasound probe according to claim 2, characterized in that: The transducer array is composed of a plurality of micro-convex transducers.

4. The novel transvaginal flexible ultrasound probe according to claim 1, characterized in that: The flexible joint (2) is a planar bending structure.

5. The novel transvaginal flexible ultrasound probe according to claim 4, characterized in that: The planar bending structure has at least one rotation axis controlled by a joint controller (3).

6. The novel transvaginal flexible ultrasound probe according to claim 1, characterized in that: The flexible joint (2) is a multi-axis rotation structure.

7. The novel transvaginal flexible ultrasound probe according to claim 6, characterized in that: The multi-axis rotating structure consists of at least two rotating axes, and the rotating axes are arranged in a normal direction with respect to each other.

8. The novel transvaginal flexible ultrasound probe according to claim 1, characterized in that: Also includes: A sleeve clamp (4) is arranged on the side wall of the clamp linkage (5); The clamp linkage part (5) has one end connected to the end of the flexible joint (2) away from the ultrasonic probe (1), and the other end connected to the joint controller (3).

9. The novel transvaginal flexible ultrasound probe according to claim 8, characterized in that: It also includes a clamp controller (6) for controlling the sleeve clamp (4) to clamp or release the hysteroscope.

10. The novel transvaginal flexible ultrasound probe according to claim 1, characterized in that: It also includes a handheld part (7), one end of the flexible joint (2) away from the ultrasonic probe (1) is connected to the handheld part (7), and the joint controller (3) is arranged on the handheld part (7) and is electrically connected to the flexible joint (2).

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