Probe device and feature point position information acquisition method

Abstract

The present application relates to the technical field of feature point position registration, and particularly relates to a registration probe device and a feature point position information acquisition method, the registration probe device comprising a probe acquisition component and an optical component connected with the probe acquisition component, the optical component being provided with an optical tracking unit, the probe acquisition component comprising a shell, a probe module, a bounce mechanism and a signal triggering mechanism. Through the cooperative action of the bounce mechanism and the signal triggering mechanism, the present application realizes the automatic retraction and signal feedback of the tip probe when it reaches the target tissue, effectively solves the error problem caused by the dependence on the experience of the operator to judge the depth in the prior art, improves the registration accuracy, and no longer needs to independently set a displacement sensor for the probe to determine the displacement of the probe, thereby saving the space size. Moreover, the present application supports the synchronous work of multiple probe modules, and multiple feature points can be acquired at one time by pressing, thereby significantly reducing the time and operation steps required by the traditional single-probe point-by-point acquisition, and thereby greatly improving the intraoperative registration efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of feature point position registration, in particular to a registration probe device and a feature point position information acquisition method. BACKGROUND

[0002] In orthopedic surgery assisted by an orthopedic surgery navigation positioning robot system (such as a MAKO robot system), registration of the patient's intraoperative anatomic structure with the preoperative image (such as CT, MRI, etc.) is one of the key steps to ensure the accuracy of the surgery. To achieve this goal, the existing system usually uses a probe device with an optical tracking tool (such as a lens ball, a reflective patch, or an active light-emitting bead), which is used in conjunction with an optical camera (such as an NDI optical camera) to capture the spatial position of the optical tracking tool as the basis for registration and calibration. In a typical registration process, the surgeon uses a handheld probe to align and pierce the tip of the probe into multiple feature points on the surface of the bone, and the optical camera records the spatial position of the optical tracking tool at this time, thereby constructing a surface point cloud map of the bone surface and performing surface matching with the bone surface model in the preoperative image, and finally establishing the coordinate transformation between the intraoperative surgery space and the preoperative image space.

[0003] In orthopedic surgery, the anatomic structure of the common joint skeleton is mostly composed of three parts from the surface to the depth, namely cartilage, cortical bone, and cancellous bone. Among them, the cortical bone has the highest density and is the most prominent in X-ray or CT imaging. Therefore, the probe registration based on the preoperative image of orthopedic surgery requires the feature points collected intraoperatively to be on the surface of the hard bone (cortical bone) rather than the surface of the cartilage. During the registration process using the probe, the surgeon needs to pierce the probe tip into and through the cartilage and stop piercing in time when reaching the surface of the hard bone to collect the spatial position of the feature points on the surface of the hard bone.

[0004] However, for preoperative image registration of skeletal anatomic structures, the existing handheld probe scheme has the following significant defects: First, the existing probe is mostly a rigid structure and cannot provide clear tactile or signal feedback to the surgeon to distinguish whether the probe tip is in the cartilage layer or has reached the target hard bone surface. The surgeon mainly relies on personal experience to judge the depth of penetration, which is prone to cause inaccurate feature point collection positions due to shallow or deep penetration, introducing registration errors and affecting the accuracy of the surgery. Second, since a single probe is used for the operation, the surgeon needs to collect, align, and confirm dozens or even more feature points one by one, which is a tedious process with a long time-consuming, and the accumulated time cost makes the registration link inefficient, prolonging the surgery time.

[0005] Therefore, there is an urgent need in the art for a probe device and method that can provide clear in-place feedback and simultaneously collect multiple feature point data, thereby improving the accuracy and efficiency of registration. SUMMARY

[0006] The application provides a registration probe device and a feature point position information acquisition method, which are used to solve the defects of the lack of effective feedback mechanism and low registration efficiency of the existing handheld probe device in the preoperative image registration process of the skeletal anatomical structure, and improve the registration accuracy and efficiency.

[0007] The application provides a registration probe device, which comprises a probe acquisition component and an optical component connected with the probe acquisition component; the optical component is provided with an optical tracking unit, which is recognized and positioned by an external optical navigation device or an optical imaging device; the probe acquisition component comprises a shell, at least one probe module, a springing mechanism and a signal triggering mechanism; the shell is internally formed with a sliding channel with an open end; the probe module is slidingly arranged in the sliding channel of the shell; the probe module comprises a tip probe, which is adapted to be converted between an extended state and a retracted state; in the extended state, the tip probe extends out of the sliding channel of the shell; in the retracted state, the tip probe is retracted into the sliding channel of the shell; the springing mechanism is arranged in the sliding channel of the shell, and is used to make the tip probe in the extended state when the penetration force of the tip probe is less than a preset threshold value, and make the tip probe in the retracted state when the penetration force of the tip probe is greater than the preset threshold value; the signal triggering mechanism is arranged in the sliding channel of the shell, and is used to generate and output an electrical signal representing that the probe module has been triggered when the tip probe is in the retracted state.

[0008] According to the registration probe device provided by the application, the probe acquisition component further comprises a reset mechanism, which is arranged at the open end of the sliding channel of the shell, and is connected with the probe module and used to drive the probe module to switch from the retracted state to the extended state.

[0009] According to the registration probe device provided by the application, the reset mechanism comprises a reset ring, a trigger ring, a sensing ring and a limiting stop ring.

[0010] The reset ring is arranged at the open end of the sliding channel of the shell, and a side end of the reset ring, which faces the open end of the sliding channel of the shell, is provided with a reset ring end face, and a through hole for penetrating the tip probe is formed in the reset ring end face; a first inner ring cavity facing the shell opening is formed in the ring wall of the reset ring.

[0011] The trigger ring is arranged in the first inner ring cavity, and a trigger ring inner ring member is arranged inside the trigger ring; a first end of the trigger ring inner ring member extends towards the inner wall of the trigger ring to be connected with the inner wall of the trigger ring; the inner wall of the trigger ring and the trigger ring inner ring member jointly form a second inner ring cavity facing the shell opening.

[0012] The sensing ring is disposed inside the sliding channel opening of the housing. The sensing ring is connected to the inner ring of the trigger ring. A first limiting protrusion is formed at the sliding channel opening of the housing to restrict the sensing ring from dislodging from the sliding channel of the housing.

[0013] The limiting ring is fixedly sleeved on the outer peripheral surface of the tip probe, and the limiting ring is located within the annular space of the reset ring.

[0014] According to a registration probe device provided by the present invention, a first elastic member is provided in the first inner ring cavity, one end of the first elastic member abuts against the inner end of the first inner ring cavity, and the other end abuts against the first end of the inner ring member of the trigger ring; a second elastic member is provided in the second inner ring cavity, one end of the second elastic member abuts against the inner end of the second inner ring cavity, and the other end abuts against the first limiting protrusion.

[0015] A common sleeve is provided at the end of the reset ring facing away from the housing. The common sleeve includes a base plate and an outer sleeve. The base plate is fixed to the end of the reset ring facing away from the housing. The outer sleeve passes through the base plate and is arranged one-to-one with the probe modules so that each probe module slides through one of the outer sleeves. When the tip probe is in the extended state, the tip of the tip probe is flush with the end of the outer sleeve.

[0016] According to a registration probe device provided by the present invention, a first annular circuit board is fixedly disposed inside the housing, and a redundant sensor is disposed on the surface of the first annular circuit board facing the reset mechanism. The redundant sensor is used to monitor the displacement of the reset mechanism.

[0017] According to a registration probe device provided by the present invention, the jump mechanism includes a sliding support plate, a third elastic element, a jump magnetic plate, and a jump magnet. The sliding support plate is radially fixed within the sliding channel of the housing, and a through hole is formed on the sliding support plate for inserting the tip probe. The third elastic element is sleeved on the outer peripheral surface of the tip probe, one end of the third elastic element abuts against the surface of the sliding support plate opposite to the opening end of the sliding channel, and the other end abuts against a second limiting protrusion on the outer peripheral surface of the tip probe. The jump magnetic plate slides along the sliding channel within the housing. The radial component is fixed within the sliding channel and located on the side of the sliding support plate opposite to the opening end of the sliding channel. The snap-on magnetic plate also has a through hole for the tip probe to pass through. The snap-on magnet is fixedly disposed on the outer peripheral surface of the tip probe and located on the side of the snap-on magnetic plate opposite to the opening end of the sliding channel. When the tip probe is in the extended state, the snap-on magnet is attracted to the snap-on magnetic plate, and the third elastic element is in a compressed state. When the tip probe is in the retracted state, the snap-on magnet is disengaged from the snap-on magnetic plate, and the third elastic element is in a naturally extended state.

[0018] According to a registration probe device provided by the present invention, the signal triggering mechanism includes a second annular circuit board and an end face block. The second annular circuit board is fixedly disposed within a sliding channel of the housing, and a metal contact is provided on the surface of the second annular circuit board facing away from the opening end of the sliding channel. The end face block is fixed to the outer peripheral surface of the tip probe and is located on the side of the second annular circuit board facing away from the opening end of the sliding channel. A metal conductive piece is arranged on the surface of the end face block facing the second annular circuit board. When the tip probe is in the extended state, the metal conductive piece contacts the metal contact, and the circuit of the second annular circuit board is turned on. When the tip probe is in the retracted state, the metal conductive piece disengages from the metal contact, the circuit of the second annular circuit board is turned off, and an electrical signal indicating that the probe module has been triggered is generated and output.

[0019] According to a registration probe device provided by the present invention, the probe acquisition component further includes a main circuit board, which is located at the inner end of the sliding channel of the housing. The main circuit board is electrically connected to the signal triggering mechanism to receive the electrical signal acquired by the signal triggering mechanism that has been triggered by the probe module and transmit it externally.

[0020] According to a registration probe device provided by the present invention, there are multiple optical components distributed at different positions at the end of the probe acquisition component; the optical tracer unit includes an optical marker, an elastic seal, and a fastener; the end of the probe acquisition component is provided with a housing interface; the optical marker is located inside the housing interface; the elastic seal is disposed between the optical marker and the inner wall of the housing interface; and the fastener is connected to the housing interface through a fastening interface to fix the optical marker and the elastic seal inside the housing interface.

[0021] The present invention also provides a method for acquiring feature point location information, applicable to the registration probe device described in any one of the above claims, wherein the feature point location information acquisition method includes:

[0022] With the tip of the registration probe device extended, obtain the calibration coordinates of the tip of the tip relative to the optical components of the registration probe device, and then place the tip of the tip probe against the surface of the target area to be measured.

[0023] The registration probe device is pressed towards the surface of the target area to be measured, and the spatial pose of the optical component is continuously acquired through an optical navigation device or an optical imaging device.

[0024] The real-time spatial coordinates of the tip of the probe are calculated based on the calibration coordinates of the tip of the probe relative to the optical component and the spatial pose of the optical component.

[0025] The signal triggering mechanism of the monitoring and registration probe device generates and outputs an electrical signal that indicates that the probe module has been triggered. When a jump in the electrical signal corresponding to any of the probe modules is detected, the moment is recorded as a trigger timestamp, and the real-time spatial coordinates of the probe tip corresponding to the trigger timestamp are recorded as the feature point position information collected by the probe module.

[0026] Continue pressing the registration probe device until the feature point location information collected by all the probe modules is acquired, thus completing the feature point location information acquisition.

[0027] The registration probe device provided by this invention, through the synergistic action of a snap-action mechanism and a signal triggering mechanism, achieves automatic retraction and signal feedback of the probe tip upon reaching the target tissue. This effectively solves the error problem caused by the surgeon's experience in judging depth in existing technologies, thus improving registration accuracy. Furthermore, this registration probe device supports simultaneous operation of multiple probe modules, allowing for the acquisition of multiple feature points with a single press. This significantly reduces the time and operational steps required for point-by-point acquisition with a traditional single probe, thereby greatly improving intraoperative registration efficiency. Moreover, the automatic retraction and signal feedback of the probe tip upon reaching the target tissue, achieved through the synergistic action of the snap-action mechanism and signal triggering mechanism, eliminates the need for independent displacement sensors to monitor probe displacement. For multi-probe registration probe devices, this eliminates the need to arrange corresponding displacement sensors for each probe, greatly reducing the size of the registration probe device and providing more installation space for other internal components, thus reducing layout complexity. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the assembly structure of the registration probe device provided by the present invention.

[0030] Figure 2 This is a schematic diagram of the internal structure of the probe acquisition component provided by the present invention.

[0031] Figure 3 This is a schematic diagram of the reset mechanism provided by the present invention.

[0032] Figure 4 This is a schematic diagram of the structure of the optical component provided by the present invention.

[0033] Figure 5 This is a schematic diagram illustrating the implementation of the registration probe device provided by the present invention for collecting feature point location information.

[0034] Figure 6 This is one of the flowcharts illustrating the feature point location information acquisition process provided by the present invention.

[0035] Figure 7 yes Figure 6 A schematic diagram of the internal structure of the probe acquisition component corresponding to each stage.

[0036] Figure 8This is the second schematic diagram of the feature point location information acquisition process provided by the present invention.

[0037] Figure 9 yes Figure 8 A schematic diagram of the internal structure of the probe acquisition component corresponding to each stage.

[0038] Figure 10 This is the third flowchart illustrating the feature point location information acquisition process provided by the present invention.

[0039] Figure 11 yes Figure 10 A schematic diagram of the internal structure of the probe acquisition component corresponding to each stage.

[0040] Figure 12 This is the fourth flowchart illustrating the feature point location information acquisition process provided by the present invention.

[0041] Reference numerals: 1. Probe acquisition component; 11. Housing; 111. First limiting protrusion; 112. First annular circuit board; 1121. Redundant sensor; 12. Probe module; 121. Tip probe; 1211. Second limiting protrusion; 13. Jumping mechanism; 131. Sliding support plate; 132. Third elastic element; 133. Jumping magnetic plate; 134. Jumping magnet; 14. Signal triggering mechanism; 141. Second annular circuit board; 1 42. End face stop; 15. Reset mechanism; 151. Reset ring; 152. Trigger ring; 153. Sensing ring; 154. First elastic element; 155. Second elastic element; 156. Limiting ring; 157. Common sleeve; 1571. Base plate; 1572. Outer sleeve; 16. Main circuit board; 17. Outer shell interface; 2. Optical components; 21. Optical marking element; 22. Elastic sealing element; 23. Fastener; 231. Fastening interface. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0043] The following is combined Figures 1 to 12 The registration probe device and feature point position information acquisition method of the present invention are described.

[0044] One embodiment of the present invention provides a registration probe device, combined with Figure 1 and Figure 2As shown, the registration probe device includes a probe acquisition component 1 and an optical component 2 rigidly connected to the probe acquisition component 1; the optical component 2 is provided with an optical tracer unit for identification and positioning by an external optical navigation device or optical imaging device; the probe acquisition component 1 includes a housing 11, at least one probe module 12, a jump mechanism 13, and a signal triggering mechanism 14, and a sliding channel with one open end is formed inside the housing 11; the probe module 12 is slidably disposed in the sliding channel of the housing 11, and the probe module 12 includes a tip probe 121, which is adapted to switch between an extended state and a retracted state. In the extended state, the tip probe 121 extends out of the housing. In the retracted state, the tip probe 121 retracts into the sliding channel of the housing 11; the snap mechanism 13 is disposed in the sliding channel of the housing 11 and acts on the probe module 12, for extending the tip probe 121 when the penetration force of the tip probe 121 is less than a preset threshold, and retracting the tip probe 121 when the penetration force of the tip probe 121 is greater than the preset threshold; the signal triggering mechanism 14 is disposed in the sliding channel of the housing 11 and located near the inner end of the sliding channel of the probe module 12, for generating and outputting an electrical signal indicating that the probe module 12 has been triggered when the tip probe 121 is in the retracted state.

[0045] The housing 11 is a hollow shell structure with a shape and size suitable for use by the surgeon. In some specific examples, the housing 11 is a hollow cylinder suitable for the surgeon's palm to grip. Optionally, the housing 11 can also be changed to other shapes and sizes according to other usage methods such as finger gripping or external handle gripping, and is equipped with corresponding ergonomic grooves or interfaces, as well as surface treatments and material features such as rubber coating. The tip probe 121 is a rigid needle with a pointed end, which can easily pierce and penetrate tissue (such as cartilage). The length, material, and diameter of each segment of the tip probe 121 are determined according to overall requirements, stroke, and assembly process.

[0046] It is understood that the registration probe device of this embodiment mainly consists of a probe acquisition component 1 and an optical component 2. The probe acquisition component 1 includes a housing 11, at least one probe module 12, a snap-action mechanism 13, and a signal triggering mechanism 14. The housing 11 has a sliding channel with one open end. The probe module 12 is slidably disposed within the channel, and its tip probe 121 can switch between an extended state and a retracted state. The snap-action mechanism 13 acts on the probe module 12, maintaining its extended state when the piercing force on the tip probe 121 is less than a preset threshold, and triggering its rapid retraction when the piercing force exceeds the threshold. The signal triggering mechanism 14 is located at the inner end of the sliding channel and is used to generate and output an electrical signal indicating that the probe has been triggered when the probe retracts.

[0047] In the initial state, all the tip probes 121 are in the extended position. When the tip probe 121 contacts and penetrates softer tissue (such as cartilage), the penetration force does not reach the threshold, and the probe remains rigidly extended. Once the probe tip touches hard tissue (such as cortical bone), the resistance increases sharply, the snap mechanism 13 is triggered, and the tip probe 121 retracts instantly. At the same time, the signal triggering mechanism 14 detects the state change and outputs a trigger signal. This process can automatically identify the acquisition depth and provide clear electrical signal feedback without the operator's subjective judgment.

[0048] It is important to understand that, on the one hand, this embodiment, through the synergistic action of the snap-action mechanism 13 and the signal triggering mechanism 14, achieves automatic retraction and signal feedback of the tip probe 121 upon reaching the target tissue, effectively solving the error problem caused by the surgeon's experience in judging depth in the prior art, and improving registration accuracy. On the other hand, this registration probe device supports the simultaneous operation of multiple probe modules 12, and multiple feature points can be collected with a single press, significantly reducing the time and operation steps required for traditional single-probe point-by-point collection, thereby greatly improving intraoperative registration efficiency. Moreover, since this embodiment achieves automatic retraction and signal feedback of the tip probe 121 upon reaching the target tissue through the synergistic action of the snap-action mechanism 13 and the signal triggering mechanism 14, it is no longer necessary to equip the probe with an independent displacement sensor to monitor probe displacement. For multi-probe registration probe devices, saving the space of arranging a corresponding displacement sensor for each probe can greatly reduce the size of the registration probe device, and also provide more installation space for other components inside the device, reducing the difficulty of layout.

[0049] In some embodiments of the registration probe device of the present invention, the probe acquisition component 1 further includes a reset mechanism 15, combined with Figure 1 and Figure 2 As shown, the reset mechanism 15 is disposed at the opening end of the sliding channel of the housing 11. The reset mechanism 15 is connected to the probe module 12 and is used to drive the probe module 12 to return from the retracted state to the extended state. In this embodiment, the probe acquisition component 1 further integrates a dedicated reset mechanism 15. The reset mechanism 15 is disposed at the opening end of the sliding channel of the housing 11 and is directly connected to the internal probe module 12. The probe module 12 can be reset by the reset mechanism 15, so that the tip probe 121 switches from the retracted state to the extended state.

[0050] For some specific examples, see Figure 3As shown, the reset mechanism 15 includes a reset ring 151, a trigger ring 152, a sensing ring 153, and a limiting ring 156. The reset ring 151 is disposed at the opening end of the sliding channel of the housing 11. A reset ring end face is provided on the side of the reset ring 151 facing the opening end of the sliding channel of the housing 11. A through hole for inserting the tip probe 121 is formed on the end face of the reset ring. A first inner ring cavity is formed on the ring wall of the reset ring 151, opening towards the housing 11. The trigger ring 152 is disposed in the first inner ring cavity. A trigger ring inner ring member is disposed inside the trigger ring 152. The first end of the trigger ring inner ring member extends towards the inner wall of the trigger ring 152 to connect with the inner wall of the trigger ring 152. The inner wall of the trigger ring 152 and the trigger ring inner ring member together form a second inner ring cavity opening towards the housing 11. A sensing ring 153 is disposed inside the opening end of the sliding channel of the housing 11. The sensing ring 153 is connected to the inner ring of the trigger ring. A first limiting protrusion 111 is formed at the opening end of the sliding channel of the housing 11 to prevent the sensing ring 153 from dislodging from the sliding channel of the housing 11. A limiting retaining ring 156 is fixedly sleeved on the outer peripheral surface of the tip probe 121 and is located within the annular space of the reset ring 151.

[0051] Understandably, the reset mechanism 15 consists of a reset ring 151, a trigger ring 152, a sensing ring 153, and a limiting ring 156. The reset ring 151 is located at the open end of the sliding channel of the housing. Its inner end face has a through hole for the tip probe 121 to pass through. The first inner annular cavity on the ring wall is used to accommodate the trigger ring 152. The trigger ring 152 is connected to the sensing ring 153 through its internal trigger ring inner ring member, and together they form a stable suspension structure within the housing. The axial movement of this structure is limited by the first limiting protrusion 111 at the open end of the housing to prevent the component from falling out. The limiting ring 156 is fixed to each tip probe 121 and is located within the annular space of the reset ring 151, becoming the core medium for transmitting the reset action.

[0052] After a single feature point acquisition is completed and all the tip probes 121 are in the retracted state, the operator manually pulls the reset ring 151 outward. As the reset ring 151 moves outward, its inner end face abuts against the limiting ring 156, thereby causing all the tip probes 121 connected to it to slide outward synchronously, so that they re-extend out of the shell and return to their initial extended state before acquisition. When the operator releases the reset ring 151, the pre-tightened elastic system (the first elastic element 154 and the second elastic element 155 in the following embodiment) releases energy, driving the reset ring 151 to automatically and accurately return to its initial position, ensuring that all probe tips are flush with the outer sleeve end face, ready for the next acquisition.

[0053] The reset mechanism 15 in this embodiment achieves a highly efficient and reliable one-button reset function through its compact mechanical design. With the cooperation of the reset ring 151, trigger ring 152, sensing ring 153, and limiting ring 156, all probes can be reset simultaneously with a simple pulling action, greatly simplifying the operation process and avoiding the tedious and time-consuming process of resetting probes one by one. This significantly improves the continuous operation efficiency and user experience of the surgical registration process.

[0054] Furthermore, in some examples of the registration probe device of the present invention, a first elastic member 154 is provided in the first inner ring cavity, one end of the first elastic member 154 abuts against the inner end of the first inner ring cavity, and the other end abuts against the first end of the inner ring member of the trigger ring. A second elastic member 155 is provided in the second inner ring cavity, one end of the second elastic member 155 abuts against the inner end of the second inner ring cavity, and the other end abuts against the first limiting protrusion 111. A common sleeve 157 is provided on the side end of the reset ring 151 facing away from the housing 11. The common sleeve 157 includes a base plate 1571 and an outer sleeve 1572. The base plate 1571 is fixed to the side end of the reset ring 151 facing away from the housing 11. The outer sleeve 1572 passes through the base plate 1571. The outer sleeve 1572 is provided in a one-to-one correspondence with the probe module 12, so that each probe module 12 is correspondingly slidably inserted into an outer sleeve 1572. When the tip probe 121 is in the extended state, the tip of the tip probe 121 is flush with the end of the outer sleeve 1572.

[0055] It is understood that in this embodiment, a common sleeve 157 is provided on the side end of the reset ring 151 facing away from the housing 11. The common sleeve 157 is composed of a common base plate 1571 and multiple outer sleeves 1572. The common sleeve 157 includes an outer sleeve 1572 corresponding to each tip probe 121. Its outer diameter is slightly larger than the tip segment diameter of the tip probe 121. The roots of all the outer sleeves 1572 are rigidly connected to the common base plate 1571, so that all the outer sleeves 1572 can move synchronously. That is, the movement of any one outer sleeve 1572 will drive the base plate 1571 to move. With the coordinated action of the shared sleeve 157, the tips of all the pointed probes 121 are strictly flush with the ends of the corresponding outer sleeves 1572. For curved cartilage surfaces, when the tip of one of the pointed probes 121 contacts the highest point of the cartilage surface, the end of the corresponding outer sleeve 1572 also contacts the cartilage surface immediately. The first elastic element 154 keeps the mating end faces of the reset ring 151 and the trigger ring 152 tightly attached, and the second elastic element 155 keeps the sensing ring 153 tightly attached to the first limiting protrusion 111.

[0056] During the acquisition of skeletal feature point location information, the tip of the advanced probe 121 and the outer sleeve 1572 simultaneously approach the cartilage layer. Under continuous pressure, one of the advanced probes 121 and the end of the outer sleeve 1572 first contact the highest point of the cartilage surface, and the advanced probe 121 pierces the cartilage surface. Due to the larger diameter of the outer sleeve 1572, it remains on the cartilage surface. As the operator continues to press down on the device, the advanced probe 121 that has pierced the cartilage surface gradually penetrates deeper into the cartilage. The outer sleeve 1572 retracts under the reaction force of the highest point of the cartilage surface, and the remaining advanced probes 121 extend out from the outer sleeve 1572 and gradually pierce other positions on the cartilage surface.

[0057] The obstruction of the highest point of the cartilage surface by the outer sleeve 1572 compresses the second elastic element 155, causing the reset mechanism 15 to move towards the housing 11 until each tip probe 121 gradually touches the surface of the hard bone (cortical bone) in sequence, completing the acquisition of feature point position information. Under the action of the snap mechanism 13, the tip probe 121 retracts. After completing the acquisition of all feature point position information, the overall registration probe device leaves the bone surface, and the reset mechanism 15 rebounds a portion of its displacement under the elastic restoring force of the second elastic element 155, causing the sensing ring 153 to abut against the first limiting protrusion 111. When resetting the tip probe 121, the reset ring 151 is pulled outward. At this time, the trigger ring 152 and the sensing ring 153 are limited and stop moving. The reset ring 151 moves relative to the trigger ring 152, so that the first elastic element 154 is stretched. At the same time, the reset ring 151 restores the tip probe 121 to its initial extended state through the limiting ring 156. After the tip probe 121 is reset, the reset ring 151 is released. Under the elastic restoring force of the first elastic element 154, the reset ring 151 drives the common sleeve 157 to move toward the trigger ring 152, so that the end of the outer sleeve 1572 is flush with the tip of the tip probe 121, which is convenient for the next feature point position acquisition.

[0058] In some embodiments of the registration probe device of the present invention, a first annular circuit board 112 is fixedly disposed inside the housing 11, and a redundant sensor 1121 is disposed on the surface of the first annular circuit board 112 facing the reset mechanism 15. The redundant sensor 1121 is used to monitor the displacement of the reset mechanism 15.

[0059] It is understood that in this embodiment, redundant monitoring is achieved through the redundant sensor 1121 on the first annular circuit board 112 in conjunction with the reset mechanism 15. The first annular circuit board 112 is installed inside the housing 11 and adopts an annular design to accommodate the probe module 12 passing through. On the side surface of the first annular circuit board 112 facing the reset mechanism 15, the redundant sensor 1121 is integrated. The redundant sensor 1121 is precisely configured to monitor the axial displacement of the reset mechanism 15 in real time during the probe insertion and reset process.

[0060] When the surgeon applies the pressure device for registration, the common sleeve 157 at the front end of the repositioning mechanism 15 retracts towards the housing 11 due to obstruction at the highest point of the cartilage surface. The sensing ring 153 of the repositioning mechanism 15 is typically a magnetic ring. As the repositioning mechanism 15 moves, the relative distance between the sensing ring 153 and the redundant sensor 1121 changes. The redundant sensor 1121 (e.g., a Hall sensor, a grating ruler, or a capacitive displacement sensor) continuously captures this displacement change and converts it into an electrical signal output. This displacement data is recorded synchronously with the spatial pose information acquired by the optical navigation system and the independent electrical trigger signals of each tip probe 121. During the data processing stage, the system can cross-validate and compensate for the total displacement monitored by the sensors with the displacement calculated based on the optical data, thereby ensuring the accuracy of feature point coordinate calculations when the optical signal is obstructed or interfered with.

[0061] It is important to understand that, because the cartilage surface is curved, once the first tip probe 121 pierces the highest point of the cartilage surface, the outer sleeve 1572 begins to retract, meaning the entire retraction mechanism 15 begins to retract. The redundant sensor 1121 begins recording its relative distance to the sensing ring 153. As other tip probes 121 gradually enter the cartilage surface, the outer sleeve 1572 continues to retract. When the first tip probe 121 contacts the hard bone surface, it bounces back, and the outer sleeve 1572 continues to retract until all tip probes 121 have completed the acquisition of hard bone surface position information, detaching the entire device from the bone surface. Only when the outer sleeve 1572 leaves the cartilage surface and no longer encounters resistance will it stop retracting. During this process, the relative distance recorded by the redundant sensor 1121 to the sensing ring 153 reflects the total displacement of the outer sleeve 1572. The total displacement corresponding to the jump rebound timestamp of each tip probe 121 characterizes the position information of the corresponding bone surface feature point. The displacement information corresponding to each tip probe 121 recorded by the redundant sensor 1121 is compared, calibrated or compensated with the spatial position information collected by the optical component 2, thereby realizing the measurement and verification of the feature point position.

[0062] This embodiment significantly enhances the robustness of the system through redundant monitoring by redundant sensors 1121 on the first annular circuit board 112. By providing a displacement monitoring path independent of the optical system, valuable data redundancy is created, effectively addressing potential issues such as visual occlusion or marker blurring during surgery. This ensures the continuity and reliability of the registration process and improves data accuracy. The displacement signals monitored by the redundant sensors 1121 can be used for fine-tuning and calibrating the optical positioning results. Especially when calculating the compression of soft tissues such as cartilage or identifying the initial contact point, it can provide a more accurate reference, thereby reducing registration errors overall and improving the accuracy of surgical navigation.

[0063] In some embodiments of the registration probe device of the present invention, see Figure 2 As shown, the snap-start mechanism 13 includes a sliding support plate 131, a third elastic element 132, a snap-start magnetic plate 133, and a snap-start magnet 134. The sliding support plate 131 is fixed radially within the sliding channel of the housing 11, and a through hole for inserting the tip probe 121 is provided on the sliding support plate 131. The third elastic element 132 is sleeved on the outer peripheral surface of the tip probe 121, with one end abutting against the surface of the sliding support plate 131 facing away from the opening of the sliding channel, and the other end abutting against the second limiting protrusion 1211 on the outer peripheral surface of the tip probe 121. The snap-start magnetic plate 133 slides along the sliding channel within the housing 11... The radial direction of the channel is fixed within the sliding channel and is located on one side of the sliding support plate 131 opposite to the opening end of the sliding channel. The snap magnetic plate 133 also has a through hole for the tip probe 121 to pass through. The snap magnet 134 is fixedly disposed on the outer peripheral surface of the tip probe 121 and is located on one side of the snap magnetic plate 133 opposite to the opening end of the sliding channel. When the tip probe 121 is extended, the snap magnet 134 is attracted to the snap magnetic plate 133, and the third elastic member 132 is in a compressed state. When the tip probe 121 is retracted, the snap magnet 134 is disengaged from the snap magnetic plate 133, and the third elastic member 132 is in a naturally extended state.

[0064] It is understood that the snap-in mechanism 13 in this embodiment is composed of a sliding support plate 131, a third elastic element 132, a snap-in magnetic plate 133, and a snap-in magnet 134. The sliding support plate 131 and the snap-in magnetic plate 133 are sequentially fixed in the sliding channel of the housing 11, and both have through holes for the tip probe 121 to pass through. The third elastic element 132 (usually a precision helical spring) is sleeved on the probe, with one end limited by the sliding support plate 131 and the other end supported by a second limiting protrusion 1211 fixed on the probe. The snap-in magnet 134 is fixedly mounted on the probe and located behind the snap-in magnetic plate 133. The snap-in magnet 134 is a permanent magnet used to attract with the snap-in magnetic plate 133, providing the insertion force of the tip probe 121 when it pierces the tissue. The snap magnet 134 and the snap magnetic plate 133 are attracted to each other, maintaining the fixed state of the tip probe 121. The magnetic attraction force between the snap magnet 134 and the snap magnetic plate 133 and the elastic force of the third elastic element 132 are mutually repulsive. The resultant force of the magnetic attraction force and the elastic force of the elastic element is designed to be greater than the resistance of the target cartilage, so that the tip of the tip probe 121 can penetrate the target cartilage. However, the resultant force of the magnetic attraction force and the elastic force of the elastic element is less than the resistance of the adjacent hard bone. When the tip of the tip probe 121 contacts the hard bone, the resultant force is insufficient to maintain the attraction state, so that the attraction is automatically released.

[0065] In the initial extended state, the strong magnetic attraction between the snap magnet 134 and the snap magnetic plate 133 overcomes the pre-compression elastic force of the third elastic element 132, firmly locking the probe in the extended position. When the operator presses the device, causing the tip probe 121 to penetrate soft tissue, the probe experiences a small reaction force, maintaining the magnetic attraction state and keeping the probe rigidly extended. Once the probe tip touches the hard cortical bone, the instantaneous impact resistance generated on the bone surface is significantly greater than the magnetic attraction force, forcibly breaking the attraction between the snap magnet 134 and the snap magnetic plate 133. At this moment, the elastic potential energy stored in the third elastic element 132 is released instantaneously, driving the probe to retract at high speed, producing a clear "snap" sensation accompanied by a clicking sound. This snap action not only provides the operator with clear tactile and auditory feedback, indicating that the target acquisition depth has been reached, but the retraction displacement of the tip probe 121 also directly triggers the subsequent signal acquisition circuit.

[0066] It is important to understand that the snap-fit ​​mechanism 13 in this embodiment enables automatic and objective judgment of the acquisition depth. By employing sophisticated mechanical design, it replaces the subjective judgment that relies entirely on the surgeon's feel and experience, fundamentally eliminating registration errors caused by insertion that is too shallow or too deep, thus greatly improving accuracy. Furthermore, the snap-fit ​​mechanism 13 in this embodiment provides instantaneous and multimodal positioning feedback. The clear snap-fit ​​sensation and possible sound eliminate the need for the surgeon to distract themselves from visually checking screen prompts, making operation more intuitive and efficient. Finally, its purely mechanical-magnetic-electric working principle is extremely reliable, eliminating the need for complex electronic sensors for each probe. Its compact structure and controllable cost perfectly solve the space, interference, and cost challenges associated with integrating a large number of sensors in a multi-probe array.

[0067] In some embodiments of the registration probe device of the present invention, see also Figure 2 As shown, the signal triggering mechanism 14 includes a second annular circuit board 141 and an end face block 142. The second annular circuit board 141 is fixedly disposed in the sliding channel of the housing 11, and a metal contact is provided on the surface of the second annular circuit board 141 facing away from the opening end of the sliding channel. The end face block 142 is fixed on the outer peripheral surface of the tip probe 121 and is located on one side of the second annular circuit board 141 facing away from the opening end of the sliding channel. A metal conductive piece is arranged on the surface of the end face block 142 facing the second annular circuit board 141. When the tip probe 121 is in the extended state, the metal conductive piece contacts the metal contact, and the circuit of the second annular circuit board 141 is turned on. When the tip probe 121 is in the retracted state, the metal conductive piece disengages from the metal contact, the circuit of the second annular circuit board 141 is turned off, and an electrical signal indicating that the probe module 12 has been triggered is generated and output.

[0068] It is understood that the signal triggering mechanism 14 in this embodiment constitutes an electrical signal generation system based on changes in physical contact state, consisting of the second annular circuit board 141 and the end face block 142. The second annular circuit board 141 is fixedly installed deep in the sliding channel of the housing 11, and metal contacts are precisely arranged on its surface facing the inner side of the channel; the end face block 142 is fixedly installed at the tail of the tip probe 121, and metal conductive plates are correspondingly arranged on its surface facing the circuit board. This structure ensures that the end face block 142 and its conductive plates can move axially synchronously with the probe, thereby changing the relative position with the metal contacts on the second annular circuit board 141.

[0069] In its initial extended state, probe module 12 is at its maximum extended position. At this time, the metal conductive piece on end face block 142 maintains stable contact with the metal contact on the second annular circuit board 141, forming a closed circuit and outputting a stable level signal (such as a high level). When the tip probe 121 penetrates the soft tissue and touches the surface of hard bone, the snap mechanism 13 is triggered, and the probe retracts instantly. This retraction movement causes end face block 142 to move backward synchronously, causing the metal conductive piece to quickly separate from the metal contact. The circuit is immediately cut off, and the output signal undergoes a steep transition (such as from a high level to a low level). This transition edge of the electrical signal is accurately captured by the system as a clear and unambiguous digital event, marking the precise moment when the probe acquires an effective feature point.

[0070] It is important to understand that the signal triggering mechanism 14 in this embodiment provides an extremely reliable and low-latency trigger signal. The physical on / off detection method offers strong anti-interference capabilities and a clear signal, ensuring that the system can accurately record the moment each probe is triggered, providing a reliable time reference for subsequent calculation of the spatial coordinates of feature points. Furthermore, the signal triggering mechanism 14 ingeniously achieves sensorless detection, eliminating the need to integrate easily interfered miniature force or displacement sensors within the confined probe space. Through simple mechanical contact and circuit on / off, it achieves accurate perception and reporting of independent triggering events from multiple probes at extremely low cost and with extremely high reliability, fundamentally solving the core problems of difficult sensor placement, signal crosstalk, and high cost in multi-probe systems.

[0071] In some embodiments of the registration probe device of the present invention, the probe acquisition component 1 further includes a main circuit board 16. The main circuit board 16 is located at the inner end of the sliding channel of the housing 11. The main circuit board 16 is electrically connected to the signal triggering mechanism 14 to receive the electrical signals triggered by the probe module 12 collected by the signal triggering mechanism 14 and transmit them externally. It can be understood that the main circuit board 16, as the core electrical control and communication hub of the entire device, is fixedly installed at the innermost end of the sliding channel of the housing 11. It establishes a stable electrical connection with the signal triggering mechanism 14 (second ring circuit board 141) located in front through internal wiring, gathers and processes the trigger signals from multiple probe modules 12, and is responsible for data interaction with the external navigation system.

[0072] In practical implementation, when any probe module 12 triggers a change in its corresponding electrical signal due to a sudden retraction, the signal is first captured by the local circuit on the signal triggering mechanism 14. Subsequently, this raw electrical signal is transmitted to the main circuit board 16 in real time. The processing unit on the main circuit board 16 analyzes, de-jitters, and encodes the received multi-channel signals to accurately identify which probe was triggered and when. The processed data (including probe ID, trigger timestamp, etc.) is finally transmitted externally through the communication interface (such as a wired or wireless module) integrated on the main circuit board 16 to the host computer or surgical navigation system, thereby providing accurate input for subsequent calculation of feature point spatial coordinates.

[0073] In some embodiments of the registration probe device of the present invention, see Figure 4 As shown, there are multiple optical components 2, which are distributed at different positions at the end of the probe acquisition component 1. The optical tracer unit includes an optical marker 21, an elastic seal 22, and a fastener 23. The end of the probe acquisition component 1 is provided with a housing interface 17. The optical marker 21 is located inside the housing interface 17. An elastic seal 22 is provided between the optical marker 21 and the inner wall of the housing interface 17. The fastener 23 is connected to the housing interface 17 through a fastening interface 231 to fix the optical marker 21 and the elastic seal 22 inside the housing interface 17.

[0074] It is understandable that the optical component 2, as the key to spatial positioning, is mainly used to ensure high-precision attitude tracking. In this embodiment, the optical component 2 adopts a distributed layout, with multiple optical components 2 set at different spatial positions at the end of the probe acquisition component 1. Through a stable geometric array composed of multiple optical markers, the external optical camera can continuously and accurately calculate the six-degree-of-freedom pose (position and attitude) of the probe device in space.

[0075] At the core of each optical component 2 is a modular assembly unit, consisting of an optical marker 21, an elastic seal 22, and a fastener 23. The optical marker 21 is used for identification and positioning under external optical navigation or imaging equipment, and is preferably an optical lens sphere, but can also be any structure or device capable of optical tracking. For example, the optical marker 21 can be a reflective optical marker (such as a reflective patch, lens sphere), an active light-emitting marker (such as a light-emitting diode, miniature light source), or other structures capable of generating or reflecting detectable light signals. This invention does not limit this. The elastic seal 22 achieves compression positioning and protective sealing of the optical marker through deformation, and is preferably an O-ring, but can also be other components that can achieve sealing and positioning through elastic deformation. The fastener 23 is rigidly connected to the outer casing interface 17, used to position and fix the optical marker 21 and the elastic seal 22 in a defined position. The fastener 23 has a fastening interface 231, preferably threaded, but can also be a snap-fit, groove, hole, or other features required for coupling.

[0076] In another aspect, the present invention also provides a method for acquiring feature point location information. The method for acquiring feature point location information provided by the present invention is described below. The feature point location information acquisition method described below can be referred to in correspondence with the registration probe device described above.

[0077] In some embodiments of the feature point location information acquisition method of the present invention, the feature point location information acquisition method includes the following steps S1 to S5.

[0078] S1. The tip probe 121 of the registration probe device is extended, the calibration coordinates of the tip of the tip probe 121 relative to the optical component 2 of the registration probe device are obtained, and the tip of the tip probe 121 is brought into contact with the surface of the target area to be measured.

[0079] S2. Press the registration probe device toward the surface of the target area to be measured, and continuously acquire the spatial pose of the optical component 2 through an optical navigation device or an optical imaging device.

[0080] S3. Based on the calibration coordinates of the tip of the tip probe 121 relative to the optical component 2 and the spatial pose of the optical component 2, calculate the real-time spatial coordinates of the tip of the tip probe 121.

[0081] S4. The signal triggering mechanism 14 of the monitoring and registration probe device generates and outputs an electrical signal that indicates that the probe module 12 has been triggered. When a jump is detected in the electrical signal corresponding to any probe module 12, the moment is recorded as the trigger timestamp, and the real-time spatial coordinates of the tip of the probe 121 of the probe module 12 at the trigger timestamp are recorded as the feature point position information collected by the probe module 12.

[0082] S5. Press the registration probe device continuously until the feature point position information collected by all probe modules 12 is obtained, and the feature point position information acquisition is completed.

[0083] It is understood that in this embodiment of the feature point location information acquisition method, before the device is used, in step S1, the fixed geometric relationship (i.e., calibration coordinates) of the tip of each tip probe 121 relative to the optical component 2 is accurately obtained through calibration. During acquisition, all probes are first placed against the surface of the target area. Then, in steps S2 and S3, the surgeon presses the device toward the target surface. The external optical positioning system continuously tracks the spatial pose of the optical component 2. Based on the calibration coordinates and the real-time pose, the system calculates the real-time spatial coordinates of the tip of each probe in the global coordinate system in real time through coordinate transformation. The core lies in the trigger judgment mechanism in step S4. During the pressing process, the system monitors the electrical signal output by the signal triggering mechanism 14 in parallel. When the tip of any probe penetrates the soft tissue and touches the hard target, it will trigger a sudden retraction, causing the corresponding electrical signal to jump. The system records this moment as a trigger timestamp and immediately locks the real-time spatial coordinates of the probe at this moment, recording it as a valid feature point location information. Step S5 completes the batch acquisition process. The operator only needs to keep pressing, and the device will automatically and sequentially record the coordinates of all probes when they reach the target depth, thus efficiently acquiring a set of feature points in one operation.

[0084] It should be understood that the feature point location information acquisition method in this embodiment, through a registration probe device with a sudden feedback and electrical signal triggering mechanism, in conjunction with an external optical navigation system, achieves efficient, accurate, and automated acquisition of the location of feature points on the surface of hard tissues such as human bones. Its process can be systematically described as follows:

[0085] Step 1: System preparation and initial calibration (Step S1).

[0086] Before the surgical registration process begins, precise system calibration must be performed. Through measurement or calculation, the spatial coordinates of the tip of each probe 121 relative to the local coordinate system defined by the optical component 2 on the device are pre-determined, i.e., the calibration coordinates, in the initial state (i.e., all probe tips 121 are extended). At the start of acquisition, the surgeon places the repositioned probe device in the target area, ensuring that the tips of all probes are in contact with the surface of the bone to be measured (e.g., ...). Figure 5 (As shown).

[0087] Step 2: Real-time spatial coordinate calculation (steps S2 and S3).

[0088] The operator holds the device and presses it vertically toward the target bone surface. During this process, an external optical navigation device (such as an NDI camera) continuously captures and calculates the spatial pose (i.e., position and orientation) of the optical component 2 (such as a reflective sphere array) fixed on the device in the global coordinate system. Based on the pre-calibrated probe tip coordinates and the real-time acquired optical component pose, the computer system continuously calculates the real-time spatial coordinates of the tip of each tip probe 121 in the global space through a coordinate transformation matrix.

[0089] Step 3: Feature point trigger determination and data recording (Step S4).

[0090] This step is crucial for achieving automation and high precision in this method, and it operates in parallel with optical positioning. The system monitors in real time the electrical signals output by the signal triggering mechanism 14 (specifically, the second ring circuit board 141) for each probe module 12. When the tip of a probe penetrates soft tissue (such as cartilage) and touches the hard cortical bone surface, the resistance it experiences instantaneously exceeds the magnetic attraction force threshold of the snap-back mechanism 13, causing the probe to retract instantly. This snap-back physical action immediately causes the electrical signal corresponding to the probe to change (e.g., from a "high level" when the circuit is on to a "low level" when the circuit is off). The system captures this signal transition edge and immediately records the precise moment as a "trigger timestamp." Simultaneously, the system locks and records the real-time spatial coordinates of the probe corresponding to this trigger timestamp. These coordinates are then determined as the location information of the feature point on the hard bone surface acquired by the probe.

[0091] Step 4: Batch data collection and process closure (Step S5).

[0092] Due to the irregularity of the bone surface, multiple probes will sequentially touch the hard bone. The surgeon does not need any additional confirmation operations (such as stepping on a foot pedal); simply maintaining pressure will cause the system to automatically repeat step three, independently recording the feature point coordinates of each probe that triggers retraction. Once all probe modules 12 have been triggered (i.e., all corresponding electrical signals have changed), the single-press acquisition cycle ends. The surgeon then removes the device from the bone surface and resets all probes to the extended position using the reset mechanism 15, preparing for the next acquisition. By moving the device multiple times and repeating the above process, sufficient feature point cloud data covering the entire target area can be quickly acquired, completing intraoperative registration.

[0093] It is important to understand that the registration probe device may or may not include a redundant sensor 1121. The redundant sensor 1121 can calculate the total displacement of the probe into the cartilage to assist in verifying the final monitoring results. When each probe experiences a sudden retraction and triggers the corresponding timestamp, the redundant sensor 1121 records the displacement information reading at that time. The recorded displacement information can be compared, calibrated, or compensated with the spatial position information acquired by the optical component 2, thereby achieving enhanced measurement and verification of the probe tip position. Through the data from the redundant sensor 1121, the system can not only improve the accuracy of probe displacement and coordinate calculation, but also perform auxiliary correction in cases of abnormal displacement or optical obstruction, improving the reliability and stability of the entire acquisition process. Furthermore, the data recorded by the redundant sensor 1121 can be used for further data analysis and algorithm optimization, enhancing the accuracy of point cloud information construction and feature point recognition.

[0094] The following combination Figures 6 to 12 This paper details the specific working process of the registration probe device in the feature point location information acquisition method of this application.

[0095] Figure 6 and Figure 7 This illustrates the initial state of the registration probe device. Combined with... Figure 6 and Figure 7 As shown, all the pointed probes 121 are extended at this time, with their tips flush with the end of the outer sleeve 1572. The metal contact piece in the signal triggering mechanism 14 is in contact with the metal contact, the circuit is turned on, and an initial level signal (such as a high level) is output. The surgeon moves the device to the target bone area, so that the flush end faces of the probe array are stably pressed against the cartilage surface (such as...). Figure 5 (As shown). At this time, the system continuously tracks the pose of optical component 2 through an external optical system. The system begins to calculate and record the real-time spatial coordinates of all probe tips. A logical starting point can be set. For example, when the device remains stationary on the bone surface for more than a preset time (such as 2 seconds), the system records an "initial timestamp" and the coordinates of the first contact point at this time, which can be used for subsequent possible cartilage thickness analysis.

[0096] Figure 8 and Figure 9 This illustrates the process of the tip probe 121 of the registration probe device penetrating the cartilage. Combined with... Figure 8 and Figure 9As shown, the surgeon begins to press the device vertically downwards. Due to the relative softness of the cartilage, the pointed probe 121 penetrates the cartilage and continues to penetrate deeper due to its rigidity. Simultaneously, because the cartilage obstructs the outer sleeve 1572, the entire common sleeve 157 (including the outer sleeve 1572) is compressed and retracted into the housing. This process compresses the second elastic element 155 and causes a change in the distance between the sensing ring 153 linked to the common sleeve 157 and the redundant sensor 1121 (if equipped), and the sensor begins to record the total displacement. The external optical system continuously updates and records the real-time spatial coordinates of all probe tips, forming a penetration trajectory. Due to the unevenness of the bone surface, the depth and time of penetration of the cartilage by each probe are not consistent, but the coordinate changes of their tips are fully captured. The total displacement data synchronously recorded by the redundant sensor (if present) can serve as a verification and supplement to the optical positioning data.

[0097] Figure 10 and Figure 11 This illustrates the process of the registration probe device's tip probe 121 contacting bone to trigger the process. Combined with... Figure 10 and Figure 11 As shown, when the tip of the first (or any subsequent) tip probe 121 completely penetrates the cartilage and touches the hard cortical bone surface, the enormous reaction force of the bone instantly overcomes the magnetic attraction between the snap magnet 134 and the snap magnetic plate 133. The magnetic lock balance is broken, the snap mechanism 13 is activated, and the elastic potential energy stored in the third elastic element 132 is released instantaneously, driving the tip probe 121 to retract into the housing at high speed. The retraction of the probe causes the end face stop 142 at its tail to move synchronously, causing the metal conductive plate on it to quickly separate from the metal contact on the second annular circuit board 141, resulting in the circuit changing from conductive to disconnected, generating a clear electrical signal transition. The system monitors the circuit signals in real time. Upon capturing the instant of the above-mentioned electrical signal change, it immediately performs the following actions: records this precise moment as the trigger timestamp of the probe; locks and saves the real-time spatial coordinates (P1) of the probe tip corresponding to this trigger timestamp from the continuously recorded data stream. This coordinate (P1) is an effective location information of a feature point on the bone surface.

[0098] The practitioner maintains pressure, as described above. Figure 9 and Figure 11 The illustrated process is repeated sequentially on the remaining probes. The second and third probes are triggered at times t2 and t3 respectively, and their spatial coordinates P2 and P3 at the trigger time are recorded successively. When the signals of all probes have completed their transitions, the system determines that this press acquisition cycle has ended.

[0099] Figure 12 The diagram illustrates the reset process of the tip probe 121 of the registration probe device. See also... Figure 12As shown, the operator removes the device, and the reset mechanism 15 rebounds partially under the elastic restoring force of the second elastic element 155, causing the sensing ring 153 to abut against the first limiting protrusion 111. Pulling the reset ring 151 outward causes the trigger ring 152 and sensing ring 153 to be limited and stop moving. The reset ring 151 moves relative to the trigger ring 152, stretching the first elastic element 154. Simultaneously, the reset ring 151 restores the tip probe 121 to its initial extended state through the limiting retaining ring 156. After the tip probe 121 is reset, the reset ring 151 is released. Under the elastic restoring force of the first elastic element 154, the reset ring 151 drives the common sleeve 157 to move towards the trigger ring 152, ultimately making the end of the outer sleeve 1572 flush with the tip of the tip probe 121. The reset mechanism is then manually operated to restore all probes to their original positions. Figure 7 Once the sample is extended or aligned as shown, it is ready for the next sampling.

[0100] In another aspect, the present invention provides a readable storage medium for use with a registration probe device, applicable to the registration probe device in any of the above embodiments or examples. The readable storage medium mainly contains computer programs or instructions stored on the main circuit board 16. When executed by a processor, it can process, judge, and output the signals acquired by the probe acquisition component 1 and the optical component 2. The main circuit board 16 mainly includes a signal acquisition unit, a processor, a communication interface, a memory, and a communication bus. The signal acquisition unit, processor, communication interface, and memory communicate with each other via the communication bus. The processor can call logical instructions in the memory to execute the aforementioned feature point position information acquisition method. This method includes functions such as acquiring probe signals, threshold judgment, parameter calculation, and navigation data output, thereby cooperating with the device to complete the intraoperative registration and navigation process. Specifically, the signal acquisition device acquires the signal changes of the probe device during the puncture and sudden retraction of the target tissue. In this embodiment, this includes the voltage signal switching that occurs in the signal triggering mechanism 14 when the sudden retraction occurs, as well as the data capture of the redundant sensor 1121. The processor is used to preprocess, extract features, and make logical judgments on the data acquired by the signal acquisition device, and to identify the triggering time, reset status, and overall displacement information of each probe. The memory is used to save the feature point information, operation status records, and historical data output by the processor for subsequent comparison, retrieval, or system calls. The communication interface is used to output the results in the processor or memory through Bluetooth, network transmission, or other means of interaction with external devices.

[0101] The logical instructions in the aforementioned memory can be implemented as software functional units and sold or used as independent products, and can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0102] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0103] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A registration probe device, characterized in that, It includes a probe acquisition component (1) and an optical component (2) connected to the probe acquisition component (1); The optical component (2) is provided with an optical tracer unit for identification and positioning by external optical navigation equipment or optical imaging equipment; The probe acquisition component (1) includes: The housing (11) has a sliding channel with an opening at one end formed inside the housing (11); At least one probe module (12) is slidably disposed within a sliding channel of the housing (11). The probe module (12) includes a tip probe (121) adapted to switch between an extended state and a retracted state. In the extended state, the tip probe (121) extends out of the sliding channel of the housing (11), and in the retracted state, the tip probe (121) retracts into the sliding channel of the housing (11). A snap-start mechanism (13) is provided in the sliding channel of the housing (11) for extending the tip probe (121) when the penetration force of the tip probe (121) is less than a preset threshold, and for retracting the tip probe (121) when the penetration force of the tip probe (121) is greater than the preset threshold. A signal triggering mechanism (14) is provided in the sliding channel of the housing (11) for generating and outputting an electrical signal indicating that the probe module (12) has been triggered when the tip probe (121) is in the retracted state.

2. The registration probe device according to claim 1, characterized in that, The probe acquisition component (1) further includes a reset mechanism (15), which is located at the sliding channel opening of the housing (11). The reset mechanism (15) is connected to the probe module (12) and is used to drive the probe module (12) to switch from the retracted state to the extended state.

3. The registration probe device according to claim 2, characterized in that, The reset mechanism (15) includes: A reset ring (151) is disposed at the opening end of the sliding channel of the housing (11). The end of the reset ring (151) facing the opening end of the sliding channel of the housing (11) is provided with a reset ring end face. A through hole for the tip probe (121) is formed on the reset ring end face. A first inner ring cavity is formed on the ring wall of the reset ring (151) and opens towards the housing (11). A trigger ring (152) is disposed in the first inner ring cavity. An inner ring member is disposed inside the trigger ring (152). The first end of the inner ring member extends toward the inner wall of the trigger ring (152) to connect with the inner wall of the trigger ring (152). The inner wall of the trigger ring (152) and the inner ring member together form a second inner ring cavity that opens toward the housing (11). A sensing ring (153) is disposed inside the sliding channel opening of the housing (11). The sensing ring (153) is connected to the inner ring of the trigger ring. A first limiting protrusion (111) is formed at the sliding channel opening of the housing (11) to restrict the sensing ring (153) from dislodging from the sliding channel of the housing (11). A limiting ring (156) is fixedly sleeved on the outer peripheral surface of the tip probe (121), and the limiting ring (156) is located in the annular space of the reset ring (151).

4. The registration probe device according to claim 3, characterized in that, A first elastic element (154) is provided in the first inner ring cavity. One end of the first elastic element (154) abuts against the inner end of the first inner ring cavity, and the other end abuts against the first end of the inner ring of the trigger ring. A second elastic element (155) is provided in the second inner ring cavity. One end of the second elastic element (155) abuts against the inner end of the second inner ring cavity, and the other end abuts against the first limiting protrusion (111). A common sleeve (157) is provided on the side of the reset ring (151) facing away from the housing (11). The common sleeve (157) includes a base plate (1571) and an outer sleeve (1572). The base plate (1571) is fixed to the side of the reset ring (151) facing away from the housing (11). The outer sleeve (1572) passes through the base plate (1571). The outer sleeve (1572) is provided in a one-to-one correspondence with the probe module (12) so that each probe module (12) slides through one of the outer sleeves (1572). When the tip probe (121) is in the extended state, the tip of the tip probe (121) is flush with the end of the outer sleeve (1572).

5. The registration probe device according to any one of claims 2 to 4, characterized in that, A first annular circuit board (112) is fixedly disposed inside the housing (11). A redundant sensor (1121) is disposed on the surface of the first annular circuit board (112) facing the reset mechanism (15). The redundant sensor (1121) is used to monitor the displacement of the reset mechanism (15).

6. The registration probe apparatus according to any one of claims 1 to 4, characterized in that, The jump mechanism (13) includes: A sliding support plate (131) is fixed radially within the sliding channel of the housing (11), and the sliding support plate (131) has a through hole for inserting the tip probe (121). The third elastic element (132) is sleeved on the outer peripheral surface of the tip probe (121). One end of the third elastic element (132) abuts against the surface of the sliding support plate (131) facing away from the opening end of the sliding channel, and the other end abuts against the second limiting protrusion (1211) on the outer peripheral surface of the tip probe (121). The snap-start magnetic plate (133) is fixed radially within the sliding channel of the housing (11) and is located on the side of the sliding support plate (131) facing away from the opening end of the sliding channel. The snap-start magnetic plate (133) also has a through hole for the tip probe (121) to pass through. A snap magnet (134) is fixedly disposed on the outer peripheral surface of the tip probe (121) and located on the side of the snap magnet plate (133) opposite to the opening end of the sliding channel; When the tip probe (121) is in the extended state, the snap magnet (134) is attracted to the snap magnetic plate (133), and the third elastic element (132) is in the compressed state; when the tip probe (121) is in the retracted state, the snap magnet (134) is disengaged from the snap magnetic plate (133), and the third elastic element (132) is in the naturally extended state.

7. The registration probe device according to any one of claims 1 to 4, characterized in that, The signal triggering mechanism (14) includes: The second annular circuit board (141) is fixedly disposed in the sliding channel of the housing (11), and the surface of the second annular circuit board (141) facing away from the opening end of the sliding channel is provided with metal contacts. An end face block (142) is fixed on the outer peripheral surface of the tip probe (121) and located on the side of the second annular circuit board (141) facing away from the opening end of the sliding channel. A metal conductive sheet is arranged on the surface of the end face block (142) facing the second annular circuit board (141). When the tip probe (121) is in the extended state, the metal conductive piece contacts the metal contact, and the circuit of the second annular circuit board (141) is turned on; when the tip probe (121) is in the retracted state, the metal conductive piece disengages from the metal contact, the circuit of the second annular circuit board (141) is turned off, and an electrical signal indicating that the probe module (12) has been triggered is generated and output.

8. The registration probe apparatus according to any one of claims 1 to 4, characterized in that, The probe acquisition component (1) also includes a main circuit board (16), which is located at the inner end of the sliding channel of the housing (11). The main circuit board (16) is electrically connected to the signal triggering mechanism (14) to receive the electrical signal that the probe module (12) has been triggered by the signal triggering mechanism (14) and transmit it to the outside.

9. The registration probe apparatus according to any one of claims 1 to 4, characterized in that, There are multiple optical components (2), and the multiple optical components (2) are distributed at different positions at the end of the probe acquisition component (1); The optical tracer unit includes an optical marker (21), an elastic seal (22), and a fastener (23). The probe acquisition component (1) has a housing interface (17) at its end. The optical marker (21) is located inside the housing interface (17). The elastic seal (22) is disposed between the optical marker (21) and the inner wall of the housing interface (17). The fastener (23) is connected to the housing interface (17) through a fastening interface (231) to fix the optical marker (21) and the elastic seal (22) inside the housing interface (17).

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