Magnetic navigation and ultrasonic knife integrated equipment

Abstract

The invention relates to the technical field of medical instruments, in particular to magnetic navigation and ultrasonic scalpel integrated equipment which comprises an ultrasonic scalpel head, a magnetic positioning sensor, a moving component and a central control unit, and the ultrasonic scalpel head is connected with the moving component so as to be used for driving the ultrasonic scalpel head to reach a preset to-be-treated part; the magnetic positioning sensor is integrated on the ultrasonic scalpel head, and an external magnetic navigation system performs real-time positioning on the ultrasonic scalpel head through a magnetic field signal; the central control unit is in communication or electrical connection with the magnetic navigation system, the moving component and the magnetic positioning sensor, and is used for receiving and processing a magnetic field signal returned by the magnetic positioning sensor and positioning data from an external magnetic navigation system; the magnetic positioning sensor is directly integrated on the ultrasonic scalpel head, deep fusion of real-time positioning guiding and accurate energy treatment is achieved, and the core technical problems that traditional operation depends on doctor experience, and accurate guiding and positioning and treatment function separation are lacked are effectively solved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an integrated device combining magnetic navigation and ultrasonic scalpel. Background Technology

[0002] In the field of soft tissue resection, such as liver tumor removal, magnetic navigation technology is widely used. It establishes an electromagnetic field space through an external magnetic navigation system to track the position of the ultrasonic scalpel head in real time, shifting the cutting path planning and execution from "experience-dependent" to "data-driven," significantly improving cutting accuracy and controllability. However, in the complex in vivo environment, simple electromagnetic spatial coordinates cannot accurately correspond to the actual scalpel head pose that changes due to dynamic factors such as tissue deformation and instrument movement, resulting in a deviation between the navigation signal and the actual operation. To solve the above problems, this invention proposes an integrated magnetic navigation and ultrasonic scalpel device. Summary of the Invention

[0003] To achieve the above objectives, the present invention provides an integrated magnetic navigation and ultrasonic scalpel device, comprising: An ultrasonic scalpel head is applied to a predetermined area to be treated. The ultrasonic scalpel head is connected to a moving component to drive the ultrasonic scalpel head to the predetermined area to be treated. A magnetic positioning sensor, integrated into the ultrasonic scalpel head, is used to receive magnetic field signals emitted by an external magnetic navigation system in real time. The external magnetic navigation system uses these magnetic field signals to position the ultrasonic scalpel head in real time. The central control unit is communicatively or electrically connected to the magnetic navigation system, the moving component, and the magnetic positioning sensor. It is used to receive and process the magnetic field signal returned by the magnetic positioning sensor and the positioning data from the external magnetic navigation system, monitor the position and attitude of the ultrasonic scalpel head in real time, and generate control commands accordingly to control the moving component to drive the ultrasonic scalpel head to move precisely to the preset treatment area along a predetermined or real-time planned path.

[0004] Optionally, the moving component includes a connecting rod and a pusher; The driving end of the pusher is connected to the connecting flexible rod, and the end of the connecting flexible rod away from the pusher is connected to the tail of the ultrasonic scalpel head.

[0005] Optionally, the magnetic navigation and ultrasonic scalpel integrated device further includes a guide tube, with the ultrasonic scalpel head disposed near the top end of the guide tube, the pusher disposed near the tail end of the guide tube, and the connecting flexible rod movably disposed inside the guide tube.

[0006] Optionally, a hidden groove is recessed from the outer wall towards the central axis on the ultrasonic scalpel head. The hidden groove is arranged along the axial direction of the ultrasonic scalpel head and has an annular structure. The magnetic positioning sensor is located in the hidden groove, and the distance from the outer peripheral wall to the central axis of the magnetic positioning sensor is less than or equal to the depth of the hidden groove.

[0007] Optionally, the magnetic navigation and ultrasonic scalpel integrated device further includes a push-pull rod and a movable slide. The movable slide is recessed from the outer side wall of the ultrasonic scalpel head towards the central axis, and the length direction of the movable slide is arranged along the axial direction of the ultrasonic scalpel head. The push-pull rod is movably disposed in the movable slide, and one end of the push-pull rod is connected to an external driver, and the other end is connected to the magnetic positioning sensor to drive the magnetic positioning sensor to move along the axial direction of the ultrasonic scalpel head in the hidden groove.

[0008] Optionally, the integrated magnetic navigation and ultrasonic scalpel device further includes a support ring, which is sleeved on the outside of the ultrasonic scalpel head. The support ring has a rotating groove recessed from the outer side wall to the inner side wall. The rotating groove is arranged along the circumference of the support ring and has a ring-shaped structure. The magnetic positioning sensor is movably disposed in the rotating groove and can rotate circumferentially around the ultrasonic scalpel head within the rotating groove.

[0009] Optionally, the magnetic navigation and ultrasonic scalpel integrated device further includes a driving component, which includes a fixing ring, an insulating layer, a magnetic coil, and a permanent magnet; The fixing ring is fixedly disposed on the inner side wall of the support ring, and the fixing ring is movably sleeved on the outside of the ultrasonic scalpel head. The fixing ring has an annular groove recessed from the outer side wall to the inner side wall along the circumference of the fixing ring. The insulating layer is fixedly disposed on the bottom wall of the annular groove, and the number of the insulating layers is set to a plurality of them, which are arranged at equal intervals along the circumference of the annular groove. The magnetic coil is disposed on the insulating layer, and the number of the magnetic coil is matched with the number of the insulating layers. Adjacent magnetic coils have the same potential difference. The permanent magnet is mounted on the magnetic positioning sensor.

[0010] Optionally, there is a gap between the side of the magnetic coil away from the insulating layer and the inner wall of the support ring, the size of which is between 0.1 cm and 0.5 cm.

[0011] Optionally, the magnetic positioning sensor has an arc-shaped surface on the side facing the central axis of the ultrasonic scalpel head, and the curvature of the arc-shaped surface is consistent with the curvature of the bottom wall of the rotating groove.

[0012] Optionally, the magnetic navigation and ultrasonic scalpel integrated device further includes a locking component, which includes a sliding ring and a sliding groove; The sliding ring is fixedly mounted on the side wall of the ultrasonic scalpel head along the axial direction of the magnetic positioning sensor; The sliding groove is disposed on the support ring along the side wall of the rotating groove in a direction away from the sliding ring. The sliding ring is movably disposed within the sliding groove to restrict the magnetic positioning sensor from circumferentially rotating around the ultrasonic scalpel head within the rotating groove.

[0013] The beneficial effects of this invention are as follows: This invention achieves a deep integration of real-time three-dimensional spatial positioning guidance and precise energy therapy by directly integrating a magnetic positioning sensor into the ultrasonic scalpel head. It effectively solves the core technical problems of traditional operation relying on doctor experience, lacking visual guidance, and separating positioning and treatment functions. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the ultrasonic scalpel head of the present invention; Figure 2 for Figure 1 Schematic diagram of the left-side cross-sectional structure of the central magnetic navigation system; Figure 3 for Figure 1 A schematic diagram of the structure of a central magnetic navigation system viewed from below; Figure 4 for Figure 3 Enlarged schematic diagram of structure A in the middle.

[0015] Explanation of reference numerals in the attached figures: 1. Ultrasonic scalpel head; 11. Hidden groove; 2. Support ring; 21. Rotating groove; 3. Magnetic positioning sensor; 4. Push-pull rod; 5. Moving slide; 6. Drive component; 61. Fixing ring; 62. Annular groove; 63. Insulation layer; 64. Magnetic coil; 65. Permanent magnet; 7. Locking component; 71. Sliding ring; 72. Sliding groove. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions in the embodiments 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 inventive effort are within the scope of protection of this invention. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art. The terms "comprising" and similar expressions used herein mean that the element or object preceding the word covers the element or object listed following the word and its equivalents, but do not exclude other elements or objects.

[0017] To address the problems existing in the prior art, embodiments of the present invention provide an integrated device for magnetic navigation and ultrasonic scalpel, such as... Figure 1 As shown, the device includes an ultrasonic scalpel head 1, a magnetic positioning sensor 3, a moving component (not labeled), and a central control unit (not shown). This embodiment integrates the ultrasonic scalpel head 1, the magnetic positioning sensor 3, the moving component, and the central control unit into a single unit, constructing a highly collaborative intelligent diagnostic and treatment platform. The core advantage of this setup lies in achieving seamless closed-loop control of real-time positioning, precise drive, and energy therapy: the magnetic positioning sensor 3 is directly integrated into the ultrasonic scalpel head 1, enabling it to capture its precise pose in the electromagnetic field of the external magnetic navigation system in real time; the central control unit acts as the "brain," processing this positioning data and generating control commands in real time; and the moving component acts as the "actuator arm," precisely driving the ultrasonic scalpel head to move along a predetermined path.

[0018] At the same time, this integrated design fundamentally solves the core pain points of traditional operation, which relies on doctors' experience and is disconnected from the positioning and treatment process. It deeply integrates the originally independent navigation and positioning function with the ultrasound treatment function, enabling the device to automatically and intelligently complete the entire process from "spatial perception" to "path planning" to "precision treatment", which significantly improves the accuracy, safety and efficiency of the surgery, while lowering the technical threshold.

[0019] In one embodiment, such as Figure 1As shown, the magnetic positioning sensor 3 is integrated into the ultrasonic scalpel head 1, used to receive magnetic field signals emitted by an external magnetic navigation system in real time. The external magnetic navigation system uses these magnetic field signals to position the ultrasonic scalpel head 1 in real time. This embodiment directly integrates the magnetic positioning sensor 3 into the ultrasonic scalpel head 1 to receive magnetic field signals emitted by the external magnetic navigation system in real time. The core advantage of this setup is that it achieves physical unification of the signal sensing source and the treatment terminal, fundamentally improving the accuracy of positioning and the system's response speed. By embedding the magnetic positioning sensor 3 into the ultrasonic scalpel head 1, its real-time pose changes in the external magnetic field can be captured directly and without delay, avoiding mechanical transmission errors and spatial registration deviations caused by separate installation of the sensor and the scalpel head.

[0020] In one embodiment, the magnetic positioning sensor 3 can be an array of miniature electromagnetic coils 64 made of soft magnetic material with high permeability. The magnitude and direction of the current are precisely controlled by the central control unit, thereby generating a guide magnetic field with controllable intensity and variable gradient around the ultrasonic scalpel head 1. This magnetic field can be coupled with the magnetic sensor on the interventional device, and the spatial coordinates and attitude of the device are fed back in real time by calculating the changes in the magnetic field. This provides sub-millimeter-level precise real-time navigation for the motion path planning and target positioning of the ultrasonic scalpel head 1, and finally forms a closed-loop control system integrating positioning and treatment.

[0021] In one embodiment, such as Figure 1As shown, the central control unit is communicatively or electrically connected to the magnetic navigation system, the moving component, and the magnetic positioning sensor 3. It receives and processes the magnetic field signals transmitted back by the magnetic positioning sensor 3 and the positioning data from the external magnetic navigation system, monitors the position and attitude of the ultrasonic scalpel head in real time, and generates control commands accordingly. These commands control the moving component to drive the ultrasonic scalpel head 1 precisely along a predetermined or real-time planned path to the preset treatment area. This embodiment constructs an intelligent closed-loop control system integrating perception, decision-making, and execution. The central control unit, acting as the system's "nerve center," continuously receives and integrates the raw magnetic field signals from the magnetic positioning sensor 3 and the positioning data calculated by the external magnetic navigation system, achieving millisecond-level real-time monitoring and data verification of the ultrasonic scalpel head 1's position and attitude. Based on this high-precision and high-reliability spatial perception information, the central control unit can intelligently generate forward-looking control commands according to the preset surgical path or real-time planned navigation trajectory, and precisely drive the moving component (such as the pusher and connecting rod) to move the ultrasonic scalpel head 1 to sub-millimeter-level precise displacement. This end-to-end automated control, from "multi-source information perception" to "intelligent decision-making" and then to "precise execution," has completely changed the traditional model that relies on manual operation by doctors. It not only significantly improves the accuracy and repeatability of surgery, but also effectively avoids the risks caused by human judgment delays or operational errors, ultimately ensuring that the treatment device can safely and efficiently reach and act on the target lesion along the optimal path.

[0022] In one embodiment, the central control unit can be a programmable logic controller or microprocessor system with a built-in dedicated navigation algorithm and energy control protocol. It receives real-time spatial coordinate data from the magnetic navigation system and outputs two control signals synchronously and precisely according to the preset surgical path planning: one signal dynamically adjusts the current of the magnetic positioning sensor 3 to change the magnetic field strength and gradient, thereby achieving continuous tracking and guidance of the interventional device; the other signal precisely modulates the drive electrical signal of the ultrasonic energy generator to control the ultrasonic frequency and output power, thereby ensuring that the ultrasonic scalpel head 1 can apply the most suitable treatment energy the moment it arrives at the target area, ultimately realizing intelligent coordination and closed-loop control of the positioning and treatment process.

[0023] In one embodiment, such as Figure 1As shown, the moving component includes a connecting flexible rod (not labeled) and a pusher (not shown); the driving end of the pusher is connected to the connecting flexible rod, and the end of the connecting flexible rod away from the pusher is connected to the tail of the ultrasonic scalpel head 1. This embodiment constructs a motion mechanism combining flexible transmission and precise drive by using a connecting flexible rod and a pusher to form the moving component, connecting the driving end of the pusher to the connecting flexible rod, and directly connecting the distal end of the connecting flexible rod to the tail of the ultrasonic scalpel head 1. The advantage of this arrangement is that the connecting flexible rod itself has good flexibility and bendability, allowing it to flexibly adapt to the complex anatomical paths and tortuous changes of natural cavities within the body, ensuring excellent instrument passability; at the same time, the pusher, as a rigid drive source, can provide precise and stable axial thrust or tension, which is transmitted to the ultrasonic scalpel head 1 with almost no loss through the connecting flexible rod, thus organically combining flexible path adaptability with rigid precise displacement control. This design, which combines rigidity and flexibility, ensures that the ultrasonic scalpel head 1 can "follow the trend" and reduce damage to surrounding tissues when reaching deep or roundabout targets, while also ensuring that it can achieve sub-millimeter-level precise positioning and stable operation in the final treatment stage. This fundamentally improves the control performance and treatment reliability of the entire integrated device in minimally invasive surgery.

[0024] In one embodiment, the actuator can be a stepper motor or servo motor integrated with a miniature magnetic sensor. Its output shaft is coupled to the connecting flexible rod of the ultrasonic scalpel head via a conductive slip ring, ensuring that electrical signals and energy are continuously transmitted to the scalpel head while providing precise rotation or linear thrust. The actuator receives commands from a central control unit, which dynamically adjusts the actuator's motion parameters (such as displacement, speed, or direction) based on real-time scalpel head pose data fed back from an external magnetic navigation system. This drives the connecting flexible rod to precisely move or stably stop the ultrasonic scalpel head along a preset path. This design achieves a closed-loop linkage of magnetic positioning signal—decision control—mechanical drive, effectively solving the positioning deviation problem caused by instrument drift or tissue deformation in traditional operations.

[0025] In one embodiment, the integrated magnetic navigation and ultrasonic scalpel device further includes a guide tube (not labeled), with the ultrasonic scalpel head 1 positioned near the top end of the guide tube, the pusher positioned near the tail end of the guide tube, and the connecting flexible rod movably disposed within the guide tube. This embodiment, by setting a guide tube, positioning the ultrasonic scalpel head 1 near its top end, the pusher near its tail end, and the connecting flexible rod movably disposed within the guide tube, constructs a highly integrated and stable guiding channel. This layout allows the connecting flexible rod, constrained by the guide tube, to accurately and with low friction transmit the thrust or pull force generated by the pusher to the ultrasonic scalpel head 1, effectively preventing the flexible rod from bending, twisting, or deviating from the preset path in the complex environment of the body, thereby ensuring the linearity and controllability of the ultrasonic scalpel head's movement along a predetermined trajectory. The guide tube not only provides reliable mechanical support and protection for the entire drive system but also significantly improves the instrument's passability and stability when passing through tissues, ultimately laying a solid structural foundation for achieving sub-millimeter-level precise positioning and safe treatment operations.

[0026] In one embodiment, such as Figure 1 As shown, a hidden groove 11 is recessed from the outer wall towards the central axis on the ultrasonic scalpel head 1. The hidden groove 11 is arranged along the axial direction of the ultrasonic scalpel head 1 and has an annular structure. The magnetic positioning sensor 3 is disposed within the hidden groove 11, and the distance from the outer peripheral wall to the central axis of the magnetic positioning sensor 3 is less than or equal to the depth of the hidden groove 11. This embodiment achieves a high degree of integration and minimizes interference between the magnetic positioning sensor 3 and the ultrasonic scalpel head 1 in terms of structure and function. By embedding the magnetic positioning sensor 3 within the annular groove along the axial direction of the scalpel head and ensuring that it does not protrude from the outer contour of the scalpel head (the distance from the outer peripheral wall to the central axis is less than or equal to the groove depth), the entire device can maintain the original streamlined shape and minimally invasive characteristics of the traditional ultrasonic scalpel, avoiding the problems of increased instrument diameter or obstruction when passing through natural cavities due to the addition of an external navigation device. This structure protects the delicate magnetic navigation elements from direct impact and ensures that the center of the magnetic field it generates is as close as possible to the working axis of the scalpel head. This provides the interventional device with a more accurate and stable spatial reference coordinate system relative to the treatment end, ultimately achieving seamless navigation guidance without affecting the operational flexibility of the ultrasonic scalpel head 1.

[0027] In one embodiment, such as Figure 1As shown, the integrated magnetic navigation and ultrasonic scalpel device also includes a push-pull rod 4 and a movable slide 5. The movable slide 5 is recessed from the outer side wall of the ultrasonic scalpel head 1 towards the central axis, and the length direction of the movable slide 5 is arranged along the axial direction of the ultrasonic scalpel head 1. The push-pull rod 4 is movably disposed in the movable slide 5, and one end of the push-pull rod 4 is connected to an external driver, and the other end is connected to the magnetic positioning sensor 3 to drive the magnetic positioning sensor 3 to move along the axial direction of the ultrasonic scalpel head 1 in the hidden groove 11.

[0028] This embodiment endows the magnetic positioning sensor 3 with adjustable axial positioning capability, thereby achieving dynamic and precise matching between the navigation focus and the treatment area. By controlling the movement of the push-pull rod 4 within the axial groove through an external actuator, the specific position of the magnetic positioning sensor 3 embedded in the hidden groove 11 along the axis of the ultrasonic scalpel head 1 can be actively adjusted. This allows the device to flexibly adjust the optimal operating point of the magnetic field emission source according to different clinical needs (such as deep lesions or superficial targets). This dynamic adjustment mechanism not only optimizes the efficiency and accuracy of the magnetic field spatial distribution, ensuring the strongest and most stable navigation signal for the interventional device throughout the entire treatment path, but also greatly enhances the device's adaptability to different anatomical structures and surgical scenarios, realizing the intelligent function of "one scalpel" adapting to multiple complex surgeries.

[0029] In one embodiment, the external driver can be a micro stepper motor or a piezoelectric ceramic actuator, which receives command signals from the central control unit to precisely control the displacement and speed of the push-pull rod 4, thereby driving the magnetic navigation system to perform millimeter-level axial positioning within the hidden groove 11. This high-precision driving method allows the position of the magnetic field emission source to be dynamically adjusted according to the real-time surgical requirements, which not only optimizes the navigation signal strength and stability at lesions of different depths, but also ensures that the relative position of the magnetic navigation system and the treatment end of the ultrasonic scalpel head 1 is always in the best coordinated state, further improving the adaptive capability and operational flexibility of the entire system.

[0030] In one embodiment, such as Figure 1 As shown, the integrated magnetic navigation and ultrasonic scalpel device also includes a support ring 2, which is sleeved on the outside of the ultrasonic scalpel head 1. The support ring 2 has a rotating groove 21 recessed from the outer side wall to the inner side wall. The rotating groove 21 is arranged along the circumference of the support ring 2 and has a ring structure. The magnetic positioning sensor 3 is movably disposed in the rotating groove 21 and can rotate circumferentially around the ultrasonic scalpel head 1 within the rotating groove 21.

[0031] In this embodiment, the magnetic positioning sensor 3 is configured to have 360 ​​degrees of circumferential rotational freedom, thereby achieving omnidirectional, blind-angle-free magnetic field guidance capability. By enabling the magnetic positioning sensor 3 to rotate around the ultrasonic scalpel head 1 within the annular rotating groove 21, the direction of the controllable magnetic field it generates is no longer fixed, but can be dynamically adjusted according to the actual spatial orientation of the interventional instrument relative to the ultrasonic scalpel head 1. This allows the system to provide the optimal magnetic field gradient for precise tracking and guidance regardless of the angle from which the instrument approaches the target area, greatly enhancing its adaptability to complex anatomical paths (such as tortuous blood vessels or inter-organ spaces), solving the signal blind zone problem that may exist in fixed navigation, and ultimately achieving true three-dimensional, full-space real-time precise positioning.

[0032] In one embodiment, such as Figure 2 As shown, the magnetic navigation and ultrasonic scalpel integrated device also includes a driving component 6, which includes a fixing ring 61, an insulating layer 63, a magnetic coil 64, and a permanent magnet 65.

[0033] The fixing ring 61 is fixedly disposed on the inner sidewall of the support ring 2, and the fixing ring 61 is movably sleeved on the outside of the ultrasonic scalpel head 1. The fixing ring 61 has an annular groove 62 recessed from the outer sidewall to the inner sidewall, which is arranged circumferentially along the fixing ring 61. The insulating layer 63 is fixedly disposed on the bottom wall of the annular groove 62. The number of insulating layers 63 is arranged in a plurality, and the plurality of insulating layers 63 are arranged at equal intervals along the circumference of the annular groove 62. The magnetic coil 64 is disposed on the insulating layer 63, and the number of magnetic coils 64 is matched with the number of insulating layers 63. The adjacent magnetic coils 64 have the same potential difference. The permanent magnet 65 is disposed on the magnetic positioning sensor 3.

[0034] This embodiment achieves precise, wireless control of the circumferential rotation of the magnetic positioning sensor 3 using electromagnetic principles. The component generates a programmable rotating magnetic field within the annular groove 62 of the fixed ring 61 by sequentially supplying currents with a fixed potential difference to magnetic coils 64 evenly distributed along the circumference. This rotating magnetic field interacts with the permanent magnet 65 mounted on the magnetic positioning sensor 3, generating a magnetic torque that drives the magnetic positioning sensor 3 to rotate precisely in steps or continuously within the rotating groove 21 of the support ring 2. This non-contact driving method avoids complex mechanical transmission structures, reducing equipment size and wear, enabling flexible and quiet 360-degree omnidirectional navigation angle adjustment, and allowing precise control of the coil current via a central control unit to position the magnetic field direction, enabling intelligent adaptive navigation guidance to change the spatial posture of the interventional device.

[0035] In one embodiment, the insulating layer 63 can be an alumina or aluminum nitride ceramic sheet, which is firmly attached to the metal bottom wall of the annular groove 62 by a high-temperature sintering process. This ceramic material not only has excellent electrical insulation properties, which can effectively prevent leakage or short circuit to the fixed ring 61 when the magnetic coil 64 is energized, ensuring the electrical safety of the drive component 6, but also its high thermal conductivity can quickly conduct and dissipate the Joule heat generated when the magnetic coil 64 is working, avoiding heat accumulation that affects the measurement accuracy and operational stability of the magnetic navigation system, providing a key guarantee for the long-term reliable operation of the drive component 6 in a confined space.

[0036] In one embodiment, the number of insulating layers 63 and magnetic coils 64 can be 6 or 8 groups, which are evenly distributed along the circumference of the fixing ring 61. This symmetrical and multi-group configuration allows for precise sequential control of the current of each group of magnetic coils 64 through the central control unit, thereby generating a uniform and directionally controllable stepping rotating magnetic field within the annular groove 62. This magnetic field interacts with the permanent magnet 65 to provide sufficient driving torque and smooth rotation for the magnetic positioning sensor 3, achieving precise orientation adjustment with a minimum step angle of 60 degrees or 45 degrees. This ensures that the magnetic field guidance direction can quickly and stably cover the entire 360-degree circumference, meeting the high-precision navigation requirements of interventional devices with different spatial angles in clinical practice.

[0037] In one embodiment, such as Figure 2 As shown, there is a gap between the side of the magnetic coil 64 away from the insulation layer 63 and the inner wall of the support ring 2, and the size of the gap is between 0.1 cm and 0.5 cm. In this embodiment, the gap provides necessary physical buffering and thermal management space for the operation of the magnetic coil 64. This gap ensures, on the one hand, that the magnetic coil 64 will not make hard contact or rub against the inner wall of the support ring 2 when it undergoes slight deformation due to heat generation, avoiding mechanical damage and vibration noise, and ensuring the smoothness and reliability of the drive component 6. On the other hand, this gap forms a small airflow channel, which helps to dissipate the heat generated during coil operation in a timely manner, preventing heat accumulation in the confined space and causing the magnetic navigation system to overheat, thereby ensuring the accuracy of magnetic field generation and the operational stability of the entire device during long-term surgery.

[0038] In one embodiment, such as Figure 2As shown, the magnetic positioning sensor 3 has an arc-shaped surface facing the central axis of the ultrasonic scalpel head 1, and the curvature of the arc-shaped surface is consistent with the curvature of the bottom wall of the rotating groove 21. This embodiment achieves maximum contact area and stable, smooth rotational engagement between the magnetic positioning sensor 3 and the rotating groove 21. The arc-shaped surface fit design allows the magnetic positioning sensor 3 to only roll circumferentially within the rotating groove 21, effectively preventing axial swaying or tilting within the groove, ensuring the accuracy and stability of the motion trajectory. At the same time, this surface contact support method distributes the driving force evenly, reducing local pressure and frictional resistance, making the rotation smoother and reducing driving energy consumption, as well as reducing wear on precision components, thereby ensuring the accuracy of the magnetic positioning sensor 3's positional adjustment and the reliability of the entire system during long-term use.

[0039] In one embodiment, such as Figure 3 and Figure 4 As shown, the integrated magnetic navigation and ultrasonic scalpel device also includes a locking component 7, which includes a sliding ring 71 and a sliding groove 72. The sliding ring 71 is fixedly mounted on the axial sidewall of the magnetic positioning sensor 3 on the ultrasonic scalpel head 1. The sliding groove 72 is located on the support ring 2 along the sidewall of the rotating groove 21 away from the sliding ring 71. The sliding ring 71 is movably disposed within the sliding groove 72 to restrict the magnetic positioning sensor 3 from circumferentially rotating around the ultrasonic scalpel head 1 within the rotating groove 21. This embodiment provides the magnetic positioning sensor 3 with a switchable "rotation-locking" dual state, thus balancing the flexibility of intraoperative adjustment with the stability during treatment. When the navigation direction needs to be adjusted, the magnetic positioning sensor 3 can rotate freely; once adjusted to the optimal angle, the device can be firmly locked by the cooperation of the sliding ring 71 and the sliding groove 72, effectively preventing accidental displacement due to external force or vibration during surgical operations. This mechanical interlocking mechanism ensures the high stability and reliability of the magnetic field guidance direction during critical treatment phases, avoiding positioning errors caused by changes in the navigation reference, and providing a robust reference guarantee for the precise operation of the ultrasonic scalpel head 1.

[0040] In one embodiment, the dimensions of the sliding ring 71 and the sliding groove 72 can be set to have a micron-level fit tolerance. For example, the outer diameter of the sliding ring 71 is 2.0 mm, and the width of the sliding groove 72 is 2.01 mm. This precise clearance fit can ensure that the sliding ring 71 moves smoothly in the groove to realize the angle adjustment of the magnetic positioning sensor 3, and can also control the circumferential clearance within a very small range in the locked state, thereby effectively eliminating the backlash error of the rotating parts, ensuring the high stability of the magnetic positioning sensor 3 in orientation after locking, and providing a precise navigation reference for surgery.

[0041] In one embodiment, the number of sliding rings 71 and sliding grooves 72 can be set to two or three sets symmetrically distributed. For example, sliding rings 71 are respectively set at 120-degree or 180-degree intervals on the upper sidewall of the magnetic positioning sensor 3, and matching sliding grooves 72 are set at corresponding positions on the rotating groove 21 of the support ring 2. This multi-set symmetrical distribution design can apply constraint forces from different directions at the same time, forming a stable multi-point locking, effectively preventing the magnetic positioning sensor 3 from tilting on one side or rotating slightly in the locked state, ensuring that it can still maintain a precise angular position when subjected to external interference, thereby providing the surgery with reliability and stability far exceeding that of the single-point locking scheme.

[0042] In one embodiment, the sliding ring 71 is Figure 3 and Figure 4 In the embodiment, the locking point can be set on either the left or right side wall. This flexible design allows the locking point position to be optimized according to the actual layout and weight distribution of the internal components of the magnetic positioning sensor 3. By setting the sliding ring 71 on one side of the device's center of gravity projection or by using a symmetrical arrangement, a more balanced force distribution can be achieved, avoiding additional torque caused by offset locking. This ensures that the magnetic positioning sensor 3 can be firmly locked in the rotating groove 21 without jamming or generating internal stress due to uneven constraint force, thus improving the reliability and service life of the locking component 7.

[0043] While embodiments of the present invention have been described in detail above, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments. However, it should be understood that such modifications and variations fall within the scope and spirit of the present invention. Furthermore, the present invention described herein may have other embodiments and can be implemented or carried out in various ways.

Claims

1. A magnetic navigation and ultrasonic blade integrated device, comprising: The application relates to a magnetic navigation and ultrasonic knife integrated device. The device comprises an ultrasonic knife head which acts on a preset treatment site, and a moving member which is connected with the ultrasonic knife head and is used for driving the ultrasonic knife head to the preset treatment site. The device further comprises a magnetic positioning sensor which is integrated in the ultrasonic knife head and is used for receiving a magnetic field signal which is sent by an external magnetic navigation system in real time, and the external magnetic navigation system uses the magnetic field signal to position the ultrasonic knife head in real time. The device further comprises a central control unit which is in communication or electrical connection with the magnetic navigation system, the moving member and the magnetic positioning sensor, and is used for receiving and processing the magnetic field signal which is returned by the magnetic positioning sensor and the positioning data which is sent by the external magnetic navigation system, monitoring the position and posture of the ultrasonic knife head in real time, and generating a control instruction according to the position and posture of the ultrasonic knife head, so that the moving member drives the ultrasonic knife head to move along a predetermined or real-time planned path to the preset treatment site.

2. The magnetic navigation and ultrasonic blade integrated device of claim 1, wherein, The moving member comprises a connecting soft rod and a pusher. The driving end of the pusher is connected with the connecting soft rod, and the end of the connecting soft rod which is far away from the pusher is connected with the tail of the ultrasonic knife head.

3. The magnetic navigation and ultrasonic blade integrated device of claim 2, wherein, The device further comprises a guide tube, the ultrasonic knife head is arranged close to the top end of the guide tube, the pusher is arranged close to the tail end of the guide tube, and the connecting soft rod is movably arranged in the guide tube.

4. The magnetic navigation and ultrasonic blade integrated device of claim 1, wherein, The ultrasonic knife head is recessed with a hidden groove from the outer wall to the central axis, the hidden groove is arranged along the axial direction of the ultrasonic knife head and has a ring structure, the magnetic positioning sensor is arranged in the hidden groove, and the distance from the outer peripheral wall to the central axis of the magnetic positioning sensor is less than or equal to the depth of the hidden groove.

5. The magnetic navigation and ultrasonic blade integrated device of claim 4, wherein, The device further comprises a push-pull rod and a moving sliding groove, the moving sliding groove is recessed from the outer wall to the central axis of the ultrasonic knife head, the length direction of the moving sliding groove is arranged along the axial direction of the ultrasonic knife head, the push-pull rod is movably arranged in the moving sliding groove, one end of the push-pull rod is connected with an external driver, and the other end of the push-pull rod is connected with the magnetic positioning sensor, so that the magnetic positioning sensor is driven to move in the hidden groove along the axial direction of the ultrasonic knife head.

6. The magnetic navigation and ultrasonic blade integrated device of claim 1, wherein, The device further comprises a supporting ring which is sleeved on the ultrasonic knife head, the supporting ring is recessed with a rotating groove from the outer wall to the inner wall, the rotating groove is arranged along the circumferential direction of the supporting ring and has a ring structure, the magnetic positioning sensor is movably arranged in the rotating groove, and the magnetic positioning sensor can rotate around the ultrasonic knife head in the rotating groove.

7. The magnetic navigation and ultrasonic blade integrated device of claim 6, wherein, The device further comprises a driving member which comprises a fixed ring, an insulation layer, a magnetic coil and a permanent magnet. The fixed ring is fixedly arranged on the inner wall of the supporting ring and movably sleeved on the ultrasonic knife head, the fixed ring is recessed with a ring groove which is arranged along the circumferential direction of the fixed ring from the outer wall to the inner wall. The insulating layers are fixedly arranged on the bottom wall of the annular groove, and the number of the insulating layers is several, and the several insulating layers are equidistantly arranged along the circumference of the annular groove; The magnetic coils are arranged on the insulating layers, and the number of the magnetic coils matches the number of the insulating layers, and the adjacent magnetic coils have the same potential difference; The permanent magnet is arranged on the magnetic positioning sensor.

8. The magnetic navigation and ultrasonic blade integrated device of claim 7, wherein, The gap between the side of the magnetic coil away from the insulating layer and the inner side wall of the support ring is between 0.1 cm and 0.5 cm.

9. The magnetic navigation and ultrasonic blade integrated device of claim 6, wherein, The magnetic positioning sensor is provided with an arc surface on the side towards the central axis of the ultrasonic knife head, and the curvature of the arc surface is consistent with the curvature of the bottom wall of the rotating groove.

10. The magnetic navigation and ultrasonic blade integrated device of claim 6, wherein, The magnetic navigation and ultrasonic knife integrated device further comprises a locking assembly, and the locking assembly comprises a sliding ring and a sliding groove. The sliding ring is fixedly arranged on the side wall of the magnetic positioning sensor in the axial direction of the ultrasonic knife head; The sliding groove is arranged on the support ring in the direction away from the sliding ring along the side wall of the rotating groove, and the sliding ring is movably arranged in the sliding groove to limit the circumferential rotation of the magnetic positioning sensor around the ultrasonic knife head in the rotating groove.

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