An ultrasonic probe fixing device for ultrasonic-assisted intracranial operation navigation, fixing kit

Abstract

The application discloses an ultrasonic probe fixing device for ultrasonic-assisted intracranial operation navigation, which is suitable for an ultrasonic probe with symmetry in the width direction and the height direction, and comprises a frame body provided with a connecting piece capable of connecting a tracer; two clamping pieces, the two clamping pieces are in sliding connection with the frame body and are symmetrically arranged about a first reference surface, the movement path of the clamping pieces is perpendicular to the first reference surface, the two clamping pieces can have equal-speed reverse linear motion, the two clamping pieces can simultaneously approach the first reference surface at the same speed to clamp the side wall of the ultrasonic probe; a limiting piece connected with the frame body and capable of positioning the tail end of the ultrasonic probe; and a working unit provided with an abutting part capable of abutting against the center position of the contact surface of the ultrasonic probe and a calibration piece capable of being coaxially arranged with the ultrasonic probe. The application can help a user to conveniently obtain the coordinates of the middle position of the contact surface of the ultrasonic probe and establish a virtual axis of the ultrasonic probe in a surgical navigation system.

Description

Technical Field

[0001] This application belongs to the field of surgical navigation technology, specifically an ultrasound probe fixation device and fixation kit for ultrasound-assisted intracranial surgical navigation. Background Technology

[0002] In neurosurgery, brain tissue can move and shift during the procedure, a phenomenon known as brain shift. Current traditional neuronavigation systems are based on preoperative images of patients in a standard position within the examination room. However, factors such as cerebrospinal fluid loss during craniotomy, brain tissue loss, and the effects of gravity on brain tissue under the patient's specific position can cause the navigation images to not perfectly match the actual brain tissue during surgery, resulting in errors.

[0003] Currently, intraoperative imaging techniques used to correct navigation errors caused by brain drift include intraoperative MRI (iMRI), intraoperative CT (iCT), and intraoperative ultrasound (IoUS). Among these, iMRI provides the most accurate real-time intraoperative information. However, iMRI equipment is extremely expensive, requiring a dedicated operating room, non-magnetic specialized tools, and specially trained personnel for daily use. Each scan takes approximately one hour or more, making multiple intraoperative scans inconvenient. This makes it difficult for iMRI to become a routine equipment in hospitals; currently, iMRI is only available in the largest leading academic centers. Intraoperative CT is limited in its application due to radioactive contamination in the operating room. In contrast, intraoperative ultrasound is currently a more convenient option for error correction, as it can more easily register and fuse preoperative images, intraoperative ultrasound, and pre-planned navigation information.

[0004] Currently, ultrasound probes used in ultrasound-neuro navigation systems are either integrated with the instrument or are specific models specified by third-party manufacturers. Non-specific ultrasound probes cannot be directly used in ultrasound-neuro navigation systems, making them inconvenient to use. Furthermore, non-specific ultrasound probes require calibration to determine their precise position in the positioning coordinate system. However, since most existing ultrasound probes were not designed for use in ultrasound-neuro navigation systems, they lack the necessary structure to assist in calibration, making the calibration process inconvenient. Summary of the Invention

[0005] To facilitate the calibration of different ultrasound probes and to facilitate the subsequent integration of intraoperative ultrasound and preoperative navigation data, this application provides an ultrasound probe fixation device and an ultrasound probe fixation kit for ultrasound-assisted intracranial surgical navigation.

[0006] An ultrasound probe fixation device for ultrasound-assisted intracranial surgical navigation, suitable for ultrasound probes that are symmetrical in both the width and height directions, includes: a frame with a connector for connecting a tracer; two clamping members slidably connected to the frame and symmetrically arranged about a first reference plane parallel to the length direction of the frame, the movement path of the clamping members being perpendicular to the first reference plane; the two clamping members are also connected by an adjustment structure to enable them to undergo uniform and opposite linear motion, and the two clamping members can simultaneously approach the first reference plane at the same speed, along the width direction or... The device includes a sidewall that clamps the ultrasonic probe in the height direction; a limiting member that is connected to the frame and can position the tail end of the ultrasonic probe; and a working unit with a fixed distance between the calibration member and the abutment in the axial direction of the calibration member. The working unit is detachably connected to the frame. When the working unit is connected to the frame, the two clamping members are located between the working unit and the limiting member. The axis of the calibration member and the abutment are located in the first reference plane. The axis of the calibration member is parallel to the length direction of the frame. The working unit is also slidably connected to the frame and can approach the limiting member along the length direction of the frame, so that the abutment can abut against the middle position of the ultrasonic probe contact surface.

[0007] The connector has holes or rods for connecting the tracer, or other structures. When the ultrasonic probe is placed on the frame, the length of the ultrasonic probe is parallel to the length of the frame. Two clamping parts hold the ultrasonic probe. The axis of the calibration part is collinear with the axis of the ultrasonic probe, and the abutment part abuts against the middle of the contact surface of the ultrasonic probe. The lengths of the calibration part and the abutment part are fixed. Thus, when the calibration part is used with a calibration instrument equipped with a tracer and after calibration, the virtual axis of the instrument is obtained, the working unit is separated from the frame, and the coordinates of the center position of the contact surface of the ultrasonic probe are obtained by subtracting N millimeters (the distance between the calibration part and the abutment part on the axial direction of the calibration part) from the virtual axis of the instrument. The region of interest is then scanned by the ultrasonic probe to obtain regional ultrasonic imaging.

[0008] In one embodiment of this application, the working unit includes two connecting rods and two clamping plates. The extending direction of the clamping plates is perpendicular to the first reference plane, and the two clamping plates are spaced apart in a direction perpendicular to the movement plane of the clamping member. Each clamping plate has a guide portion, the extending direction of which is perpendicular to the first reference plane. The two connecting rods are pivotally connected at their middle positions via a first pivot shaft. The two connecting rods are arranged crosswise. The first end of each connecting rod is slidably and pivotally connected to one of the clamping plates, and the second end of each connecting rod is slidably and pivotally connected to the guide portion of the other clamping plate. When one clamping plate moves away from the other clamping plate, the first ends of the two connecting rods move closer to each other along the extending direction of the guide portion. When one clamping plate moves closer to the other clamping plate, the first ends of the two connecting rods move away from each other along the extending direction of the guide portion, so that the first pivot shaft is located at the middle position between the two clamping plates. The working unit also includes a working base. A calibration member is slidably connected to the working base and can move in a direction perpendicular to the movement plane of the clamping member. The first pivot shaft is connected to and coaxially arranged with the calibration member.

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

[0010] In one embodiment of this application, the working base is provided with an adjusting guide rail, which is perpendicular to the movement plane of the clamping member. One clamping plate is slidably connected to the adjusting guide rail and can move along the extension direction of the adjusting guide rail; the other clamping plate is slidably connected to the adjusting guide rail and can move along the extension direction of the adjusting guide rail; or, the other clamping plate is fixedly connected to the working base.

[0011] In one embodiment of this application, the working unit further includes a working base, a calibration member is slidably connected to the working base, the calibration member is provided with a first scale, and when the working unit is connected to the frame through the working base, the calibration member can move in a direction perpendicular to the plane of motion of the clamping member; the first scale extends in a direction perpendicular to the plane of motion of the clamping member.

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

[0013] The calibration component can be moved in a direction perpendicular to the plane of motion of the clamping component, so that the axis of the calibration component is aligned with the axis of the ultrasonic probe in the height direction of the frame. The positional change of the calibration component is obtained through the first scale. Subsequently, the connecting component is moved in a direction perpendicular to the plane of motion of the clamping component according to the change of the first scale, and the change of the second scale is observed at the same time. This ensures that the relative position of the tracer connected to the calibration component and the connecting component does not change, which facilitates subsequent calibration and registration operations.

[0014] In one embodiment of this application, the calibration element is fixedly connected to the abutment.

[0015] In one embodiment of this application, the adjustment structure includes two racks and a gear located between two clamping members. The two racks are perpendicular to a first reference plane. One rack is fixedly connected to one of the clamping members, and the other rack is fixedly connected to the other clamping member. The two racks are located on both sides of the gear rotation axis and mesh with the gear.

[0016] In one embodiment of this application, the adjustment structure is a double-ended stud, which is perpendicular to the first reference plane, and its two ends are threadedly connected to two clamping parts respectively.

[0017] An ultrasound probe fixation kit for ultrasound-assisted intracranial surgical navigation includes any of the ultrasound probe fixation devices for ultrasound-assisted intracranial surgical navigation described above, and also includes a calibration device. The calibration device has a fulcrum, and after the calibration component is connected to the fulcrum, it can perform a conical pendulum motion around the fulcrum.

[0018] In one embodiment of this application, the calibration element is a probe, the fulcrum is a calibration hole for the probe to be inserted, and the calibration instrument has multiple calibration holes with different inner diameters in a plane.

[0019] The beneficial effects of this application are at least as follows: 1. The connector is provided with holes or rods for connecting the tracer, or other structures. When the ultrasonic probe is placed on the frame, the length direction of the ultrasonic probe is parallel to the length direction of the frame. Two clamping parts hold the ultrasonic probe. The axis of the calibration part is collinear with the axis of the ultrasonic probe, and the calibration part can abut against the contact surface of the ultrasonic probe. The length of the calibration part is fixed. Thus, when the calibration part is used with a calibration instrument equipped with a tracer and after calibration, the virtual axis of the instrument is obtained. The working unit is separated from the frame, and the center position of the ultrasonic probe is obtained by subtracting N millimeters from the virtual axis of the instrument. The center position of the ultrasonic probe is the real-time displayed spatial coordinates of the ultrasonic probe. The region of interest is scanned by the ultrasonic probe to obtain regional ultrasonic imaging.

[0020] 2. Due to the connection relationship between the clamping plates, connecting rods, and the first pivot shaft, when the distance between the two clamping plates increases or decreases, the first pivot shaft can only move in a direction perpendicular to the plane of motion of the clamping member. The first pivot shaft can always be located in the middle position of the two clamping plates, and the two clamping plates can clamp the ultrasonic probe. The first pivot shaft is located in the middle position in the height direction of the frame, so that in the height direction of the frame, the axis of the calibration member is aligned with the axis of the ultrasonic probe. Under the action of the clamping member, in the width direction of the frame, the axis of the calibration member is aligned with the axis of the ultrasonic probe, thereby realizing the coaxial setting of the calibration member and the ultrasonic probe. Attached Figure Description

[0021] Figure 1 This is a schematic structural diagram of one embodiment of the present application; Figure 2 This is a schematic structural diagram of one embodiment of the first reference plane in this application; Figure 3 This is a schematic structural diagram of one embodiment of the moving plane of the clamping member in this application; Figure 4 This is a schematic diagram of one embodiment of the adjustment structure in this application; Figure 5 This is a schematic diagram illustrating one embodiment of holding an ultrasonic probe along the width of the ultrasonic probe using two clamping components. Figure 6 This is a schematic structural diagram of one embodiment in which the axis of the ultrasonic probe and the axis of the calibration component are aligned in the height direction of the frame. Figure 7 This is a schematic diagram illustrating one embodiment of an ultrasonic probe in the length, width, and height directions. Figure 8 This is a schematic structural diagram of one embodiment of the two clamps in this application being disposed on the working base; Figure 9 This is a schematic structural diagram of one embodiment of the two clamps in this application; Figure 10 This is a schematic diagram of one embodiment of the ultrasonic probe held by two clamps in this application; Figure 11 This is a schematic diagram of another embodiment of the ultrasonic probe held by two clamps in this application; Figure 12 This is a schematic diagram of one embodiment of the two clamping plates in this application connected by screws; Figure 13This is a schematic diagram showing the calibration component in this application, under the action of two clamps, with the axis of the calibration component aligned with the axis of the ultrasonic probe in the height direction of the frame; Figure 14 This is a schematic diagram of one embodiment of the calibration component and the working base in this application when they are slidably connected. Figure 15 This is a schematic structural diagram of one embodiment of the double-ended stud in this application; Figure 16 This is a schematic diagram illustrating one embodiment of the calibration component in this application being connected to the working base; Figure 17 This is a schematic diagram of a structural embodiment in which both the calibration components and the connecting components in this application are capable of moving in the height direction of the frame; Figure 18 This is a schematic diagram illustrating one embodiment of the first scale in this application; Figure 19 This is a schematic diagram of one embodiment of the working base in this application connected to the frame via a plug rod; Figure 20 This is a schematic structural diagram of one embodiment of the calibration device in this application; Figure 21 This is a schematic diagram illustrating one implementation method of rotation point calibration; Figure 22 This is a schematic diagram illustrating one embodiment of the position scale in this application; Figure 23 This is a schematic diagram of a possible embodiment of the ultrasonic probe in this application, where there is a gap between the contact surface of the probe and the target area. Figure 24 This is a schematic structural diagram of one embodiment of the turntable in this application; Figure 25 This is a schematic diagram of one embodiment of holding an ultrasonic probe along the height direction of the ultrasonic probe using two clamping components.

[0022] In the picture: 101. Frame; 102. Clamping component; 103. Gear; 104. Rack; 105. Double-ended stud; 106. Restricting component; 107. Insertion hole; 108. Placement plane; 201. Working unit; 202. Abutment surface; 203. Calibration component; 204. Working base; 205. First graduation; 206. Clamping plate; 207. Guide section; 208. First pivot shaft; 209. Connecting rod; 210. Adjusting guide rail; 301. Connector; 302. Second graduation; 303. Working rod; 304. Turntable; 305. Limiting rod; 306. Limiting hole; 307. Slider; 308. Position graduation; 309. Locking screw; 310. Bolt; 401. Calibration instrument; 402. Calibration port; 501. First reference plane; 502. Clamping member motion plane; 601. Ultrasonic probe; 602. Tracer; 603. Bracket; 604. Mounting base; 605. Target area; 606. Contact surface. Detailed Implementation

[0023] To provide a clearer understanding of the technical features, objectives, and effects of this application, specific embodiments of this application are now described with reference to the accompanying drawings. In the drawings, the same reference numerals indicate components with the same or similar structures but the same function.

[0024] In this document, "illustrative" means "serving as an example, illustration, or description," and any diagram or implementation described herein as "illustrative" should not be construed as a more preferred or advantageous technical solution. Connections within this application can be direct or indirect, and those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0025] To keep the drawings concise, only the parts relevant to this application are shown schematically in each drawing, and they do not represent the actual structure of the product. In addition, to make the drawings concise and easy to understand, in some drawings, only one of the components with the same structure or function is shown schematically, or only one of them is labeled.

[0026] Please see Figures 1 to 25 Learn more about this application.

[0027] See Figure 1 The ultrasound probe fixation device for ultrasound-assisted intracranial surgical navigation includes a frame 101, two clamping members 102, a limiting member 106, and a working unit 201. The limiting member 106 is connected to the frame 101 and can limit and position the tail end of the ultrasound probe 601. The frame 101 is also provided with a connector 301 for connecting a tracer 602. The connector 301 has holes or rods, or other structures, for connecting the tracer 602. (See reference...) Figure 3 , Figure 8 , Figure 18 , Figure 22 .

[0028] Ultrasound probe fixation device for ultrasound-assisted intracranial surgical navigation is suitable for the height direction (see...) Figure 7 (as shown at point a) and the width direction (see Figure 7The ultrasound probes 601 at point b shown are all symmetrical.

[0029] See Figures 1 to 3 Two clamping members 102 are slidably connected to the frame 101 and are symmetrically arranged about a first reference plane 501 parallel to the length direction of the frame. The clamping members 102 are provided with guide rods, and the frame 101 is provided with guide holes for inserting the guide rods. The axis of the guide holes is perpendicular to the first reference plane 501. Thus, when the guide rod is inserted into the guide hole, the clamping members 102 and the frame 101 are slidably connected. Under the guidance of the guide hole, the clamping members 102 can only move linearly along the axis of the guide hole. Thus, the movement path of the clamping members 102 is perpendicular to the first reference plane 501. When the clamping members 102 slide relative to the frame 101, they can move in a direction perpendicular to the first reference plane 501. The clamping member movement plane 502 is perpendicular to the first reference plane 501 and parallel to the length direction of the frame 101. Of course, there are other ways to achieve the sliding connection between the clamping member 102 and the frame 101. For example, the frame 101 is provided with a slide rail, and the clamping member 102 is provided with a slider 307 that is slidably connected to the slide rail. Thus, the clamping member 102 is slidably connected to the frame 101 through the slider 307 and the slide rail. Of course, there are other ways to achieve the sliding connection between the clamping member 102 and the frame 101, which will not be described in detail here.

[0030] The two clamping members 102 are also connected by an adjustment structure so that they can move in opposite directions at the same speed. The two clamping members 102 can simultaneously approach or move away from the first reference surface 501 at the same speed. The relative positions of the two clamping members 102 are always symmetrical about the first reference surface 501, and the distances from the two clamping members 102 to the first reference surface 501 are the same. Therefore, when the ultrasonic probe 601 is placed on the placement plane 108 of the frame 101, the length direction of the ultrasonic probe 601 (reference) is... Figure 7 As shown at point c, the two clamping members 102 are parallel to the length direction of the frame 101 and can move along the width direction of the frame 101. Those skilled in the art will understand that when the two clamping members 102 clamp the ultrasonic probe 601, they are not limited to... Figure 5 The ultrasonic probe 601 can be clamped along its width direction as shown, or it can be clamped along its height direction, so that the sidewall of the ultrasonic probe 601 is clamped along either its width or height direction, such that the width direction of the ultrasonic probe 601 (see...) Figure 5 ) or height direction (reference) Figure 7 The middle position (as shown at point b) is located at the first reference plane 501, so that the axis of the ultrasonic probe 601 can be located within the first reference plane 501.

[0031] There are various adjustment structures that enable the two clamping members 102 to undergo equal-speed, opposite linear motion. For example, in one embodiment of this application, see [link to relevant documentation]. Figure 4 The adjustment structure includes two racks 104 and a gear 103 located between two clamping members 102. The two racks 104 have the same module, pressure angle, and tooth pitch. The gear 103 is rotatably connected to the frame 101. The extension direction of the two racks 104 is perpendicular to the first reference plane 501. One rack 104 is fixedly connected to one of the clamping members 102, and the other rack 104 is fixedly connected to the other clamping member 102. The two racks 104 are located on both sides of the rotation axis of the gear 103 and mesh with the gear 103. When the gear 103 rotates around its own axis in one direction, the two racks 104 move in opposite directions but at the same speed. This allows the two clamping members 102 to approach or move away from the first reference plane 501 at the same speed, ensuring that the middle position between the two clamping members 102 is located at the first reference plane 501. Thus, when the two clamping members 102 clamp the ultrasonic probe 601, the axis of the ultrasonic probe 601 can be located at the first reference plane 501.

[0032] Of course, adjustment structures can be implemented in other ways, as shown in [reference needed]. Figure 15 In one embodiment of this application, the adjustment structure is a double-ended stud 105. The axis of the double-ended stud 105 is perpendicular to the first reference surface 501. The sidewalls at both ends of the double-ended stud 105 are respectively provided with left-hand threads and right-hand threads. The two ends of the double-ended stud 105 are respectively threadedly connected to two clamping members 102. The thread leads at both ends of the double-ended stud 105 are equal, so that when the double-ended stud 105 rotates around its own axis, the two clamping members 102 can approach or move away from the first reference surface 501 at the same speed.

[0033] See Figure 4 The working unit 201 is detachably connected to the frame 101. The working unit 201 is equipped with a calibration component 203 and a support part. Figure 4 In the diagram, the abutment part is the abutment surface 202 shown. The distance between the abutment part of the calibration member 203 and the axial direction of the calibration member is fixed. When the working unit 201 is connected to the frame 101, the two clamping members 102 are located between the working unit 201 and the limiting member 106. The axis of the calibration member 203 and the abutment part are located within the first reference surface 501. The axis of the calibration member 203 is parallel to the length direction of the frame 101. The working unit 201 is also slidably connected to the frame 101 and can approach or move away from the limiting member 106 along the length direction of the frame 101, so that the head end of the calibration member 203 faces outward, and the abutment surface 202 can abut against the middle position of the contact surface 606 of the ultrasonic probe 601 along its axis. Figure 4As shown, the frame 101 is provided with an insertion hole 107, and the working unit 201 is provided with a rod that can be inserted into the insertion hole 107. When the rod is inserted into the insertion hole 107, the working unit 201 is connected to the frame 101, and the rod can move along the axis of the insertion hole 107 to realize the sliding connection between the working unit 201 and the frame 101. The axis of the positioning calibration member 203 and the abutment part are located in the first reference plane 501. The axis of the calibration member 203 is parallel to the clamping member movement plane 502. The working unit 201 can approach or move away from the limiting member 106 along the axis of the calibration member 203. The two clamping members 102 are located between the working unit 201 and the limiting member 106, and the abutment surface 202 is provided on the side of the working unit 201 that is close to the limiting member 106. The calibration member 203 is provided on the side of the working unit 201 that is away from the limiting member 106.

[0034] Further, see Figure 4 The insertion rod has ratchet teeth along its extension direction, and the frame 101 is slidably connected to a pawl. When the insertion rod is inserted into the insertion hole 107, the pawl does not restrict the insertion rod from entering the insertion hole 107. However, when the insertion rod has a tendency to move away from the insertion hole 107, the pawl restricts the insertion rod from leaving the insertion hole 107. Thus, during calibration and other operations, the abutment surface 202 is always abutted against the contact surface of the ultrasonic probe 601. When it is necessary to remove the insertion rod from the insertion hole 107, the pawl is disengaged from the movement path of the ratchet teeth. The pawl no longer restricts the movement of the insertion rod through the ratchet teeth, so the insertion rod can be removed from the insertion hole 107, realizing the separation of the working unit 201 from the frame 101.

[0035] Of course, other structures can also be used to lock the relative position of the insertion rod and the frame. For example, when the calibration part 203 abuts against the contact surface of the ultrasonic probe 601, the threaded bolts on the frame can abut against the insertion rod of the working base 204, using friction to limit the movement of the insertion rod.

[0036] When the ultrasonic probe 601 is installed in this device, with the two clamping members 102 holding the sidewalls of the ultrasonic probe 601, the two clamping members 102 ensure that the axis of the ultrasonic probe 601 is located on the first reference plane 501; see also Figure 4In one embodiment of this application, the calibration member 203 is fixedly connected to the abutment part (abutment surface 202), and the distance between the calibration member 203 and the abutment part in the axial direction of the calibration member 203 is fixed. The tail end of the ultrasonic probe 601 can be located at the limiting member 106, which positions the tail end of the ultrasonic probe 601. The working unit 201 is connected to the frame 101, and the working unit 201 approaches the limiting member 106 along the length direction of the frame 101. The abutment surface 202 abuts against the middle position of the contact surface 606 of the ultrasonic probe 601, so that the head end of the calibration member 203 abuts against the contact surface 606 of the ultrasonic probe 601. The distance between surfaces 606 is equal to the distance between the head end of the calibration member 203 and the abutment part. During this process, the distance between the axis of the calibration member 203 and the placement plane 108 of the frame 101 remains constant. When an ultrasonic probe 601 of a specific size is placed on the placement plane 108, the distance between the axis of the ultrasonic probe 601 and the placement plane 108 is equal to the distance between the axis of the calibration member 203 and the placement plane 108 of the frame 101. Therefore, the axis of the ultrasonic probe 601 and the axis of the calibration member 203 are located in the same plane parallel to the clamping member's movement plane 502. (See [reference]). Figure 6 .

[0037] Examples are given below; see below. Figure 5 When the two clamping members 102 clamp the sidewall of the ultrasonic probe 601 along the width direction of the ultrasonic probe 601, the two clamping members 102 ensure that the axis of the ultrasonic probe 601 is located within the first reference plane 501. The calibrator 203 approaches the limiting member 106 along the length direction of the frame 101 and clamps the ultrasonic probe 601 with the limiting member 106 along the length direction of the ultrasonic probe. The axis of the calibrator 203 is also located within the first reference plane 501. Through dimensional fit, the distance between the axis of the calibrator 203 and the placement plane 108 is equal to half the height of the ultrasonic probe 601, so that the axis of the calibrator 203 can be aligned with the ultrasonic probe. The 601 axis is coaxially set. If the clamping member 102 needs to clamp the ultrasonic probe 601 along the height direction of the ultrasonic probe, then the distance between the axis of the calibration member 203 and the placement plane 108 is equal to half the width of the ultrasonic probe 601. The user can prepare two calibration members of different sizes to be fixedly connected to the working unit as needed. Of course, the user can also prepare only one size calibration member according to their own needs. The distance between the axis of the calibration member 203 and the placement plane 108 is equal to half the height of the ultrasonic probe 601, or the distance between the axis of the calibration member 203 and the placement plane 108 is equal to half the width of the ultrasonic probe 601.

[0038] Of course, the way the clamping member 102 clamps the ultrasonic probe 601 is not limited to the method of two clamping members 102 cooperating to fix the ultrasonic probe 601 on the placement plane 108; other methods are also possible, such as... Figure 25 In this manner, the inner wall shape of the clamping member 102 can be as follows: Figure 25 As shown, it has two angled planes, and the intersection of the two planes is recessed towards the outside of the clamping member 102. The two planes are symmetrically arranged about a plane perpendicular to the central plane, so that the clamping member 102 can better clamp the ultrasonic probe 601. Of course, the cross-sectional shape of the inner wall of the clamping member 102 can also be an arc shape that is recessed outward. When there is a gap between the ultrasonic probe and the frame, the ultrasonic probe can be fixed by the clamping member 102. At this time, the distance between the axis of the calibration member 203 and the frame 101 should be half the width or half the height of the ultrasonic probe 601, plus the sum of the distance between the ultrasonic probe and the frame.

[0039] This application can also utilize other structures to clamp ultrasonic probes 601 of different lengths, heights, and widths.

[0040] See Figures 8 to 13 In one embodiment of this application, the working unit 201 is further provided with two connecting rods 209 and two clamping plates 206. The extending direction of the clamping plates 206 is perpendicular to the first reference plane 501 and parallel to the width direction of the frame 101. The two clamping plates 206 are spaced apart in a direction perpendicular to the movement plane of the clamping member 102 and spaced apart in the height direction of the frame 101. The clamping plates 206 are provided with guide portions 207, and the extending direction of the guide portions 207 is perpendicular to the first reference plane 501. The middle positions of the two connecting rods 209 are pivotally connected by a first pivot shaft 208, and the two connecting rods 209 can rotate around the first pivot shaft 208. 08 rotates, and two connecting rods 209 are arranged crosswise. The first end of connecting rod 209 is slidably connected to and pivotally connected to the guide portion 207 of one of the clamping plates 206, and the second end of connecting rod 209 is slidably connected to and pivotally connected to the guide portion 207 of the other clamping plate 206. When one clamping plate 206 moves away from the other clamping plate 206, the first ends of the two connecting rods 209 move closer to each other along the extension direction of the guide portion 207. When one clamping plate 206 moves closer to the other clamping plate 206, the first ends of the two connecting rods 209 move away from each other along the extension direction of the guide portion 207, so that the first pivot shaft 208 is located in the middle position between the two clamping plates 206. See also Figure 9 The guide portion 207 is an elongated hole with its extension direction perpendicular to the first reference surface 501. The first end and the second end of the connecting rod 209 are round shafts inserted into the elongated hole. Of course, the first end and the second end of the connecting rod 209 can also have elongated holes and the guide portion 207 can be a round shaft, but this would increase the space occupied by the connecting rod 209. Therefore, it is preferable that the guide portion 207 is an elongated hole with its extension direction perpendicular to the first reference surface 501 and the first end and the second end of the connecting rod 209 are round shafts inserted into the elongated hole.

[0041] Due to the connection relationship between the clamping plate 206, the connecting rod 209, and the first pivot shaft 208, when the distance between the two clamping plates 206 increases or decreases, the first pivot shaft 208 can only move in the direction perpendicular to the moving plane 502 of the clamping member. The first pivot shaft 208 can always be located in the middle position of the two clamping plates 206. The two clamping plates 206 clamp the ultrasonic probe 601, and the first pivot shaft 208 is located in the middle position in the height direction of the ultrasonic probe 601.

[0042] Furthermore, the working unit 201 also includes a working base 204, and the calibration component 203 is slidably connected to the working base 204. When the working unit is connected to the frame 101, the calibration component 203 can move in the first reference plane 501 in a direction perpendicular to the clamping component's movement plane 502, that is, in the height direction of the frame 101. The first pivot shaft 208 is connected to and coaxially arranged with the calibration component 203. The tail end of the calibration component 203 passes through the first pivot shaft 208 and is located between the two clamping plates 206, and can abut against the middle position of the ultrasonic probe contact surface 202. At this time, the abutting part is the tail end of the calibration component 203. In the height direction of the frame 101, the axis of the calibration component 203 can be flush with the axis of the ultrasonic probe 601. See [reference needed]. Figure 10 , Figure 11 The comparison Figure 10 The ultrasonic probe 601 in the height direction of the frame 101 has a dimension greater than Figure 11 The ultrasonic probe 601 has a certain dimension in the height direction of the frame 101. However, through the above structure, the calibration member 203 can be located in the middle position of the ultrasonic probe 601 in the height direction of the frame 101. Under the action of the clamping member 102, the axis of the calibration member 203 is flush with the axis of the ultrasonic probe 601 in the width direction of the frame 101, thereby achieving coaxial setting of the axis of the calibration member 203 and the axis of the ultrasonic probe 601. Furthermore, the combination formed by the clamping plate 206 and the connecting rod 209 can be detachably connected to the calibration member 203 by means of snap-fit ​​or other methods. During calibration, the clamping plate 206 and the connecting rod 209 can be removed from the calibration member 203, and then the calibration operation can be performed, simplifying the structure and ensuring stable calibration.

[0043] In one embodiment of this application, the working base 204 is provided with an adjusting guide rail 210, which is perpendicular to the motion plane of the clamping member 102. One clamping plate 206 is slidably connected to the adjusting guide rail 210 and can move along the extension direction of the adjusting guide rail 210; the other clamping plate 206 is slidably connected to the adjusting guide rail 210 and can move along the extension direction of the adjusting guide rail 210. Alternatively, the other clamping plate 206 is fixedly connected to the working base 204. The adjusting guide rail 210 allows the clamping plate 206 to have linear movement in only one direction. Of course, there are other ways to achieve linear movement of the clamping plate 206 in only one direction, as described in [see...]. Figure 12 Replace the adjusting guide rail 210 with a double-ended stud. The two ends of the double-ended stud are threaded to the two clamping plates 206 respectively. When the double-ended stud rotates, it drives the two clamping plates 206 to move closer or further apart along the axis of the double-ended stud.

[0044] Furthermore, the connector 301 is slidably connected to the frame 101 and can move in a direction perpendicular to the clamping member's movement plane 502. The connector 301 can move in this direction according to the positional changes of the calibration member 203, ensuring that the relative position of the calibrator 203 and the tracer 602 connected to the connector 301 remains unchanged. This structure ensures that the axis of the tracer connected to the connector 301 is coaxial with the axis of the ultrasonic probe during rotation point calibration. However, for hole calibration, the structure regarding the movement of the connector 301 in the direction perpendicular to the clamping member's movement plane 502 can be eliminated.

[0045] Other methods exist for moving the calibration element 203 along the height direction of the frame so that the axis of the calibration element 203 is aligned with the axis of the ultrasonic probe 601 along the height direction of the frame. For example, in one embodiment of this application, see [link to relevant documentation]. Figures 14 to 19 The working unit 201 also includes a working base 204, and a calibration component 203 is slidably connected to the working base 204. The calibration component 203 is provided with a first scale 205. When the working unit 201 is connected to the frame 101 through the working base 204, the calibration component can move in a direction perpendicular to the movement plane 502 of the clamping component. See [reference needed] Figure 18 The first scale 205 extends in a direction perpendicular to the moving plane 502 of the clamping member. Figure 18 The abutment part is the tail end of the calibration part 203.

[0046] According to the size data of the ultrasonic probe, the calibration component 203 can be adjusted in conjunction with the first scale 205. The calibration component 203 moves in a direction perpendicular to the moving plane 502 of the clamping component, that is, in the height direction of the frame 101, so that the axis of the calibration component 203 is aligned with the axis of the ultrasonic probe 601 in the height direction of the frame 101.

[0047] In one embodiment of this application, the connector 301 is slidably connected to the frame 101 and is movable in a direction perpendicular to the clamping member's motion plane 502. The connector 301 is provided with a second scale 302. See [link to relevant documentation]. Figure 18The second scale 302 extends along a direction perpendicular to the clamping member's movement plane 502. The positional change of the calibration member 203 is obtained through the first scale 205. Subsequently, based on the change of the first scale 205, the connecting member 301 is moved along a direction perpendicular to the clamping member's movement plane 502. At the same time, the change of the second scale 302 is observed to ensure that the relative position of the calibration member 203 and the tracer 602 connected to the connecting member does not change. This structure ensures that the axis of the tracer connected to the connecting member 301 is coaxial with the axis of the ultrasonic probe during rotation point calibration. However, for hole calibration, the structure regarding the movement of the connecting member 301 in the direction perpendicular to the clamping member's movement plane 502 can be removed, and the connecting member 301 does not move in the height direction of the frame.

[0048] Those skilled in the art described in this application will understand that the working base 204 can be threaded with bolts, and after the calibration part 203 is adjusted, the bolts are used to abut against the calibration part 203 to lock the position of the calibration part 203 relative to the working base 204.

[0049] because Figure 4 The distance between the head end of the calibration component 203 and the abutment surface 202 (abutment part) in the axial direction of the calibration component 203 is constant; Figure 9 or Figure 18The abutment portion is the tail end of the calibration member 203, and the distance from the head end to the tail end of the calibration member 203 is constant. Therefore, the axial distance between the calibration member 203 and the abutment portion is fixed; this is a preset distance, a known condition. Of course, the implementation of the abutment portion is not limited to the abutment surface or the tail end of the calibration member 203 described above. Other implementations are also possible, such as connecting the first pivot shaft 208 to the tail end of the calibration member 203 and coaxially oriented. The tail end of 208 extends between the two clamping plates 206 and abuts against the middle position of the ultrasonic probe contact surface 606. In this case, the abutting part is the tail end of the first pivot shaft 208. Alternatively, the working base 204 is provided with an abutting part (such as a long rod fixedly connected to the working base 204 and located in the first reference plane when the working base is connected to the frame 101). When the working base 204 is connected to the frame 101, the abutting part is located in the first reference plane. When the working base 204 moves towards the ultrasonic probe 606... When the contact surface 606 of the 01 approaches, the abutment can abut against the middle position of the contact surface 606 of the ultrasonic probe. Then, the calibration member 203 is adjusted to move in the height direction of the frame so that the calibration member 203 and the ultrasonic probe 601 are coaxially set. At this time, the calibration member 203 is moved relative to the abutment, rather than fixed. Since the calibration member 203 only moves in the height direction of the frame 101, the distance between the calibration member and the abutment in the length direction of the frame 101 remains unchanged. In the above-mentioned abutment setting methods, since the distance between the head end of the calibration member 203 and the abutment in the axial direction of the calibration member remains unchanged, regardless of the size of the ultrasonic probe used in this application, the distance between the head end of the calibration member 203 and the abutment is equal to the distance between the calibration member 203 and the contact surface 606 of the ultrasonic probe in the length direction of the frame 101. The distance between the head end of the calibration member 203 and the abutment in the axial direction of the calibration member 203 is a preset distance, and the preset distance will not change.

[0050] The ultrasound probe fixation kit for ultrasound-assisted intracranial surgical navigation includes any of the ultrasound probe fixation devices described above, and also includes calibration device 401, see [link to documentation]. Figure 20 The calibration instrument 401 has a fulcrum. After the calibration component 203 is connected to the fulcrum, it can perform conical pendulum motion around the fulcrum to perform rotation point calibration. See [link to documentation]. Figure 21 .

[0051] In one embodiment of this application, the calibration element 203 is a probe, the fulcrum is a calibration hole 402 for the probe to be inserted, and the calibration device 401 has a plurality of calibration holes 402 with different inner diameters in a plane, so that the probes with different outer diameters can be calibrated. Other instruments can also be calibrated using the calibration device 401 of this application.

[0052] Rotation point calibration principle: The calibration instrument has a point on which the distal tip of the surgical instrument is received for pivoting around it. The navigation monitoring system is configured to record the movement (movement on the spherical surface) of the surgical instrument by recording the position of an infrared reflective sphere relative to the tracker of the calibration instrument when the distal tip of the surgical instrument is positioned at the pivot point of the calibration instrument. The movement recorded by the infrared reflective sphere connected to the surgical instrument is used to obtain the tip or virtual axis of the surgical instrument and is virtually represented on the display. Hole calibration principle: When a suitable diameter is selected for insertion into the hole, the instrument orientation and virtual axis are calculated. The virtual length is the length between the tip of the instrument and the center of the adapter clamping part. Two conditions must be met for the reflective sphere adapter to be installed: 1) The adapter clamp is in close contact with the clamped part of the surgical instrument without abnormal movement; 2) The plane of the navigation adapter reference frame is parallel to the long axis of the surgical instrument.

[0053] This invention is designed based on the two calibration principles mentioned above for navigation registration.

[0054] Because the ultrasonic probe 601 is symmetrical in its width and height directions, the structure described above ensures that the axis of the calibration element 203 is collinear with the axis of the ultrasonic probe 601. Subsequently, the tracer 602, connected by the calibration element 203 and the connector 301, performs navigation registration through rotation point calibration or hole position calibration, thus obtaining the virtual axis of the ultrasonic probe 601. See also... Figure 20 , Figure 21 The ultrasound probe fixation kit for ultrasound-assisted intracranial surgical navigation also includes a calibration device 401. The calibration device 401 has a fulcrum and a tracer 602. The fulcrum is a calibration hole 402, and the calibration component 203 is a probe. After the calibration component 203 is connected to the fulcrum, it can perform a conical pendulum motion around the fulcrum. The connector 301 is connected to the tracer 602. After the calibration component 203 is connected to the fulcrum, it performs a conical pendulum motion around the fulcrum. The position change of the tracer 602 connected to the connector 301 relative to the tracer 602 on the calibration device 401 is recorded by the surgical navigation system to perform rotation point calibration of the surgical navigation system and obtain a virtual axis. Furthermore, the calibration device 401 has multiple calibration holes 402 with different inner diameters in one plane, which can realize the hole calibration of the surgical navigation system.

[0055] Subsequently, the insertion rod is removed from the insertion hole 107, the working unit 201 is separated from the frame 101, the head end coordinates and axis position of the calibration component 203 are known conditions, the spatial coordinates of the center position of the contact surface 606 and the virtual axis of the ultrasound probe are obtained by subtracting the preset distance from the virtual axis established by the surgical navigation system, the center position of the ultrasound probe 601 is the spatial coordinates of the center position of the contact surface 606 of the ultrasound probe 601 displayed in real time, and then the region of interest is scanned by the ultrasound probe 601 to obtain regional ultrasound imaging.

[0056] See Figures 22 to 24 In one embodiment of the ultrasound probe fixation device for ultrasound-assisted intracranial surgery navigation, the connector 301 includes a working rod 303 connected to the tail end of the frame 101 and a slider 307 for mounting the tracer 602. The working rod 303 is parallel to the length direction of the frame 101, and the slider 307 is movably mounted on the working rod 303. The slider 307 can move along the length direction of the working rod 303. The side wall of the working rod 303 is provided with a scale (position scale 308) along its length direction to display the relative position of the slider 307 and the working rod 303. Using the tracer 602 connected to the probe and the slider 307, navigation registration is performed through rotation point calibration or hole position calibration. After obtaining the virtual axis of the ultrasound probe 601, the slider 307 is then moved along the working rod 303 away from the contact surface 606 by a preset distance (to...). Figure 23 The direction is described in the text (slider 307 moves to the right). The preset distance is equal to the distance between the probe tip and the contact surface 606 of the ultrasound probe 601. The endpoint of the virtual axis of the ultrasound probe 601 is the center position of the contact surface 606. The surgical navigation system can obtain the coordinates of the center position of the contact surface 606, so the doctor can directly operate slider 307 to let the surgical navigation system confirm the position of the center point of the contact surface 606, eliminating the need for operation on the computer. The doctor can operate it himself, saving waiting time. Then, ultrasound imaging can be performed using the ultrasound probe 601.

[0057] After completing navigation registration, the work unit 201 can be separated from the frame 101, see [link / reference]. Figure 23 That is: see Figure 19 ,Will Figure 1 The probe shown, or Figure 8 The probe, working base, clamping plate, and other structures shown, or such as Figure 18 The probe and working base shown are separated from the frame 101, so that they are in a position to... Figure 23 The connection status of the frame 101 and the ultrasound probe 601 is shown. Then, the ultrasound probe 601 connected to the frame 101 is used for ultrasound scanning. The tracer 602 connected to the slider 307 can send the position information of the ultrasound probe 601 to the controller. The navigation system visualizes the angle and distance between the virtual axis of the ultrasound probe 601 and the patient's surgical site. The ultrasound probe 601 scans the patient's surgical area to obtain intraoperative ultrasound images. To obtain the coordinates of a target area 605 at a distance from the ultrasound probe 601, see [link to relevant documentation]. Figure 23The center of the contact surface 606 can be aligned with the target area 605. The distance X mm between the target area 605 and the tissue surface is measured, where X is a natural number greater than or equal to 1. Based on the distance between the target area 605 and the tissue surface, and in conjunction with the scale of the working rod 303, the slider 307 is slid along the working rod 303 towards the ultrasound probe 601 by X mm (within...). Figure 24 The direction is described in the text (slider 307 moves to the left), to obtain the coordinates of the target area 605 or the tissue point coordinates. Optionally, the target area 605 on the center (line) of the ultrasound probe 601 is selected, and the depth of the target area 605 is measured (X mm, where X is a natural number greater than or equal to 1). The scale of slider 307 is adjusted according to the measured depth of the target area 605 (in units of 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 ... Figure 24 To obtain the coordinates of the target area 605 within X millimeters in front of the center point of the ultrasonic probe 601, the slider 307 can be moved to the left (using the slider 307 to the left). Alternatively, when the distance between the contact surface 606 and the target area 605 is desired, the slider 307 can be adjusted directly to move the tracer 602 connected to the slider 307, causing the endpoint of the virtual axis of the ultrasonic probe to coincide with the target area 605. Based on the coordinate information before and after adjusting the slider 307, the difference can be calculated to obtain the distance between the contact surface 606 of the ultrasonic probe 601 and the target area 605.

[0058] See Figure 22 In one embodiment of this application, the slider 307 is threadedly connected to a locking screw 309, which is movable between a locked position and an unlocked position. When the locking screw 309 is in the locked position, it abuts against the outer wall of the working rod 303, and the slider 307 is restricted from moving along the working rod 303 by friction. When the locking screw 309 is in the unlocked position, it no longer abuts against the outer wall of the working rod 303, and the slider 307 is able to move along the working rod 303.

[0059] See Figure 22 , Figure 24 In one embodiment of this application, the working rod 303 is rotatably connected to the tail end of the frame 101, and the working rod 303 can rotate around its axis. Because the working rod 303 is rotatably connected to the frame 101, when the tracer 602 interferes with the surgical area, the tracer 602 can rotate around the axis of the working rod 303, and the rotation angle of the tracer 602 is input to the controller. This avoids the surgical navigation system mistakenly interpreting a change in the position angle of the ultrasound probe 601 due to a change in the position of the tracer 602.

[0060] Furthermore, the working rod 303 is provided with a turntable 304, which is coaxially arranged and fixedly connected to the working rod 303. The turntable 304 has a plurality of limiting holes 306 arranged in an array around its axis. The limiting structure includes a limiting rod 305 slidably connected to the frame 101. The limiting rod 305 can reciprocate between a first position and a second position along the length direction of the frame 101. When the limiting rod 305 is in the first position, it inserts into one of the limiting holes 306 to prevent the working rod 303 from rotating via the turntable 304. When the limiting rod 305 is in the second position, it leaves the limiting hole 306, allowing the working rod 303 to rotate. Since the limiting holes 306 are arranged in an array around the axis of the turntable 304, the included angle between the limiting holes 306 can be directly calculated, facilitating the input of the rotation angle of the tracer 602 to the controller. Furthermore, the limiting rod 305 is also connected to the frame 101 via a spring, thus holding the limiting rod 305 in the first position under the action of the spring.

[0061] Of course, those skilled in the art to which this application pertains will understand that the rotatable connection between the working rod 303 and the tail end of the frame 101 in this application can also be achieved in the following ways: Figure 8 As shown, the connector includes a connecting block that is connected to the tail end of the frame 101. The connecting block can move along the height direction of the frame. The turntable structure is connected to the connecting block, thereby realizing the rotatable connection between the working rod 303 and the tail end of the frame 101. This will not be described in detail here.

[0062] The ultrasound probe fixation kit for ultrasound-assisted intracranial surgical navigation includes any of the ultrasound probe fixation devices for ultrasound-assisted intracranial surgical navigation described above, and also includes a tracer unit 602, which is detachably connected to the slider 307 via bolts, screw holes, or pin holes.

[0063] In one embodiment of this application, the tracer 602 unit includes a mounting base 604 and a bracket 603 with an optical indicator point, such as an infrared ball or a reflective ball. The bracket 603 is rotatably connected to the mounting base 604 via a pivot shaft. The mounting base 604 is detachably connected to the slider 307. When the mounting base 604 is connected to the slider 307, the rotating end face of the bracket 603 is parallel to the working rod 303. During installation, the optical indicator point can be rotated to avoid obstruction. Subsequently, bolts 310 can be used to fasten the bracket 603 and the mounting base 604 to prevent the bracket 603 from rotating relative to the mounting base 604 during the operation.

[0064] It should be understood that although this specification describes various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art. All equivalent implementation schemes or changes that do not depart from the spirit of the present application, such as the combination, division or repetition of features, should be included within the protection scope of this application.

Claims

1. An ultrasound probe fixation device for ultrasound-assisted intracranial surgical navigation, suitable for ultrasound probes that are symmetrical in both the width and height directions, characterized in that... include: The frame is equipped with connectors for connecting a tracer; Two clamping members are slidably connected to the frame and symmetrically arranged about a first reference plane parallel to the length direction of the frame. The movement path of the clamping members is perpendicular to the first reference plane. The two clamping members are also connected by an adjustment structure so that the two clamping members can move in opposite directions at the same speed. The two clamping members can approach the first reference plane at the same speed to clamp the side wall of the ultrasonic probe along the width or height direction of the ultrasonic probe. A limiting component that connects to the frame and is capable of positioning the tail end of the ultrasonic probe; The working unit has a fixed distance between its calibration component and the abutment on the axial direction of the calibration component. The working unit is detachably connected to the frame. When the working unit is connected to the frame, the two clamping components are located between the working unit and the limiting component. The axis of the calibration component and the abutment are located in the first reference plane. The axis of the calibration component is parallel to the length direction of the frame. The working unit is also slidably connected to the frame and can approach the limiting component along the length direction of the frame, so that the abutment can abut against the middle position of the ultrasonic probe contact surface.

2. The ultrasound probe fixation device for ultrasound-assisted intracranial surgical navigation according to claim 1, characterized in that, The working unit is provided with two connecting rods and two clamping plates. The extension direction of the clamping plates is perpendicular to the first reference plane, and the two clamping plates are spaced apart in a direction perpendicular to the movement plane of the clamping member. The clamping plates are provided with guide portions, and the extension direction of the guide portions is perpendicular to the first reference plane. The two connecting rods are pivotally connected at the middle position via a first pivot axis. The two connecting rods are arranged crosswise. The first end of the connecting rod is slidably connected to and pivotally connected to one of the clamping plates, and the second end of the connecting rod is slidably connected to and pivotally connected to the guide portion of the other clamping plate. When one clamping plate is away from the other clamping plate, the first ends of the two connecting rods move closer to each other along the extension direction of the guide portion; when one clamping plate is close to the other clamping plate, the first ends of the two connecting rods move away from each other along the extension direction of the guide portion, so that the first pivot shaft is located in the middle position between the two clamping plates. The working unit also includes a working base, the calibration component is slidably connected to the working base and can move in a direction perpendicular to the plane of motion of the clamping component, and the first pivot shaft is connected to the calibration component and coaxially arranged.

3. The ultrasound probe fixation device for ultrasound-assisted intracranial surgical navigation according to claim 2, characterized in that, The working base is provided with an adjusting guide rail, which is perpendicular to the movement plane of the clamping member. One of the clamping plates is slidably connected to the adjusting guide rail and can move along the extension direction of the adjusting guide rail. Another clamping plate is slidably connected to the adjusting guide rail and can move along the extension direction of the adjusting guide rail, or... Another clamping plate is fixedly connected to the working base.

4. The ultrasound probe fixation device for ultrasound-assisted intracranial surgical navigation according to claim 1, characterized in that, The working unit further includes a working base, and the calibration component is slidably connected to the working base. The calibration component is provided with a first scale. When the working unit is connected to the frame through the working base, the calibration component can move in a direction perpendicular to the plane of movement of the clamping component. The first scale extends in a direction perpendicular to the plane of movement of the clamping component.

5. The ultrasound probe fixation device for ultrasound-assisted intracranial surgical navigation according to claim 4, characterized in that, The connector is slidably connected to the frame and can move in a direction perpendicular to the plane of movement of the clamping member. The connector is provided with a second scale, which extends in a direction perpendicular to the plane of movement of the clamping member.

6. The ultrasound probe fixation device for ultrasound-assisted intracranial surgical navigation according to claim 1, characterized in that, The calibration component is fixedly connected to the abutment part.

7. The ultrasound probe fixation device for ultrasound-assisted intracranial surgical navigation according to claim 1, characterized in that, The adjustment structure includes two racks and a gear located between two clamping members. The two racks are perpendicular to the first reference plane. One rack is fixedly connected to one of the clamping members, and the other rack is fixedly connected to the other clamping member. The two racks are located on both sides of the rotation axis of the gear and mesh with the gear.

8. The ultrasound probe fixation device for ultrasound-assisted intracranial surgical navigation according to claim 1, characterized in that, The adjustment structure is a double-ended stud, which is perpendicular to the first reference plane, and its two ends are threadedly connected to the two clamping parts respectively.

9. A fixation kit for an ultrasound probe used in ultrasound-assisted intracranial surgical navigation, characterized in that, The device includes any one of the ultrasound probe fixation devices for ultrasound-assisted intracranial surgical navigation as described in claims 1 to 8, and further includes a calibration device. The calibration device is provided with a fulcrum, and after the calibration component is connected to the fulcrum, it can perform a conical pendulum motion around the fulcrum.

10. The ultrasound probe fixation kit for ultrasound-assisted intracranial surgical navigation according to claim 9, characterized in that, The calibration element is a probe, the fulcrum is a calibration hole for inserting the probe, and the calibration instrument has multiple calibration holes with different inner diameters in one plane.

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