Probe holding device and probe

Abstract

The utility model relates to the technical field of medical apparatus and instruments, and provides a probe holding device and a probe, the probe holding device comprises: a base provided with a plurality of connecting sites for connecting a reflective ball, one end of the base along the length direction being a connecting end, the connecting end being suitable for connecting a probe body; the shielding cover is arranged on the base, and the shielding cover can move close to or far away from one of the connecting sites and is used for shielding the connecting sites or is staggered with the connecting sites in the length direction of the base; the driving end of the driving mechanism is connected with the shielding cover and used for driving the shielding cover to move close to or away from the connecting site. According to the arrangement, when the reflective ball is in an open state, the shielding cover can be staggered with the reflective ball in the length direction of the base instead of being located on the side of the reflective ball, so that the situation that the optical camera and the shielding cover are located on the same side of the reflective ball together in the operation process is avoided, and the situation that the optical camera is shielded by the shielding cover is avoided; and the accuracy of identifying the reflective ball by the optical camera is effectively improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of medical apparatus and instruments, especially a probe holding device and probe. BACKGROUND

[0002] In the process of orthopedic surgery, surgical registration technology has become an indispensable auxiliary tool, which can realize the accurate alignment of the patient's intraoperative anatomical structure and preoperative image data in the operation to help the doctor better perform the operation according to the preoperative plan. In the registration process, the probe plays a key role in accurately finding the key points of the intraoperative anatomy and determining the spatial position of these key points in the preoperative image.

[0003] The probe structure is often a hard rod, one end of which is a needle-shaped tip used to pierce the bone surface cartilage and contact the bony landmark, and the other end is a support for three or more reflective balls used to determine the spatial position of the probe tip under the guidance of an infrared camera. In the operation, the doctor follows the instructions given by the screen and touches the probe tip to a plurality of bony landmarks in turn to register the patient's anatomical structure with the preoperative image data (such as CT or MRI), helping the doctor to confirm the location of the target area and also to verify the preoperative planning scheme and make corresponding intraoperative adjustments.

[0004] In related technology, the probe often contains four reflective balls, and the optical camera obtains real-time position data of the probe by real-time identification of the spatial position of the four reflective balls. In order to speed up the confirmation process of the bony landmark, a shielding cover that swings laterally around a fixed shaft is generally used to shield or open one of the reflective balls, so that the optical camera can only determine whether the doctor has confirmed the selected bony landmark according to the number of reflective balls.

[0005] However, in actual application, it is found that when the shielding cover is opened, since the opening position of the shielding cover is located at the side of the reflective ball, the shielding cover and the optical camera may be on the same side of the reflective ball, and the optical camera is blocked by the shielding cover, resulting in the problem that the optical camera cannot accurately identify the reflective ball. UTILITY MODEL CONTENTS

[0006] The utility model provides a probe holding device and probe to solve the problem that the shielding cover affects the accuracy of the optical camera identifying the reflective ball in the prior art, which can effectively avoid the problem that when the shielding cover is opened, the shielding cover and the optical camera are on the same side of the reflective ball, causing the shielding cover to block the optical camera, and ensures the accuracy of the optical camera identifying the reflective ball.

[0007] The utility model provides a probe holding device, which comprises:

[0008] The base has multiple connection points for connecting the reflective ball, and one end of the base along the length direction is set as a connection end, which is suitable for connecting the needle body;

[0009] A shielding cover is disposed on the base. The shielding cover can move closer to or away from one of the connection points to cover the connection point or be misaligned with the connection point in the length direction of the base.

[0010] A driving mechanism, with its driving end connected to the cover, is used to drive the cover to move closer to or away from the connection point.

[0011] According to the present invention, a probe holding device is provided on the base near the connecting end, and the driving mechanism includes:

[0012] A button is provided on the grip and can slide along the pressing direction;

[0013] A transmission assembly, which drives the button and the cover, is used to convert the movement of the button into the movement of the drive end along the length direction of the base.

[0014] According to the probe holding device provided by this utility model, a guide structure for constraining the sliding direction of the shielding cover is further included, the guide structure comprising:

[0015] The mating part is arranged on the base along the length direction of the base;

[0016] The guide portion is slidably fitted with the mating portion, and the cover is fixedly connected to the guide portion.

[0017] According to the probe holding device provided by this utility model, the transmission component includes:

[0018] The gear is rotatably connected to the base;

[0019] A rack is arranged along the pressing direction and slides with the base; the rack meshes with the gear; and the button is fixedly connected to the rack.

[0020] The first connecting rod has one end fixedly connected to the gear, so that the first connecting rod can swing as the gear rotates;

[0021] The second link has one end hinged to the other end of the first link relative to the gear, and the other end hinged to the guide portion.

[0022] According to the present invention, a probe holding device further includes a guide structure for constraining the sliding direction of the rack, the guide structure including a slidingly engaging guide groove and a guide pin;

[0023] The guide groove extends along the sliding direction of the button, and one of the guide groove and the guide pin is provided on the base, and the other is provided on the rack.

[0024] According to the probe holding device provided by this utility model, the transmission component includes:

[0025] The gear is rotatably connected to the base;

[0026] A rack is arranged along the length of the base and slides in engagement with the base. The rack meshes with the gear and its end is connected to the cover.

[0027] The crank has one end fixedly connected to the gear with the connection point located on the gear's shaft, and the other end fixedly connected to a sliding shaft. The button has a sliding groove arranged at an angle to the sliding direction of the button. The sliding shaft is slidably embedded in the sliding groove and can rotate relative to the button.

[0028] According to the present invention, a probe holding device further includes an elastic element, which is adapted to provide a force to maintain the shielding cover covering the connection point.

[0029] According to the present invention, a probe holding device is provided, wherein the elastic element includes a spring, one end of the spring abuts against the base and the other end abuts against the guide portion.

[0030] According to the probe holding device provided by this utility model, the mating part is configured as a guide groove, and the guide part is embedded in the guide groove;

[0031] The end of the guide portion is provided with a spring mounting hole, one end of the spring is embedded in the spring mounting hole, and the other end abuts against the end wall of the guide groove.

[0032] According to the present invention, a probe holding device further includes a housing that covers the drive mechanism; the end of the button protrudes through the housing.

[0033] This utility model also provides a probe, including a needle body, a reflective ball, and the probe holding device described in any one of the above.

[0034] The needle body is fixedly connected to the connecting end of the base;

[0035] The reflective ball is connected to the connection point of the base.

[0036] According to the present invention, a probe is provided at the connection point with a stepped positioning hole, and a radially protruding retaining ring is provided on the outer periphery of the reflective ball. The retaining ring is used to abut against the step when the reflective ball is embedded in the positioning hole, and the upper surface of the retaining ring is slightly higher than the upper surface of the positioning hole.

[0037] It also includes a pressure cap, the end of which is provided with a pressure ring. The pressure cap is threadedly connected to the base so that the pressure ring presses the retaining ring onto the step.

[0038] According to the probe provided by this utility model, the end of the pressure cap is provided with a bowl-shaped opening, the bowl-shaped opening is coaxial with the pressure ring and gradually widens in the direction away from the pressure ring;

[0039] And / or, a sealing ring is provided between the step, the retaining ring and the pressure ring.

[0040] According to the present invention, the outer periphery of the pressure cap is configured as a polygon.

[0041] The probe holding device and probe provided by this utility model allow the shielding cover to be offset from the reflective ball along the length of the base rather than located to the side of the reflective ball when the reflective ball is in the open state. During the operation, the optical camera will not be on the same side as the shielding cover and the reflective ball, thereby avoiding the situation where the shielding cover blocks the optical camera and effectively improving the accuracy of the optical camera in recognizing the reflective ball. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0043] Figure 1 This is a schematic diagram of the structure of the probe holding device with the reflective ball open, provided in this embodiment of the utility model.

[0044] Figure 2 This is a schematic diagram of the reflective ball shielding structure in the probe holding device provided in this embodiment of the utility model.

[0045] Figure 3 This is a schematic diagram of the drive mechanism provided in an embodiment of the present invention.

[0046] Figure 4 This is an exploded view of the drive mechanism provided in an embodiment of this utility model.

[0047] Figure 5This is a cross-sectional view of the drive mechanism provided in an embodiment of the present invention.

[0048] Figure 6 This is a schematic diagram of the transmission assembly provided in an embodiment of the present invention.

[0049] Figure 7 This is a schematic diagram of the structure of the reflective ball and the base provided in this embodiment of the utility model.

[0050] Figure 8 This is a schematic diagram of the structure of the pressure cap provided in an embodiment of this utility model.

[0051] Figure 9 This is a schematic diagram of the drive mechanism provided in another embodiment of the present invention.

[0052] Figure label:

[0053] 10. Base; 10-1. Positioning hole; 11. Cover; 12. Button; 12-1. Slide groove; 13. Transmission assembly; 13-1. Gear; 13-2. Rack; 13-3. First connecting rod; 13-4. Second connecting rod; 13-5. Gear shaft; 13-6. First bearing; 13-7. Collar; 13-8. First rotating shaft; 13-9. Second bearing; 13-10. Second rotating shaft; 13-11. Third bearing; 13 -12, Crank; 13-13, Sliding Shaft; 14, Guide Structure; 14-1, Guide Part; 14-10, Spring Mounting Hole; 14-2, Fitting Part; 15, Guide Structure; 15-1, Guide Groove; 15-2, Guide Pin; 16, Elastic Component; 17, Housing; 20, Reflector Ball; 20-1, Retaining Ring; 21, Needle Body; 22, Pressure Cap; 22-1, Pressure Ring; 22-2, Bowl Mouth; 23, Sealing Ring; 24, Fixing Pin. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0055] To facilitate understanding of the probe holding device and probe provided by this utility model, its application background is introduced first. At present, surgical registration technology has become an indispensable auxiliary tool in surgery. During the registration process, the probe plays a key role in accurately finding the key points of intraoperative dissection and determining the spatial position of these key points in the preoperative image.

[0056] In related technologies, probes often contain four reflective spheres. Optical cameras obtain real-time position data of the probe by identifying the spatial positions of the four reflective spheres in real time. In order to speed up the process of confirming bony landmarks, a cover that swings around a fixed axis is usually used to block or open one of the reflective spheres by lateral swinging. This allows the optical camera to determine whether the doctor has confirmed the selected bony landmark simply by the number of reflective spheres.

[0057] However, in practical applications, it has been found that when the aforementioned technology is used, after the shielding cover swings to the side to open the reflective ball, it is located to the side of the reflective ball. This results in the optical camera and the shielding cover being on the same side. The optical camera has a certain probability of being blocked by the shielding cover, which makes it impossible for the optical camera to accurately identify the reflective ball.

[0058] To address the aforementioned issues, this invention provides a probe holding device and a probe, which effectively avoids obstructing the optical camera and ensures the accuracy of the optical camera in recognizing the reflective ball.

[0059] The following is combined Figures 1-9 This invention describes the probe holding device and the probe.

[0060] Reference Figure 1 and Figure 2 A probe holding device includes a base 10, a shielding cover 11, and a driving mechanism. The base 10 has multiple connection points for connecting a reflective ball 20, and one end of the base 10 along its length is provided with a connection end suitable for connecting a needle body 21. The shielding cover 11 is disposed on the base 10 and can move closer to or away from one of the connection points to cover the connection point or to be misaligned with the connection point along the length of the base 10. The driving end of the driving mechanism is connected to the shielding cover 11 and is used to drive the shielding cover 11 to move closer to or away from the connection point.

[0061] In practical applications, the reflective ball 20 is connected to the connection point of the base 10, and the needle body 21 is connected to the connection end of the base 10 to form a probe. The shielding cover 11 can move closer to or away from one of the connection points under the drive of the drive mechanism, thereby covering or exposing one of the reflective balls 20. When picking up the position of the probe tip during the operation, the drive mechanism drives the shielding cover 11 to move away from the connection point to expose the reflective ball 20. After the optical camera recognizes all the reflective balls 20, it completes the picking up of the probe tip position, and at the same time realizes the confirmation of the probe position and the jump of the registration point.

[0062] Compared to related technologies, when the reflective ball 20 is in the open state, the shielding cover 11 can be offset from the reflective ball 20 along the length of the base 10 instead of being located to the side of the reflective ball 20. During the operation, the optical camera will not be on the same side as the shielding cover 11, thereby avoiding the situation where the shielding cover 11 blocks the optical camera and effectively improving the accuracy of the optical camera in recognizing the reflective ball 20.

[0063] In some optional embodiments, the specific shape, material, and size of the base 10 can be adapted to actual needs, and no specific limitations are imposed in this embodiment.

[0064] Furthermore, depending on different practical needs, more than three connection points are provided to install more than three reflective spheres 20. To avoid uncertainties caused by symmetry, three connection points are located at the three vertices of an irregular triangle to determine the position in a three-dimensional space and two rotation angles. To improve positioning accuracy, four connection points are provided in this embodiment, with three reflective spheres 20 located at the three vertices of the irregular triangle and the fourth reflective sphere 20 located near the connection end of the base 10.

[0065] In one embodiment of this utility model, the shielding cover 11 can reciprocate along the length direction of the base 10 under the drive of the driving mechanism to move closer to or further away from one of the connection points, thereby making it easy to achieve the misalignment of the shielding cover 11 with the reflective ball 20 in the length direction of the base 10 when the reflective ball 20 is open.

[0066] To facilitate the operation of the shielding cover 11 by the doctor during surgery, in one embodiment of this utility model, the base 10 is provided with a grip near the connecting end for easy holding of the probe by the doctor. The driving mechanism includes a button 12 and a transmission assembly 13; wherein, the button 12 is disposed on the grip and can slide along the pressing direction, specifically, the pressing direction can be the width direction of the base 10. The transmission assembly 13 drives the button 12 and the shielding cover 11, so as to convert the movement of the button 12 along the pressing direction into the movement of the driving end along the length direction of the base 10. With this configuration, during surgery, the doctor only needs to press the button 12 on the grip to control the movement of the shielding cover 11, thereby controlling the shielding and opening of the reflective ball 20, improving work efficiency.

[0067] In one embodiment of this utility model, the probe holding device further includes a guide structure 14 for constraining and guiding the sliding direction of the shielding cover 11. Specifically, the guide structure 14 includes a guide portion 14-1 and a mating portion 14-2; wherein, the mating portion 14-2 is arranged on the base 10 along the length direction of the base 10; the guide portion 14-1 and the mating portion 14-2 are slidably fitted together, and the shielding cover 11 is fixedly connected to the guide portion 14-1. Through the mutually cooperating guide portion 14-1 and mating portion 14-2, the sliding direction of the shielding cover 11 can be constrained and guided, ensuring that the shielding cover 11 slides along a preset trajectory.

[0068] Depending on different practical needs, the guide part 14-1 and the mating part 14-2 can be configured with different structural forms, such as mutually interlocking guide blocks and guide grooves, guide blocks and slide rails, etc.

[0069] In some alternative embodiments, the transmission component 13 may be configured in different forms or structures depending on different actual needs.

[0070] In one embodiment of this utility model, the transmission assembly 13 includes a gear 13-1, a rack 13-2, a first connecting rod 13-3, and a second connecting rod 13-4; wherein, the gear 13-1 is rotatably connected to the base 10; the rack 13-2 is arranged along the pressing direction, for example, the width direction of the base 10, and slides in cooperation with the base 10, the rack 13-2 meshes with the gear 13-1, and one end of the button 12 is fixedly connected to the rack 13-2; one end of the first connecting rod 13-3 is fixedly connected to the gear 13-1, so that the first connecting rod 13-3 can swing with the rotation of the gear 13-1; one end of the second connecting rod 13-4 is hinged to the other end of the first connecting rod 13-3 relative to the gear 13-1, and the other end of the second connecting rod 13-4 is hinged to the guide part 14-1.

[0071] In practical applications, by pressing button 12, button 12 slides along the pressing direction, button 12 drives rack 13-2 to slide, rack 13-2 drives gear 13-1 to rotate, gear 13-1 rotates at the same time, driving first link 13-3 to swing, first link 13-3 drives second link 13-4 to swing, and during the swing of second link 13-4, guide part 14-1 slides along mating part 14-2, thereby causing the cover 11 to slide along the length of base 10, realizing the shielding and opening of reflective ball 20.

[0072] In one embodiment of this utility model, gear 13-1 is rotatably connected to base 10 via gear shaft 13-5 and first bearing 13-6. Specifically, gear 13-1 is fixedly connected to gear shaft 13-5 via key engagement and collar 13-7. First bearing 13-6 is fixedly connected inside base 10. The inner rings of gear shaft 13-5 and first bearing 13-6 can be connected via interference fit, thereby rotatably connecting gear 13-1 to base 10. One end of first connecting rod 13-3 is fixedly connected to gear shaft 13-5, so that when gear 13-1 rotates, it can drive first connecting rod 13-3 to swing via gear shaft 13-5. One end of second connecting rod 13-4 is rotatably connected to the other end of first connecting rod 13-3 relative to gear 13-1 via first rotating shaft 13-8 and second bearing 13-9. The other end of second connecting rod 13-4 is rotatably connected to guide part 14-1 via second rotating shaft 13-10 and third bearing 13-11.

[0073] With the above technical solution, when the doctor presses button 12 during the operation, button 12 drives rack 13-2 to slide, rack 13-2 drives gear 13-1 to rotate, gear 13-1 drives first link 13-3 and second link 13-4 to swing through gear shaft 13-5, thereby driving guide part 14-1 to slide, so as to realize the shielding cover 11 shielding and opening of reflective ball 20.

[0074] In one embodiment of the present invention, in order to ensure the smoothness and stability of the sliding of the rack 13-2, the probe holding device further includes a guide structure 15 for constraining and guiding the sliding direction of the rack 13-2.

[0075] Specifically, the guide structure 15 includes a slidingly fitted guide groove 15-1 and a guide pin 15-2; wherein, the guide groove 15-1 extends along the sliding direction of the button 12, and one of the guide groove 15-1 and the guide pin 15-2 is disposed on the base 10, and the other is disposed on the rack 13-2.

[0076] As a specific embodiment of this utility model, the guide pin 15-2 is fixedly connected to the base 10, and the guide groove 15-1 is set as a strip-shaped through groove that penetrates the upper and lower sides of the rack 13-2. The guide pin 15-2 is slidably inserted into the guide groove 15-1.

[0077] To further facilitate the doctor's operation, in one embodiment of the present invention, the probe holding device further includes an elastic element 16, which is adapted to provide a force to maintain the shielding cover 11 covering the connection site.

[0078] In practical applications, under the elastic force of the elastic element 16, the shielding cover 11 remains in position blocking the reflective sphere 20. When the doctor touches the desired marker point with the probe tip, pressing the button 12 causes the shielding cover 11 to open under the action of the transmission component 13. After the optical camera recognizes all the reflective spheres 20, it starts the program to pick up the three-dimensional spatial position of the probe tip, and at the same time, it correlates the position of the probe tip with the selected marker point to achieve the purpose of picking up the three-dimensional spatial position of the selected marker point. After the marker point is picked up, the button 12 is released, and under the elastic force of the elastic element 16, the shielding cover 11 returns to its original position and covers the reflective sphere 20 to facilitate the next steps.

[0079] It is understandable that, depending on different needs, the elastic element 16 can be selected in different forms and arrangements.

[0080] In one embodiment of this utility model, the elastic element 16 is a spring, with one end of the spring elastically abutting against the base 10 and the other end elastically abutting against the guide portion 14-1.

[0081] In one specific embodiment, the mating part 14-2 is configured as a guide groove arranged along the sliding direction of the cover 11, and the guide part 14-1 is slidably embedded in the guide groove; a spring mounting hole 14-10 is provided at one end of the guide part 14-1 facing the connection end of the base 10, one end of the spring is embedded in the spring mounting hole 14-10, and the other end abuts against the end wall of the guide groove. By providing the guide groove and the spring mounting hole 14-10, the extension and contraction of the spring can be constrained and guided, improving the stability and smoothness of the spring extension and contraction, thereby improving the smoothness and stability of the sliding of the cover 11.

[0082] In one embodiment of this utility model, the probe holding device further includes a housing 17, which covers the drive mechanism and provides protection for the drive structure. The housing 17 is provided with a through hole, through which the end of the button 12 passes through the housing 17 for easy pressing. At the same time, under the joint constraint and guidance of the through hole and the guide structure 15, the rack 13-2 can only move linearly in a specific direction, which improves the smoothness and stability of the rack 13-2's movement.

[0083] It is understandable that, in order to allow the first link 13-3 and the second link 13-4 sufficient swing space, clearance through holes can be provided at corresponding positions on the outer casing 17. During the swinging process, the first link 13-3 and the second link 13-4 can pass through the clearance through holes to exit the outer casing 17, thus avoiding interference between the first link 13-3 and the second link 13-4 and the outer casing 17 during the swinging process.

[0084] In another embodiment of this utility model, the transmission assembly 13 includes a gear 13-1, a rack 13-2, and a crank 13-12; wherein, the gear 13-1 is rotatably connected to the base 10; the rack 13-2 is arranged along the length direction of the base 10 and slides with the base 10, the rack 13-2 meshes with the gear 13-1 and its end is connected to the cover 11; one end of the crank 13-12 is fixedly connected to the gear 13-1 and the connection point is located on the shaft of the gear 13-1, and the other end is fixedly connected to a sliding shaft 13-13; the button 12 is provided with a groove 12-1, the groove 12-1 and the sliding direction of the button 12 are arranged at an angle, for example, they can be perpendicular to each other, the sliding shaft 13-13 is slidably embedded in the groove 12-1 and can rotate relative to the button 12, so that the button 12 and the crank 13-12 form a crank 13-12 slider structure, and the sliding of the button 12 along a straight line can be converted into the rotation of the crank 13-12.

[0085] In practical applications, when button 12 is pressed, button 12 slides, causing sliding shaft 13-13 to slide within slide groove 12-1 and rotate relative to button 12, thereby converting the linear motion of button 12 into the rotation of crank 13-12. Crank 13-12 drives gear 13-1 to rotate, and gear 13-1 drives rack 13-2 to slide along the length of base 10. Under the drive of rack 13-2, the linear motion of cover 11 is achieved.

[0086] In one specific embodiment, gear 13-1 can be rotatably connected to base 10 in the manner described above; rack 13-2 can be connected to cover 11 via guide portion 14-1 as described above; end of crank 13-12 can be fixedly connected to gear shaft 13-5, so that crank 13-12 drives gear 13-1 to rotate during rotation.

[0087] Of course, the transmission component 13 includes, but is not limited to, the structures or forms listed above. Other structures or forms of transmission components 13 are also applicable, as long as they can convert the movement of the button 12 into linear movement of the drive end along the length direction of the base 10.

[0088] For example, in another embodiment, a combination of two sets of crank-slider mechanisms can be used to achieve transmission. The slider in the first set of crank-slider mechanisms is fixedly connected to the cover 11 and makes longitudinal linear motion (i.e., linear motion along the length direction of the base 10) to cover or open the reflector ball 20. The slider in the second set of crank-slider mechanisms acts as a button 12 and makes lateral linear motion (i.e., linear motion along the width direction of the base 10). The crank 13-12 in the second set of crank-slider mechanisms is fixedly connected to the crank 13-12 in the first set of mechanisms through a rotating shaft. The operator drives the slider in the second set of crank-slider mechanisms, i.e. the button 12, to make lateral linear motion, thereby driving the crank 13-12 in the first set of mechanisms to rotate, and then driving the slider in the first set of mechanisms to make longitudinal linear motion, so as to achieve the covering of the reflector ball 20 by the cover 11.

[0089] It is understood that when the specific structure of the transmission component 13 changes, the shape and structure of the outer shell 17 can be adapted accordingly. These will not be listed in detail in this embodiment of the utility model.

[0090] It should be noted that, regardless of how the structure of the transmission component 13 is changed, the sliding direction of the cover 11 can be constrained and guided by the guide structure 14 described above, and the force to maintain the cover 11 covering the connection point can be provided by the elastic element 16 described above.

[0091] The probe provided by this utility model is described below. The probe described below and the probe holding device described above can be referred to in correspondence.

[0092] Referring to the figure, a probe includes a needle body 21, a reflective ball 20, and a probe holding device provided in any of the above embodiments; wherein the needle body 21 is fixedly connected to the connection end of the base 10, and the reflective ball 20 is connected to the connection point of the base 10.

[0093] In one embodiment of this utility model, in order to facilitate the installation of the reflective ball 20, a stepped positioning hole 10-1 is provided at the connection point of the base 10. A radially protruding retaining ring 20-1 is provided on the outer periphery of the reflective ball 20. The retaining ring 20-1 is used to abut against the step when the reflective ball 20 is embedded in the positioning hole 10-1, thereby realizing the positioning of the reflective ball 20 in the positioning hole 10-1. The probe also includes a pressure cap 22. The end of the pressure cap 22 is provided with a pressure ring 22-1. The pressure cap 22 is threadedly connected to the base 10 so that the pressure ring 22-1 presses the retaining ring 20-1 onto the step. The upper surface of the reflective ball 20 protrudes from the pressure ring 22-1 for collection and recognition by the optical camera, thereby completing the connection and fixation of the reflective ball 20 on the base 10.

[0094] In one embodiment of this utility model, a sealing ring 23 is provided between the step, the retaining ring 20-1, and the pressure ring 22-1 to protect the portion of the reflective ball 20 located in the positioning hole 10-1, preventing damage to the coating inside the reflective ball 20 during sterilization. To achieve a better sealing effect, after the reflective ball 20 is placed in the positioning hole 10-1, the upper surface of the reflective ball 20 is slightly higher than the upper surface of the positioning hole 10-1.

[0095] In one embodiment of this utility model, the end of the pressure cap 22 is provided with a bowl 22-2. The bowl 22-2 is coaxial with the pressure ring 22-1 and gradually widens in the direction away from the pressure ring 22-1. The height of the bowl 22-2 is not lower than the height of the upper surface of the reflective ball 20. The bowl 22-2 can prevent damage to the outer surface of the reflective ball 20 during use and storage, and the gradually widening bowl 22-2 can prevent the light from being blocked by the reflective ball 20.

[0096] In one embodiment of this utility model, in order to facilitate the screwing of the cover 22, the outer periphery of the cover 22 is set as a polygon, such as a hexagon or an octagon.

[0097] In one embodiment of this utility model, in order to facilitate the installation of the needle body 21, a connecting hole is provided at the connecting end of the base 10, and a pin hole communicating with the connecting hole is provided on the base 10. The other end of the needle body 21 relative to the tip is provided as the insertion end, and a radial pin hole is provided on the insertion end. During installation, the insertion end of the needle body 21 is inserted into the connecting hole, and the fixing pin 24 passes through the base 10 and the pin hole of the insertion end in sequence to realize the connection and fixation of the needle body 21 on the base 10.

[0098] It is understood that, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples.

[0099] With the probe holding device and probe provided in this embodiment of the utility model, when the reflective ball 20 is in the open state, the shielding cover 11 can be misaligned with the reflective ball 20 in the length direction of the base 10 instead of being located on the side of the reflective ball 20. During the operation, the optical camera will not be on the same side as the shielding cover 11, thereby avoiding the situation where the shielding cover 11 blocks the optical camera and effectively improving the accuracy of the optical camera in recognizing the reflective ball 20.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A probe holding device, characterized in that, include: The base (10) is provided with a plurality of connection points for connecting the reflective ball (20), and one end of the base (10) along the length direction is set as a connection end, which is suitable for connecting the needle body (21); A cover (11) is disposed on the base (10). The cover (11) can move closer to or further away from one of the connection points to cover the connection point or be misaligned with the connection point in the length direction of the base (10). The driving mechanism, with its driving end connected to the shielding cover (11), is used to drive the shielding cover (11) to move closer to or away from the connection point.

2. The probe holding device according to claim 1, characterized in that, The base (10) is provided with a holding part near the connecting end, and the driving mechanism includes: Button (12) is provided on the grip and can slide along the pressing direction; A transmission assembly (13) is connected to the button (12) and the cover (11) to convert the movement of the button (12) into the movement of the drive end along the length direction of the base (10).

3. The probe holding device according to claim 2, characterized in that, It also includes a guide structure (14), the guide structure (14) comprising: The mating part (14-2) is arranged on the base (10) along the length direction of the base (10); The guide portion (14-1) is slidably fitted with the mating portion (14-2), and the cover (11) is fixedly connected to the guide portion (14-1).

4. The probe holding device according to claim 3, characterized in that, The transmission assembly (13) includes: Gear (13-1) is rotatably connected to the base (10); A rack (13-2) is arranged along the pressing direction and slides in cooperation with the base (10). The rack (13-2) meshes with the gear (13-1). The button (12) is fixedly connected to the rack (13-2). The first connecting rod (13-3) is fixedly connected at one end to the gear (13-1), so that the first connecting rod (13-3) can swing as the gear (13-1) rotates; The second link (13-4) is hinged at one end to the other end of the first link (13-3) relative to the gear (13-1), and at the other end to the guide (14-1).

5. The probe holding device according to claim 4, characterized in that, It also includes a guide structure (15), which includes a slidingly fitted guide groove (15-1) and a guide pin (15-2); The guide groove (15-1) extends along the sliding direction of the button (12). One of the guide groove (15-1) and the guide pin (15-2) is provided on the base (10), and the other is provided on the rack (13-2).

6. The probe holding device according to claim 3, characterized in that, The transmission assembly (13) includes: Gear (13-1) is rotatably connected to the base (10); A rack (13-2) is arranged along the length of the base (10) and slides in engagement with the base (10). The rack (13-2) meshes with the gear (13-1) and its end is connected to the cover (11). The crank (13-12) is fixedly connected at one end to the gear (13-1) with the connection point located on the shaft of the gear (13-1), and a sliding shaft (13-13) is fixedly connected at the other end. The button (12) is provided with a groove (12-1), and the groove (12-1) is arranged at an angle to the sliding direction of the button (12). The sliding shaft (13-13) is slidably embedded in the groove (12-1) and can rotate relative to the button (12).

7. The probe holding device according to any one of claims 1 to 6, characterized in that, It also includes an elastic element (16) adapted to provide a force that maintains the cover (11) covering the connection point.

8. A probe, characterized in that, It includes a needle body (21), a reflective ball (20), and a probe holding device as described in any one of claims 1 to 7; The needle body (21) is fixedly connected to the connecting end of the base (10); The reflective ball (20) is connected to the connection point of the base (10).

9. The probe according to claim 8, characterized in that, The connection point is provided with a stepped positioning hole (10-1), and the outer periphery of the reflective ball (20) has a radially protruding retaining ring (20-1). The retaining ring (20-1) is used to abut against the step when the reflective ball (20) is embedded in the positioning hole (10-1), and the upper surface of the retaining ring (20-1) is slightly higher than the upper surface of the positioning hole (10-1). It also includes a pressure cap (22), the end of which is provided with a pressure ring (22-1), the pressure cap (22) is threadedly connected to the base (10) so that the pressure ring (22-1) presses the retaining ring (20-1) onto the step.

10. The probe according to claim 9, characterized in that, The end of the pressure cap (22) is provided with a bowl (22-2), the bowl (22-2) is coaxial with the pressure ring (22-1) and gradually widens in the direction away from the pressure ring (22-1); And / or, a sealing ring (23) is provided between the step, the retaining ring (20-1) and the pressure ring (22-1).

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