Laparoscopic probe and mechanical positioning device thereof

Abstract

A laparoscope probe and a mechanical positioning device thereof, the mechanical positioning device comprising a locking assembly and a damping assembly, the locking assembly having a locked state and an unlocked state, in the locked state, the locking assembly limits the transmission assembly, the push rod can drive the transmission assembly to move, and the damping assembly generates damping force to inhibit the movement of the transmission assembly; in the unlocked state, the locking assembly removes the limitation, and the push rod can drive the transmission assembly to move. Since the locking assembly can lock and unlock the movement of the push rod device, and generates damping force to the push rod device in the locked state, instead of directly locking the push rod device, the push rod device can adjust the sound head to swing fast and large in the unlocked state, for coarse adjustment, and adjust the sound head to swing slow and small in the locked state with damping, for fine adjustment; and then the accurate adjustment and control of the sound head position can be realized, the switching between the locked state and the unlocked state is convenient, and the operation is convenient.

Description

Technical Field

[0001] This utility model relates to the field of medical testing technology, specifically to a laparoscopic probe and its mechanical positioning device. Background Technology

[0002] Laparoscopic probes are common endoscopic diagnostic devices. The probe tip of a laparoscopic probe is inserted into the abdominal cavity to perform scanning imaging to obtain images of the abdominal cavity, thereby identifying lesions and assisting in surgical treatment.

[0003] An important function of the laparoscopic probe is to adjust the turning of the probe tip using a lever, allowing doctors to control the tip of the probe to achieve a more effective fit with the organs, thus facilitating ultrasound examinations, assisted puncture ablation, and staining.

[0004] Currently, laparoscopic probes primarily use a lever to control an internal gear. This gear and rack mechanism enables angled rotation, while locking is achieved through a ratchet structure or a plunger engaged with the gear. This design increases lever resistance under angled loads, thus reducing the force required for the surgeon to control the lever.

[0005] However, the above design schemes suffer from inaccurate positioning control precision. For example, when the lever is used to control the bend at a specific angle, the expected resistance cannot be achieved when this angle aligns with the ratchet tip or the gear tooth tip engaging with the plunger, affecting the doctor's use. Furthermore, laparoscopic probes using gears and plungers typically only have a locking mode and cannot be switched. During scanning, the force required to adjust the bend in the locked state is high, resulting in poor operability. Some companies' products utilize a lever principle, using the plunger's elasticity to achieve a locking mode through the engagement of the brake pin and gears. While this design allows switching between locking and unlocking, the lever principle of the adjustment structure leads to excessively high forces when adjusting the locking / unlocking mechanism, further complicating operability. Utility Model Content

[0006] This invention provides a laparoscopic probe and its mechanical positioning device to solve the problems of inaccurate probe positioning accuracy and poor operability.

[0007] In one embodiment, a laparoscopic probe is provided, comprising a vocal head, a curved tube, a straight tube and a handle connected in sequence, and further comprising a lever device and a mechanical positioning device; The acoustic head is used to emit ultrasonic waves and receive ultrasonic echoes, and to generate echo data; The curved tube is used for bending and oscillating; The handle is provided for the doctor to hold and operate the laparoscopic probe; The lever device includes a lever, a transmission assembly, and a traction line. The lever is installed on the outside of the handle, and the transmission assembly and the traction line are installed inside the handle. The lever is connected to the traction line through the transmission assembly, and the traction line passes through the straight tube and is connected to the curved tube and / or the sound head. The lever drives the traction line to move through the transmission assembly, thereby causing the sound head to swing. The mechanical positioning device includes a locking component and a damping component, which are installed inside the handle. The locking component, the damping component, and the transmission component are connected in sequence. The locking component has a locked state and an unlocked state. In the locked state, the locking component limits the transmission component, the lever can drive the transmission component to move, and the damping component generates a damping force to inhibit the movement of the transmission component. In the unlocked state, the locking component releases the limit, and the lever can drive the transmission component to move.

[0008] In one embodiment, the locking assembly includes a locking shaft, a fixed clutch, a movable clutch, and a locking button. The locking shaft, the fixed clutch, and the movable clutch are installed inside the handle. The locking shaft is connected to the transmission assembly via a damping assembly. The transmission assembly generates a damping force when rotating relative to the locking shaft. The fixed clutch is connected to the locking shaft. The movable clutch is movably movable along the axial direction of the locking shaft, and its rotation around the axial direction of the locking shaft is limited. The locking button is movably installed inside the handle, with at least a portion of the locking button protruding from the outside of the handle. The locking button is used to move the movable clutch to switch between the locked and unlocked states. In the locked state, the movable clutch moves to connect with the fixed clutch and limits the rotation of the movable clutch and the locking shaft. In the unlocked state, the movable clutch moves to separate from the fixed clutch.

[0009] In one embodiment, the fixed clutch has a first limiting portion on the side facing the movable clutch, and the movable clutch has a second limiting portion on the side facing the fixed clutch; in the locked state, the movable clutch moves to connect with the fixed clutch, the first limiting portion and the second limiting portion cooperate to connect, and the movable clutch limits the rotation of the fixed clutch and the locking shaft; in the unlocked state, the movable clutch separates from the fixed clutch, and the first limiting portion and the second limiting portion separate.

[0010] In one embodiment, the locking assembly further includes a first elastic element, the fixed clutch is axially movably mounted on the locking shaft, the fixed clutch is connected to the locking shaft through the first elastic element, and the first elastic element always applies a spring force to the fixed clutch to move toward the movable clutch.

[0011] In one embodiment, the locking shaft is provided with a third limiting part, which is located between the fixed clutch and the movable clutch, and the third limiting part is used to limit the axial position of the fixed clutch.

[0012] In one embodiment, the locking assembly further includes a second elastic element, the movable clutch being connected to the locking shaft via the second elastic element, and the second elastic element always applying a spring force to the movable clutch that moves away from the fixed clutch.

[0013] In one embodiment, the locking button is movably installed inside the handle, and the moving direction of the locking button is perpendicular to the moving direction of the movable clutch; the locking button is used to drive the movable clutch to move to connect with the fixed clutch to form a lock, and the second elastic member is used to drive the movable clutch to move to separate from the fixed clutch to form an unlock.

[0014] In one embodiment, the damping assembly includes a first damping friction plate and a second damping friction plate, which are spaced apart and mounted on the locking shaft. A portion of the transmission assembly is inserted between the first damping friction plate and the second damping friction plate to form a contact friction connection.

[0015] In one embodiment, the first damping friction plate and / or the second damping friction plate are axially movable and mounted on the locking shaft. The locking shaft is further provided with a third elastic element, which is connected to the axially movable first damping friction plate and / or the second damping friction plate. The third elastic element always applies a preload force to the first damping friction plate and / or the second damping friction plate, causing the first damping friction plate and the second damping friction plate to press against each other.

[0016] In one embodiment, the transmission assembly includes a gear shaft and a rack that are meshed together, a portion of the gear shaft is inserted between the first damping friction plate and the second damping friction plate to form a contact friction connection, the lever is connected to the gear shaft, and the rack is connected to the traction line.

[0017] In one embodiment, the gear shaft is a hollow shaft, the locking shaft is installed inside the gear shaft, and the locking shaft and the gear shaft are parallel in axis; the gear shaft is provided with a protruding connecting part, which is inserted between the first damping friction plate and the second damping friction plate to form a contact friction connection.

[0018] In one embodiment, the device includes two lever devices and two mechanical positioning devices, with each lever device corresponding to one mechanical positioning device; the two levers drive the sound head to swing in different directions.

[0019] In one embodiment, a laparoscopic probe is provided, comprising a vocal head, a curved tube, a straight tube and a handle connected in sequence, and further comprising a lever device and an electric clutch; The acoustic head is used to emit ultrasonic waves and receive ultrasonic echoes, and to generate echo data; The curved tube is used for bending and oscillating; The handle is provided for the doctor to hold and operate the laparoscopic probe; The lever device includes a lever, a transmission assembly, and a traction line. The lever is installed on the outside of the handle, and the transmission assembly and the traction line are installed inside the handle. The lever is connected to the traction line through the transmission assembly, and the traction line passes through the straight tube and is connected to the curved tube and / or the sound head. The lever drives the traction line to move through the transmission assembly, thereby causing the sound head to swing. The electric clutch is installed inside the handle and is connected to the transmission assembly. The electric clutch has a locked state and an unlocked state. In the locked state, the lever can drive the transmission assembly to move, and the electric clutch generates a damping force to inhibit the movement of the transmission assembly. In the unlocked state, the lever can drive the transmission assembly to move.

[0020] In one embodiment, the electric clutch further has a locked state, in which the electric clutch limits the movement of the transmission assembly.

[0021] In one embodiment, a locking shaft is further included. The transmission assembly includes a gear shaft and a rack that are meshed together. The lever is connected to the gear shaft, the rack is connected to the traction line, the gear shaft is connected to the locking shaft, and the locking shaft is connected to the electric clutch.

[0022] In one embodiment, the gear shaft is a hollow shaft, the locking shaft is installed inside the gear shaft, and the locking shaft and the gear shaft are axially parallel.

[0023] In one embodiment, a mechanical positioning device for a laparoscopic probe is provided, including a locking component and a damping component. The locking component and the damping component are installed inside the handle of the laparoscopic probe. The locking component, the damping component, and the transmission component of the laparoscopic probe are connected in sequence. The locking component has a locked state and an unlocked state. In the locked state, the locking component limits the transmission component, the lever locking shaft of the laparoscopic probe drives the transmission component to move, and the damping component generates a damping force to inhibit the movement of the transmission component. In the unlocked state, the locking component releases the limit, and the lever locking shaft of the laparoscopic probe drives the transmission component to move.

[0024] In one embodiment, the locking assembly includes a locking shaft, a fixed clutch, a movable clutch, and a locking button. The locking shaft, the fixed clutch, and the movable clutch are installed inside the handle. The locking shaft is connected to the transmission assembly via a damping assembly. The transmission assembly generates a damping force when rotating relative to the locking shaft. The fixed clutch is connected to the locking shaft. The movable clutch is movably movable along the axial direction of the locking shaft, and its rotation around the axial direction of the locking shaft is limited. The locking button is movably installed inside the handle, with at least a portion of the locking button protruding from the outside of the handle. The locking button is used to move the movable clutch to switch between the locked and unlocked states. In the locked state, the movable clutch moves to connect with the fixed clutch and limits the rotation of the movable clutch and the locking shaft. In the unlocked state, the movable clutch moves to separate from the fixed clutch.

[0025] In one embodiment, the damping assembly includes a first damping friction plate and a second damping friction plate, which are spaced apart and mounted on the locking shaft. A portion of the transmission assembly is inserted between the first damping friction plate and the second damping friction plate to form a contact friction connection.

[0026] According to the laparoscopic probe and its mechanical positioning device in the above embodiments, since the mechanical positioning device includes a locking component and a damping component, the locking component can lock and unlock the movement of the lever device. In the locked state, it generates a damping force on the lever device, rather than directly locking the lever device. This allows the lever device to adjust the rapid, large-angle swing of the acoustic head for coarse adjustment in the unlocked state, and to adjust the slow, small-angle swing of the acoustic head for fine adjustment in the locked state with damping. Thus, precise adjustment and control of the acoustic head position can be achieved. Switching between the locked and unlocked states is convenient and easy to operate. Furthermore, since the lever device is not locked in the locked state, in the event of a malfunction of the mechanical positioning device, the doctor can forcibly operate the lever device to swing the acoustic head, ensuring the safety of using the laparoscopic probe. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the acoustic head swing structure of a laparoscopic probe in one embodiment; Figure 2 This is a partial sectional view of the laparoscopic probe along a section parallel to the anterior-posterior direction in one embodiment; Figure 3 This is a partial sectional view of the laparoscopic probe along a section perpendicular to the anterior-posterior direction in one embodiment; Figure 4 This is a partial sectional view of the laparoscopic probe along a section perpendicular to the anterior-posterior direction in one embodiment; Figure 5 This is a partial exploded view of the laparoscopic probe in one embodiment; Figure 6 This is a partial cross-sectional view of the locking button in one embodiment; Figure 7 This is an exploded view of the locking button in one embodiment; Figure 8 This is a partial sectional view of the laparoscopic probe along a section perpendicular to the anterior-posterior direction in one embodiment; The reference numerals in the attached figures are as follows: 10-Sound head, 20-Bent tube, 30-Straight tube, 40-Handle, 50-Lever device, 60-Mechanical positioning device, 70-Electric positioning device; 41-Mounting base, 411-Mounting hole; 51-Lever, 52-Transmission assembly, 521-Gear shaft, 5211-Insertion part, 522-Rack, 53-Traction line; 61-Locking assembly, 611-Locking shaft, 6111-Third limiting part, 6112-Mounting part, 612-Fixed clutch, 6121-First limiting part, 613-Movable clutch, 6131-Second limiting part, 614-Locking button, 6141-Button post, 61411-Slot, 6142-Snap, 6143-Spring, 6144-Keycap, 615-First elastic element, 616-Second elastic element, 617-Third elastic element; 62-Damping assembly, 621-First damping friction plate, 622-Second damping friction plate; 71-Electric clutch. Detailed Implementation

[0028] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Similar elements in different embodiments are referred to by related similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the present application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to the present application are not shown or described in the specification. This is to avoid obscuring the core parts of the present application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0029] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0030] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. Unless otherwise specified, the terms "connection" and "linkage" used in this application include both direct and indirect connections.

[0031] In one embodiment, a laparoscopic probe is provided. This laparoscopic probe is a type of endoscope probe and is used to insert into the abdominal cavity for scanning and imaging. The laparoscopic probe can be a laparoscopic ultrasound probe, with its front end being an ultrasound probe. The ultrasound probe can be adjusted and oscillated to effectively align the ultrasound probe with the organ to be imaged, thereby improving the accuracy of ultrasound imaging.

[0032] In this embodiment, the laparoscopic probe includes a lever device and a mechanical positioning device. The lever device is used to manually operate the swing direction and angle of the probe to ensure effective contact between the probe and the organs. The mechanical positioning device is connected to the lever device and is used to lock and unlock the movement of the lever device. The mechanical positioning device has at least the following functions: First, it achieves the positioning of the acoustic head swing position. The mechanical positioning device has a locked state. In the locked state, it can provide damping force to the lever device, so that the lever device cannot move without the application of pushing force. That is, the acoustic head can be positioned at the adjusted position to achieve stable scanning imaging. Secondly, it enables rapid positioning of the acoustic probe. The mechanical positioning device has locked and unlocked states. In the unlocked state, the mechanical positioning device does not provide damping force to the lever device, allowing the lever device to easily and quickly move the acoustic probe, enabling rapid, large-angle swings to near the preset position for rapid coarse adjustment. After coarse adjustment, the mechanical positioning device can switch to the locked state. In the locked state, the mechanical positioning device provides a certain damping force to the lever device. The doctor can apply sufficient pushing force to move the lever device, causing the acoustic probe to swing slowly at a small angle for slow, fine adjustment. Ultimately, through the combination of rapid coarse adjustment and slow, fine adjustment, the acoustic probe is swung to an accurate position where it effectively aligns with the organ, improving the accuracy of the scanning image. Third, to ensure the safety of the acoustic probe scanning imaging, the mechanical positioning device, when locked, does not completely lock the lever mechanism but rather provides damping force. If the mechanical positioning device malfunctions and cannot switch to the unlocked state, the doctor can forcibly push the lever mechanism to swing the acoustic probe, ensuring the safety of the scanning imaging. For example, when the curved tube connected to the acoustic probe is bent, the acoustic probe, curved tube, and straight tube are not in a straight line. If the mechanical positioning device is locked in this state and cannot switch to the unlocked state, the acoustic probe cannot be removed from the body. In this case, the doctor can forcibly operate the lever mechanism to swing the acoustic probe until it is in a straight line with the acoustic probe, curved tube, and straight tube, thus allowing the acoustic probe to be safely removed.

[0033] Please refer to Figures 1 to 3 In one embodiment, a laparoscopic probe is provided. The laparoscopic probe mainly includes a head 10, a curved tube 20, a straight tube 30 and a handle 40 connected in sequence. The curved tube 20 is a flexible structure. Parts of the head 10, the curved tube 20 and the straight tube 30 are used to be inserted into the abdominal cavity of the human body for scanning and imaging.

[0034] This laparoscopic probe also includes a lever device 50 and a mechanical positioning device 60. The lever device 50 can be used to drive the swing of the acoustic head 10. The mechanical positioning device 60 is connected to the lever device 50 and can be used to lock and unlock the movement of the lever device 50.

[0035] The sound head 10 contains an ultrasonic transducer, which is used to emit ultrasonic waves and receive ultrasonic echoes, and generate echo data. The echo data is transmitted to the processing module in the handle 40 in the form of an electrical signal.

[0036] The bending tube 20 can be a flexible, one-piece molded tube, or it can be a multi-segmented tube. The bending tube 20 can bend and swing, and its maximum bending angle can be set as needed; for example, it can bend up to 90°. The bending tube 20 can bend in multiple different directions to drive or follow the sound head 10 to swing to different positions. For example, the bending tube 20 can bend within a first plane and a second plane, which are perpendicular to each other.

[0037] The straight tube 30 is a rigid structure tube with a certain length, generally longer than the curved tube 20. This arrangement ensures that the acoustic probe 10 is at a sufficient distance from the handle 40, allowing the acoustic probe 10 to be inserted deep enough into the abdominal cavity to scan the organs, while the handle 40 is located on the outside of the body for easy operation by the doctor.

[0038] The handle 40 has a accommodating cavity, and a processing module and other structures are installed inside the handle 40. Buttons and other structures are also provided on the outer side of the handle 40, allowing the doctor to operate the acoustic head 10 for scanning and imaging. The processing module within the handle 40 is used to acquire echo data generated by the acoustic head 10. The processing module can directly transmit the echo data to the host computer via wired or wireless means, where the host computer processes and images the echo data. Alternatively, the processing module can preprocess the echo data, such as performing analog-to-digital conversion, and then transmit the preprocessed echo data to the host computer via wired or wireless means, where the host computer processes and images the preprocessed echo data. Or, the processing module can process the echo data into imaging data and then transmit the imaging data to the host computer via wired or wireless means, where the host computer can directly display the image on a monitor.

[0039] In this embodiment, a lever device 50 is provided on each side of the handle 40, and each lever device 50 is correspondingly provided with a mechanical positioning device 60. The two lever devices 50 are independent driving devices, and the two lever devices 50 are used to drive the sound head 10 to swing in different planes. For example, one lever device 50 is used to drive the sound head 10 to swing in the first plane, such as... Figure 1 As shown, the sound head 10 can swing left and right in the first plane; another lever device 50 is used to drive the sound head 10 to swing in the second plane, as shown. Figure 1As shown, the sound head 10 can swing up and down within a human plane, where the first plane and the second plane are perpendicular to each other. The ability of the sound head 10 to swing within these two perpendicular planes allows for a greater range of motion, making it easier for it to swing to effectively conform to the organs. Of course, the sound head 10 can also be configured to swing within intersecting first and second planes, which can be approximately perpendicular or at other angles, to meet the needs of certain usage scenarios.

[0040] In other embodiments, the handle 40 may also be provided with only a lever device 50, which is used to drive the sound head 10 to swing in a plane. The sound head 10 can also be swung to other positions by rotating the handle 40.

[0041] Please refer to Figures 1 to 3 In one embodiment, the basic structures of the lever devices 50 on both sides of the handle 40 and the connected mechanical positioning device 60 are the same. In this embodiment, one of the lever devices 50 and the connected mechanical positioning device 60 are used as an example for explanation.

[0042] The lever device 50 mainly includes a lever 51, a transmission assembly 52, and a traction cable 53. The lever 51 is installed on the outside of the handle 40 and can be set in the vertical direction, with the upper end of the lever 51 protruding from the top of the handle 40. This design allows the doctor to directly operate the lever 51 with their fingers when holding the handle 40, enabling one-handed operation.

[0043] The transmission assembly 52 and the traction line 53 are installed inside the handle 40. The lever 51 is connected to the traction line 53 through the transmission assembly 52. ​​The traction line 53 is connected to the end of the acoustic head 10 or the curved tube 20 near the acoustic head 10. After the doctor turns the lever 51, the lever 51 drives the acoustic head 10 to swing through the transmission assembly 52 and the traction line 53.

[0044] The transmission assembly 52 is a worm gear transmission structure. The transmission assembly 52 may include a gear shaft 521 and a rack 522. The gear shaft 521 can be installed within the handle 40 via a mounting base, bearings, or other structures. The gear shaft 521 is distributed along the left-right direction and can rotate axially parallel to the left-right direction. The lever 51 is fixedly connected to the gear shaft 521. The lever 51 can be directly fixed to the gear shaft 521 using methods such as snap-fit, welding, or bonding. Alternatively, the lever 51 can be fixedly connected to the gear shaft 521 via a transitional connection structure such as a sleeve. The gear shaft 521 has external teeth at its middle or at an end away from the lever 51. The rack 522 is parallel to the front-back direction and can be slidably installed within the handle 40 along the front-back direction via a slide rail or other structures. The rack 522 meshes with the gear shaft 521.

[0045] The traction cable 53 can be a steel wire rope or similar structure. The traction cable 53 possesses a certain degree of flexibility, allowing it to bend along with the bending tube 20 within the bending tube 20. The traction cable 53 is installed inside the handle 40 and is fixedly connected to the rack 522. The traction cable 53 passes through the straight tube 30 and extends into the bending tube 20, connecting to the sound head 10 or the end of the bending tube 20 closest to the sound head 10.

[0046] The principle behind the lever device 50 driving the vocal head 10 to swing is as follows: the doctor moves the lever 51 to rotate, which in turn drives the gear shaft 521 to rotate. The gear shaft 521 then drives the rack 522 to slide. The sliding of the rack 522 causes the traction wire 53 to move along the front-back direction, and the movement of the traction wire 53 ultimately causes the vocal head 10 to swing. Specifically, when the doctor moves the lever 51 to rotate in two opposite directions, it will cause the vocal head 10 to swing in two opposite directions within a plane.

[0047] In other embodiments, the transmission assembly 52 may also be other structures that convert a rotary joint into a translational joint. For example, the transmission assembly 52 may include a transmission structure consisting of a sprocket and a chain, and the rotating lever 51 may also drive the traction line 53 to translate.

[0048] Please refer to Figure 3 and Figure 4 In one embodiment, a mechanical positioning device 60 is connected to a lever device 50, and the mechanical positioning device 60 is used to lock and unlock the movement of the lever device 50. The mechanical positioning device 60 includes a locked state and an unlocked state, and the doctor can switch between the different states of the mechanical positioning device 60 by pressing a button. In the locked state, when the lever 51 of the lever device 50 is moved, the mechanical positioning device 60 will generate a damping force to inhibit the rotation of the lever 51. That is, when the lever 51 rotates, it will be hindered by the mechanical positioning device 60. At this time, the doctor cannot move the lever 51 by applying a small force. When the doctor applies a force greater than the damping force generated by the mechanical positioning device 60, the lever 51 can be moved. In the unlocked state, when the lever 51 of the lever device 50 is moved, the mechanical positioning device 60 does not generate a damping force, and the doctor can easily move the lever 51.

[0049] The damping force generated by the mechanical positioning device 60 can be set within a reasonable range to ensure that the doctor cannot rotate the lever 51 by applying a small force, thus avoiding accidental rotation of the lever 51. At the same time, it ensures that the doctor can rotate the lever 51 by applying sufficient force, avoiding the need for the doctor to apply excessive force to rotate the lever 51, which would make fine-tuning of the locked state difficult and not conducive to the doctor's operation.

[0050] The mechanical positioning device 60 mainly includes a locking component 61 and a damping component 62. The locking component 61 has a mechanical clutch structure, which can achieve docking locking and disengagement unlocking to form a locked state and an unlocked state. Both the locking component 61 and the damping component 62 are installed inside the handle 40, with a portion of the locking component 61 protruding from the outside of the handle 40, allowing the doctor to operate and switch the locked and unlocked states of the locking component 61. The damping component 62 is used to generate damping force. The locking component 61 is connected to the gear shaft 521 of the lever device 50 through the damping component 62. The locking component 61 can lock the rotation of the gear shaft 521 and apply damping force to the gear shaft 521.

[0051] Please refer to Figures 3 to 5 In one embodiment, the locking component 61 mainly includes a locking shaft 611, a fixed clutch 612, a movable clutch 613, and a locking button 614. The locking shaft 611, the fixed clutch 612, the movable clutch 613, and the locking button 614 are all installed inside the handle 40, wherein a portion of the locking button 614 is exposed on the outside of the handle 40. The locking button 614 is used to switch between the locked state and the unlocked state.

[0052] The locking shaft 611 is arranged parallel to the gear shaft 521, and the locking shaft 611 is connected to the gear shaft 521 through the damping assembly 62. A fixed clutch 612 is mounted on the locking shaft 611, and the fixed clutch 612 cannot rotate relative to the locking shaft 611. For example, the fixed clutch 612 may be a brake disc structure with a through hole. The fixed clutch 612 is fitted onto the locking shaft 611, and limiting structures such as protruding keys and keyways are provided between the fixed clutch 612 and the locking shaft 611 to prevent the fixed clutch 612 from rotating relative to the locking shaft 611.

[0053] The movable clutch 613 is axially movable and installed within the handle 40. The handle 40 may contain a mounting base 41 with mounting holes 411 or mounting grooves. A portion of the movable clutch 613 is installed within the mounting hole 411, and the movable clutch 613 can move axially along the mounting hole 411. The axial direction of the mounting hole 411 coincides with or is parallel to the locking shaft 611. The movable clutch 613 can be a brake cap structure, and it has a clearance slot, into which the locking shaft 611 can be inserted, allowing the movable clutch 613 to move and connect with the fixed clutch 612. A key and keyway, or other limiting structures, are provided between the movable clutch 613 and the mounting hole 411 to prevent the movable clutch 613 from rotating relative to the mounting hole 411.

[0054] When the fixed clutch 612 and the movable clutch 613 are in the docked state, the fixed clutch 612 and the movable clutch 613 form a limiting connection such as a snap-fit ​​or adsorption connection, and the fixed clutch 612 cannot rotate relative to the movable clutch 613.

[0055] The locking assembly 61 also includes a second elastic element 616, which can be a straight spring structure. The second elastic element 616 is fitted onto the locking shaft 611. One end of the second elastic element 616 is fixedly connected to or abuts against the locking shaft 611, and the other end of the second elastic element 616 is fixedly connected to or abuts against the movable clutch 613. The second elastic element 616 always applies a spring force to the movable clutch 613 to drive the movable clutch 613 to move away from the fixed clutch 612. That is, the spring force provided by the second elastic element 616 can drive the movable clutch 613 to separate from the fixed clutch 612.

[0056] The second elastic element 616 can also be other elastic structures, such as a spring sheet. The second elastic element 616 can also be installed in other positions, such as in the mounting hole 411. The second elastic element 616 always applies a pulling force to the movable clutch 613, causing the movable clutch 613 to move away from the fixed clutch 612, and can also drive the movable clutch 613 to separate from the fixed clutch 612.

[0057] The locking button 614 is movably installed within the handle 40 and has a locked state and an unlocked state. The unlocked state is the initial state. In the initial state, the locking button 614 protrudes from the outer side of the handle 40 and is separated from the drive clutch 613. Under the elastic force of the second elastic member 616, the drive clutch 613 moves to separate from the fixed clutch 612, thus unlocking. In this state, the fixed clutch 612 is not limited and can rotate together with the gear shaft 521 and the locking shaft 611. In the locked state, the locking button 614 moves into the handle 40, contacts the movable clutch 613, and pushes the movable clutch 613 to connect with the fixed clutch 612 to form a lock. In this state, the fixed clutch 612 is limited and cannot rotate relative to the movable clutch 613, thus limiting the locking shaft 611 from rotating. If the doctor moves the lever 51 at this time, the lever 51 will drive the gear shaft 521 to rotate, while the locking shaft 611 cannot rotate. This causes the damping component 62 between the gear shaft 521 and the locking shaft 611 to generate a damping force, which will hinder the rotation of the gear shaft 521. When the rotational force applied by the doctor to the locking shaft 611 is greater than the damping force, the gear shaft 521 will overcome the damping force and rotate relative to the locking shaft 611, thereby causing the vocal head 10 to swing.

[0058] Doctors can press the locking button 614 to switch between locked and unlocked states.

[0059] In this embodiment, the mechanical positioning device 60 is switched to the locked state by the locking button 614 and reset to the unlocked state by the second elastic member 616. The second elastic member 616 simplifies the doctor's operation, that is, when switching from the locked state to the unlocked state, no large force needs to be applied, and the second elastic member 616 can automatically reset the device.

[0060] In one embodiment, the mechanical positioning device 60 may omit the second elastic element 616. The locking button 614 is movably connected to the movable clutch 613. The locking button 614 can not only drive the movable clutch 613 to move and connect with the fixed clutch 612 to form a lock, but also drive the movable clutch 613 to move and disengage from the fixed clutch 612 to form an unlock. The locking button 614 serves both to drive locking and unlocking, and can also switch between locked and unlocked states.

[0061] Please refer to Figure 5 In one embodiment, the fixed clutch 612 is provided with a first limiting part 6121 on the side facing the movable clutch 613, and the movable clutch 613 is provided with a second limiting part 6131 on the side facing the fixed clutch 612. The first limiting part 6121 and the second limiting part 6131 are mutually compatible limiting structures. One of the first limiting part 6121 and the second limiting part 6131 is a groove, and the other is a protrusion. Both the groove and the protrusion are extended along the axial direction of the locking shaft 611, so that after the first limiting part 6121 and the second limiting part 6131 are engaged, the fixed clutch 612 cannot rotate relative to the movable clutch 613 around the axial direction of the locking shaft 611.

[0062] In the locked state, the locking button 614 drives the movable clutch 613 to move and connect with the fixed clutch 612. The first limiting part 6121 and the second limiting part 6131 cooperate and connect, and the movable clutch 613 limits the rotation of the fixed clutch 612 and the locking shaft 611. In the unlocked state, the locking button 614 moves away from the movable clutch 613, and the second elastic element 616 drives the movable clutch 613 to separate from the fixed clutch 612. The first limiting part 6121 and the second limiting part 6131 separate, and the fixed clutch 612 and the locking shaft 611 can rotate.

[0063] The first limiting part 6121 and the second limiting part 6131 can also be other limiting structures. For example, the first limiting part 6121 and the second limiting part 6131 respectively include multiple grooves and protrusions, and the grooves and protrusions of the two are complementary and correspondingly arranged, with corresponding grooves and protrusions on the same axis. With such an arrangement, the fixed clutch 612 and the movable clutch 613 can form a snap-fit ​​engagement, and the movable clutch 613 can restrict the rotation of the fixed clutch 612.

[0064] Please refer to Figure 4 and Figure 5 In one embodiment, the fixed clutch 612 is movably and adjustablely mounted on the locking shaft 611. The locking assembly 61 further includes a first elastic member 615, which can be an elastic structure such as a straight spring. One end of the first elastic member 615 is fixedly connected to or abuts against the locking shaft 611. The locking shaft 611 may be provided with a radially protruding mounting portion for mounting the first elastic member 615. The other end of the first elastic member 615 is fixedly connected to or abuts against the fixed clutch 612. The first elastic member 615 always applies a spring force to the fixed clutch 612 to move towards the movable clutch 613.

[0065] The first elastic element 615 prevents misalignment and locking between the fixed clutch 612 and the movable clutch 613 when their grooves and protrusions malfunction. When the doctor rotates the lever 51, the fixed clutch 612 rotates relative to the movable clutch 613. Driven by the elastic force of the first elastic element 615, the fixed clutch 612 rotates until it aligns with the movable clutch 613, thus locking the two parts together. In other words, the first elastic element 615 prevents the fixed clutch 612 and the movable clutch 613 from jamming due to misalignment.

[0066] The first elastic element 615 can also be other elastic structures, such as a disc spring, which can also provide thrust for the rotation and docking of the fixed clutch 612.

[0067] Please refer to Figure 4 In one embodiment, the locking shaft 611 is provided with a mounting part 6112, and the mounting part 6112 is provided with a mounting hole. The opening of the mounting hole faces the fixed clutch 612. A portion of the first elastic member 615 is installed in the mounting hole of the mounting part 6112. The inner diameter of the mounting hole is slightly larger than the outer diameter of the first elastic member 615. The mounting hole of the mounting part 6112 can guide and limit the first elastic member 615, which can improve the stability of the output elastic force of the first elastic member 615.

[0068] The movable clutch 613 may also be provided with a corresponding mounting hole. Part of the second elastic element 616 is located in the mounting hole of the movable clutch 613. The inner diameter of the mounting hole of the movable clutch 613 is slightly larger than the outer diameter of the second elastic element 616. The mounting hole of the movable clutch 613 can guide and limit the second elastic element 616, which can improve the stability of the output elastic force of the second elastic element 616.

[0069] Please refer to Figure 4 and Figure 5 In one embodiment, the locking shaft 611 is provided with a third limiting part 6111, which is located between the fixed clutch 612 and the movable clutch 613. The third limiting part 6111 is used to limit the axial position of the third limiting part 6111 on the locking shaft 611.

[0070] The first elastic element 615 and the third limiting part 6111 are located on both sides of the fixed clutch 612. The thrust of the first elastic element 615 can position the fixed clutch 612 at the axial position of the limiting part 6111.

[0071] The third limiting part 6111 can be an annular protrusion protruding from the locking shaft 611, or one or more protruding blocks. The third limiting part 6111 abuts against the axial side of the fixed clutch 612 to form an axial limit on the fixed clutch 612.

[0072] The third limiting part 6111 is preferably integrally formed with the locking shaft 611, which facilitates manufacturing and provides higher stability. The third limiting part 6111 can also be fixed to the locking shaft 611 by welding, snap-fitting, or other methods.

[0073] Please refer to Figure 4 and Figure 6 In one embodiment, the locking button 614 is positioned perpendicular to the movement direction of the movable clutch 613. This arrangement allows the locking button 614 to be offset from the lever 51. For example, the lever 51 can be located on the side of the handle 40, while a portion of the locking button 614 protrudes from the top surface of the handle 40. This facilitates the doctor's operation of both the lever 51 and the locking button 614, preventing accidental activation due to mutual interference when operating the lever 51 and the locking button 614.

[0074] Please refer to Figure 6 In one embodiment, the locking button 614 is mounted on the mounting base 41 of the handle 40. The mounting base 41 has an additional pressing hole perpendicular to the mounting hole 411, and the locking button 614 is installed in this pressing hole. Mounting the locking button 614 and the movable clutch 613 on the same component improves the stability of the movement of the movable clutch 613 driven by the locking button 614. Alternatively, the locking button 614 can be installed in other mounting structures within the handle 40.

[0075] Please refer to Figure 6 and Figure 7 In one embodiment, the locking button 614 is a press-type structure, which switches between the locked and unlocked states by pressing. For example, the default state of the locking button 614 is the unlocked state. After the doctor presses the locking button 614 once, the locking button 614 is pressed and locked, forming the locked state. When the doctor presses the locking button 614 again, the locking button 614 springs back, forming the unlocked state.

[0076] The locking button 614 includes any one of the push-button structures that can lock with a single press and unlock with a second press. In this embodiment, one of them will be described as an example.

[0077] The locking button 614 mainly includes a button post 6141, a latch 6142, and a spring 6143. The button post 6141 is a long, cylindrical structure with a slot 61411 in the middle. The button post 6141 is movably installed in a channel, and the handle 40 may have a mounting base or other structure to form this channel. The latch 6142 and the spring 6143 are installed in the channel where the button post 6141 is located. The latch 6142 can engage and disengage from the slot 61411 of the button post 6141, and the spring 6143 always applies an outward elastic force to the button post 6141, which can drive the button post 6141 to reset.

[0078] The operating principle of the lock button 614 is as follows: like Figure 4 As shown, the right-side locking button 614 is in the default interpretation state, the latch 6142 disengages from the slot 61411 of the button post 6141, and the spring 6143 pushes the button post 6141 outward to separate from the movable clutch 613. like Figure 4 As shown, the locking button 614 on the left is in the locked state. The button post 6141 is pressed and moves inward to the handle 40. The button post 6141 moves until the latch 6142 is engaged in the slot 61411. The button post 6141 is limited and cannot move outward. One end of the button post 6141 abuts against the movable clutch 613 and drives the movable clutch 613 to move and connect with the fixed clutch 612.

[0079] Among them, the buckle 6142 is a deformable elastic structure. During the movement of the button post 6141, it is engaged and disengaged from the slot 61411 of the button post 6141 through elastic deformation.

[0080] In one embodiment, the locking button 614 may further include a keycap 6144, which is located on the outside of the handle 40. The keycap 6144 covers the button post 6141 inside the handle 40, providing waterproof and antibacterial protection. The keycap 6144 may be a flexible structure made of materials such as silicone, allowing the doctor to press the button post 6141 to move it.

[0081] In one embodiment, the end of the button post 6141 is a wedge-shaped structure, and the end of the movable clutch 613 is a corresponding wedge-shaped structure. The movable clutch 613 of the button post 6141 and the movable clutch 613 of the movable clutch 613 have the same slope, so that the button post 6141 moving in different directions can drive the movable clutch 613 to move.

[0082] Please refer to Figure 4 In one embodiment, the damping assembly 62 includes a first damping friction plate 621 and a second damping friction plate 622. The first damping friction plate 621 and the second damping friction plate 622 are installed at intervals on the locking shaft 611. The first damping friction plate 621 and the second damping friction plate 622 can be fixed on the locking shaft 611 by means of bonding, snapping or other methods.

[0083] The first damping friction plate 621 and the second damping friction plate 622 are spaced apart, forming a gap space between them for insertion connection. A portion of the gear shaft 521 is inserted between the first damping friction plate 621 and the second damping friction plate 622, and the inserted portion of the gear shaft 521 forms a contact friction connection with the first damping friction plate 621 and the second damping friction plate 622. This connection is a compression connection, so that the inserted portion of the gear shaft 521 and both the first damping friction plate 621 and the second damping friction plate 622 can generate friction damping force.

[0084] In the unlocked state, the locking shaft 611 is not limited and can rotate with the gear shaft 521. That is, the locking shaft 611 and the gear shaft 521 rotate synchronously, and there is no relative rotation angle difference between them. The frictional damping force formed between the insertion part of the gear shaft 521 and the first damping friction plate 621 and the second damping friction plate 622 is used to drive the locking shaft 611 to rotate together. This frictional damping force does not restrict the rotation of the gear shaft 521. In the locked state, the locking shaft 611 is limited and cannot rotate. When the doctor operates the lever 51 to rotate, the gear shaft 521 will rotate relative to the locking shaft 611. In this state, the frictional damping force formed between the insertion part of the gear shaft 521 and the first damping friction plate 621 and the second damping friction plate 622 will suppress and resist the rotation of the gear shaft 521. When the force applied by the doctor to the gear shaft 521 is less than or equal to the frictional damping force formed between the insertion part of the gear shaft 521 and the first damping friction plate 621 and the second damping friction plate 622, the gear shaft 521 cannot be driven to rotate, that is, the vocal head 10 cannot be driven to swing. When the force applied by the doctor to the gear shaft 521 is greater than the frictional damping force formed between the insertion part of the gear shaft 521 and the first damping friction plate 621 and the second damping friction plate 622, the gear shaft 521 can be driven to rotate, that is, the vocal head 10 can be driven to swing.

[0085] Please refer to Figure 4 In one embodiment, at least one of the first damping friction plate 621 and the second damping friction plate 622 can also be pre-tightened and installed on the locking shaft 611. For example, the first damping friction plate 621 is fixedly installed, and the second damping friction plate 622 is pre-tightened. The second damping friction plate 622 itself can move axially relative to the locking shaft 611. The locking shaft 611 is provided with a third elastic element 617, which may include one or more disc springs. One end of the third elastic element 617 is fixedly connected to or abuts against the locking shaft 611, and the other end of the third elastic element 617 always applies a pre-tightening force to the second damping friction plate 622, pressing the first damping friction plate 621 and the second damping friction plate 622 together. This arrangement can prevent the first damping friction plate 621 and the second damping friction plate 622 from loosening after long-term use, and the pre-tightening force provided by the third elastic element 617 can keep the damping assembly 62 generating damping force for a long time.

[0086] Please refer to Figure 4 In one embodiment, the gear shaft 521 can be a hollow shaft structure with a hollow cavity inside. The locking shaft 611 is coaxially installed inside the gear shaft 521. The inner sidewall of the gear shaft 521 is provided with a protruding connecting part 5211. The connecting part 5211 can be an annular protrusion structure or multiple protrusion structures located on a circumference. The connecting part 5211 is inserted between the first damping friction plate 621 and the second damping friction plate 622. The two sides of the connecting part 5211 form a frictional damping force with the first damping friction plate 621 and the second damping friction plate 622, respectively.

[0087] The hollow gear shaft 521 allows components such as the locking shaft 611 to be installed inside the gear shaft 521, making full use of the space inside the handle 40, reducing the space occupied, and contributing to the miniaturization of the handle 40.

[0088] In one embodiment, a mechanical positioning device is provided, which is the mechanical positioning device 60 in any of the above embodiments.

[0089] In addition to being installed on a laparoscopic probe, this mechanical positioning device 60 can also be installed on other medical devices to switch between locked and unlocked states. For example, this mechanical positioning device 60 can also be installed on medical devices such as gastroscopes.

[0090] Please refer to Figure 8 In one embodiment, a laparoscopic probe is provided. The difference between this embodiment and any of the above embodiments is that an electric positioning device 70 is used instead of a mechanical positioning device 60.

[0091] In this embodiment, the electric positioning device 70 includes an electric clutch 71 and a locking shaft 611. The locking shaft 611 is also installed parallel to or coaxial with the gear shaft 521, and the locking shaft 611 and the gear shaft 521 are fixedly connected. The gear shaft 521 can be connected to the locking shaft 611 through a gear set or other connecting parts. The gear shaft 521 and the locking shaft 611 can rotate synchronously or not rotate synchronously.

[0092] An electric clutch 71 is mounted on a locking shaft 611. The electric clutch 71 mainly includes an electromagnet that can control the magnetic attraction force. The locking shaft 611 is a magnetically attractable metal shaft, or the locking shaft 611 has toothed blocks or metal blocks that can be magnetically attracted by the electric clutch 71. The electric clutch 71 generates different magnetic forces to lock and unlock the locking shaft 611.

[0093] The electric clutch 71 is electrically connected to the processing module inside the handle 40. An electronic button is provided on the handle 40, which is electrically connected to the processing module. The electronic button can control the electric clutch 71 to switch between locked and unlocked states.

[0094] In the locked state, the electric clutch 71 outputs a large magnetic force to restrict the rotation of the locking shaft 611. However, this state does not completely lock the locking shaft 611. When the doctor applies sufficient force to the lever 51, the magnetic force generated by the electric clutch 71 can be overcome, thereby causing the locking shaft 611 to rotate relative to the electric clutch 71, thus driving the vocal head 10 to swing. Similarly, when the doctor applies a small force to the lever 51, the lever 51 cannot be moved, and the vocal head 10 cannot be driven to swing. In other words, in the locked state, the vocal head 10 is limited, but it can still swing, allowing for fine adjustment of the swing position of the vocal head 10.

[0095] In the unlocked state, the electric clutch 71 generates little or no magnetic attraction, allowing the locking shaft 611 to rotate freely relative to the electric clutch 71. Applying either a small or large force to the lever 51 easily rotates the locking shaft 611 relative to the electric clutch 71, thus driving the sound head 10 to swing. In other words, in the locked state, the sound head 10 is not restricted, allowing for rapid swinging within a wide angle range, enabling coarse adjustment.

[0096] In this embodiment, the electric positioning device 70 can achieve the same function as the mechanical positioning device 60 in the above embodiments. In the locked state, an electromagnetic damping force is generated on the lever device 50, rather than directly locking the lever device 50. This allows the lever device 50 to adjust the acoustic head 10 to swing rapidly at large angles for coarse adjustment in the unlocked state, and to adjust the acoustic head 10 to swing slowly at small angles for fine adjustment in the locked state with damping. This enables precise adjustment and control of the position of the acoustic head 10. Switching between locked and unlocked states is convenient and easy to operate. Furthermore, since the lever device 50 is not locked in the locked state, in the event of a malfunction of the electric positioning device 70, the doctor can forcibly operate the lever device 50 to swing the acoustic head 10, ensuring the safety of using the laparoscopic probe.

[0097] In one embodiment, the electric positioning device 70 may further include a locked state, comprising a locked state, an unlocked state, and a locked state. In the locked state, the electric clutch 71 outputs a large electromagnetic attraction force to the locking shaft 611, preventing the doctor from driving the acoustic head 10 to swing by operating the lever 51. The locked state setting can meet the needs of specific scenarios, such as when long-term positioning scanning imaging is required, the locked state can be set to ensure scanning stability.

[0098] In one embodiment, the gear shaft 521 can be a hollow shaft structure with a hollow cavity inside. The locking shaft 611 is coaxially installed inside the gear shaft 521. The inner sidewall of the gear shaft 521 is provided with a protruding connecting part 5211. The connecting part 5211 can be an annular protrusion structure or multiple protrusion structures located on a circumference. The connecting part 5211 is inserted between the first damping friction plate 621 and the second damping friction plate 622. The two sides of the connecting part 5211 form a frictional damping force with the first damping friction plate 621 and the second damping friction plate 622, respectively.

[0099] The hollow gear shaft 521 allows components such as the locking shaft 611 to be installed inside the gear shaft 521, making full use of the space inside the handle 40, reducing the space occupied, and contributing to the miniaturization of the handle 40.

[0100] The above-described specific examples are for illustrative purposes only and are not intended to limit the scope of this invention. Those skilled in the art to which this invention pertains can make various simple deductions, modifications, or substitutions based on the concept of this invention.

Claims

1. A laparoscopic probe, characterized in that, It includes a sound head, a curved tube, a straight tube and a handle connected in sequence, and also includes a lever device and a mechanical positioning device; The acoustic head is used to emit ultrasonic waves and receive ultrasonic echoes, and to generate echo data; The curved tube is used for bending and oscillating; The handle is provided for the doctor to hold and operate the laparoscopic probe; The lever device includes a lever, a transmission assembly, and a traction line. The lever is installed on the outside of the handle, and the transmission assembly and the traction line are installed inside the handle. The lever is connected to the traction line through the transmission assembly, and the traction line passes through the straight tube and is connected to the curved tube and / or the sound head. The lever drives the traction line to move through the transmission assembly, thereby causing the sound head to swing. The mechanical positioning device includes a locking component and a damping component, which are installed inside the handle. The locking component, the damping component, and the transmission component are connected in sequence. The locking component has a locked state and an unlocked state. In the locked state, the locking component limits the transmission component, the lever can drive the transmission component to move, and the damping component generates a damping force to inhibit the movement of the transmission component. In the unlocked state, the locking component releases the limit, and the lever can drive the transmission component to move.

2. The laparoscopic probe as described in claim 1, characterized in that, The locking assembly includes a locking shaft, a fixed clutch, a movable clutch, and a locking button. The locking shaft, the fixed clutch, and the movable clutch are installed inside the handle. The locking shaft is connected to the transmission assembly via a damping assembly. The transmission assembly generates a damping force when rotating relative to the locking shaft. The fixed clutch is connected to the locking shaft. The movable clutch is movably movable along the axial direction of the locking shaft, and its rotation around the axial direction of the locking shaft is limited. The locking button is movably installed inside the handle, with at least a portion of it protruding from the outside of the handle. The locking button is used to move the movable clutch to switch between the locked and unlocked states. In the locked state, the movable clutch moves to connect with the fixed clutch and limits the rotation of the movable clutch and the locking shaft. In the unlocked state, the movable clutch moves to separate from the fixed clutch.

3. The laparoscopic probe as described in claim 2, characterized in that, The fixed clutch has a first limiting part on the side facing the movable clutch, and the movable clutch has a second limiting part on the side facing the fixed clutch. In the locked state, the movable clutch moves to connect with the fixed clutch, the first limiting part and the second limiting part cooperate to connect, and the movable clutch limits the rotation of the fixed clutch and the locking shaft. In the unlocked state, the movable clutch separates from the fixed clutch, and the first limiting part and the second limiting part separate.

4. The laparoscopic probe as described in claim 3, characterized in that, The locking assembly further includes a first elastic element, and the fixed clutch is axially movable and mounted on the locking shaft. The fixed clutch is connected to the locking shaft through the first elastic element, and the first elastic element always applies a spring force to the fixed clutch toward the movable clutch.

5. The laparoscopic probe as described in claim 4, characterized in that, The locking shaft is provided with a third limiting part, which is located between the fixed clutch and the movable clutch, and is used to limit the axial position of the fixed clutch.

6. The laparoscopic probe as described in claim 3, characterized in that, The locking assembly further includes a second elastic element, and the movable clutch is connected to the locking shaft through the second elastic element. The second elastic element always applies a spring force to the movable clutch that moves away from the fixed clutch.

7. The laparoscopic probe as described in claim 6, characterized in that, The locking button is movably installed inside the handle, and the direction of movement of the locking button is perpendicular to the direction of movement of the movable clutch. The locking button is used to drive the movable clutch to move to connect with the fixed clutch to form a lock, and the second elastic element is used to drive the movable clutch to move to separate from the fixed clutch to form an unlock.

8. The laparoscopic probe as described in claim 2, characterized in that, The damping assembly includes a first damping friction plate and a second damping friction plate, which are installed at intervals on the locking shaft. A portion of the transmission assembly is inserted between the first damping friction plate and the second damping friction plate to form a contact friction connection.

9. The laparoscopic probe as described in claim 8, characterized in that, The first damping friction plate and / or the second damping friction plate are axially movable and mounted on the locking shaft. The locking shaft is also provided with a third elastic element, which is connected to the axially movable first damping friction plate and / or the second damping friction plate. The third elastic element always applies a preload force to the first damping friction plate and / or the second damping friction plate, causing the first damping friction plate and the second damping friction plate to press against each other.

10. The laparoscopic probe as described in claim 8, characterized in that, The transmission assembly includes a gear shaft and a rack that are meshed together. A portion of the gear shaft is inserted between the first damping friction plate and the second damping friction plate to form a contact friction connection. The lever is connected to the gear shaft, and the rack is connected to the traction line.

11. The laparoscopic probe as described in claim 10, characterized in that, The gear shaft is a hollow shaft, and the locking shaft is installed inside the gear shaft, with the locking shaft and the gear shaft being parallel in axis. The gear shaft is provided with a protruding connecting part, which is inserted between the first damping friction plate and the second damping friction plate to form a contact friction connection.

12. The laparoscopic probe according to any one of claims 1 to 11, characterized in that, It includes two lever devices and two mechanical positioning devices, with each lever device corresponding to one mechanical positioning device; the two levers drive the sound head to swing in different directions.

13. A laparoscopic probe, characterized in that, It includes a sound head, a curved tube, a straight tube and a handle connected in sequence, and also includes a lever device and an electric clutch; The acoustic head is used to emit ultrasonic waves and receive ultrasonic echoes, and to generate echo data; The curved tube is used for bending and oscillating; The handle is provided for the doctor to hold and operate the laparoscopic probe; The lever device includes a lever, a transmission assembly, and a traction line. The lever is installed on the outside of the handle, and the transmission assembly and the traction line are installed inside the handle. The lever is connected to the traction line through the transmission assembly, and the traction line passes through the straight tube and is connected to the curved tube and / or the sound head. The lever drives the traction line to move through the transmission assembly, thereby causing the sound head to swing. The electric clutch is installed inside the handle and is connected to the transmission assembly. The electric clutch has a locked state and an unlocked state. In the locked state, the lever can drive the transmission assembly to move, and the electric clutch generates a damping force to inhibit the movement of the transmission assembly. In the unlocked state, the lever can drive the transmission assembly to move.

14. The laparoscopic probe as described in claim 13, characterized in that, The electric clutch also has a locked state, in which the electric clutch limits the movement of the transmission assembly.

15. The laparoscopic probe as described in claim 13, characterized in that, It also includes a locking shaft. The transmission assembly includes a gear shaft and a rack that are meshed together. The lever is connected to the gear shaft, the rack is connected to the traction line, the gear shaft is connected to the locking shaft, and the locking shaft is connected to the electric clutch.

16. The laparoscopic probe as described in claim 15, characterized in that, The gear shaft is a hollow shaft, and the locking shaft is installed inside the gear shaft, with the locking shaft and the gear shaft being axially parallel.

17. A mechanical positioning device for a laparoscopic probe, characterized in that, The device includes a locking component and a damping component, which are installed inside the handle of the laparoscopic probe. The locking component, the damping component, and the transmission component of the laparoscopic probe are connected in sequence. The locking component has a locked state and an unlocked state. In the locked state, the locking component limits the transmission component, the lever locking shaft of the laparoscopic probe drives the transmission component to move, and the damping component generates a damping force to inhibit the movement of the transmission component. In the unlocked state, the locking component releases the limit, and the lever locking shaft of the laparoscopic probe drives the transmission component to move.

18. The mechanical positioning device as described in claim 17, characterized in that, The locking assembly includes a locking shaft, a fixed clutch, a movable clutch, and a locking button. The locking shaft, the fixed clutch, and the movable clutch are installed inside the handle. The locking shaft is connected to the transmission assembly via a damping assembly. The transmission assembly generates a damping force when rotating relative to the locking shaft. The fixed clutch is connected to the locking shaft. The movable clutch is movably movable along the axial direction of the locking shaft, and its rotation around the axial direction of the locking shaft is limited. The locking button is movably installed inside the handle, with at least a portion of it protruding from the outside of the handle. The locking button is used to move the movable clutch to switch between the locked and unlocked states. In the locked state, the movable clutch moves to connect with the fixed clutch and limits the rotation of the movable clutch and the locking shaft. In the unlocked state, the movable clutch moves to separate from the fixed clutch.

19. The mechanical positioning device as described in claim 18, characterized in that, The damping assembly includes a first damping friction plate and a second damping friction plate, which are installed at intervals on the locking shaft. A portion of the transmission assembly is inserted between the first damping friction plate and the second damping friction plate to form a contact friction connection.

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