Device and method for guiding movements of a medical device, in particular a probe

Abstract

Device (51; 61; 71) for guiding movements of a medical device (25), in particular a probe, wherein the device (51; 61; 71) comprises: - a base (2), - a slide (3) which is movable relative to the base (2) along a straight axis of movement (D1) in order to move a medical device (25) arranged on the slide (3) in the direction of the straight axis of movement (D1), - a movement guide (11) which is attached to the slide (3), - wherein the movement guide (11) is designed to ensure that, during operation of the device (51; 61;71) to guide a rotational movement of the medical device (25) arranged on the slide (3) about the linear axis of motion (D1), - a calibration device (31) with a first component (32) which is rotatably connected to the medical device (25) with respect to a rotational movement about the linear axis of motion (D1), and with a second component (53) whose rotational movement about the linear axis of motion (D1) is supported by the motion guide (11) during operation of the device (51; 61; 71), wherein a rotational position of the first component (32) and the second component (53) relative to each other about an axis of rotation which coincides with the linear axis of motion (D1) during operation of the device is adjustable in a calibration process, characterized in that the device (51; 61; 71) has a coupling component (37) whose rotational movement about the linear axis of motion (D1) is supported by the motion guide (11) during operation of the device (51; 61;71) is supported by the motion guide (11), wherein the coupling component (37) is designed in such a way that it can be connected to the second component (53).;

Description

[0001] The invention relates to a device for guiding the movements of a medical device, in particular a probe. The probe may, in particular, be a rod-shaped probe. Alternatively or additionally, the probe may be an ultrasound probe, e.g., for insertion into a patient's body orifice to generate ultrasound images. Furthermore, the invention relates to a method for guiding the movements of a medical device using such a device. The invention also relates to a method for manufacturing such a device. An arrangement comprising such a device and the medical device mounted on the device is also part of the scope of the invention.

[0002] WO 98 / 56295 A1 describes such a device. A clamping element has a receptacle for receiving at least one portion of a medical instrument. A slide defines a recess designed to rotatably support the clamping element. A base assembly is designed to be slidably connected to support the slide and move it into an imaging position. The clamping element and the slide can be separated from each other.

[0003] In particular, the medical device can be mounted in a horizontal position by such a device and rotated about its own longitudinal axis. Along the direction of the longitudinal axis, i.e., the direction of the slide's movement, which is perpendicular to the plane of rotation, the medical device can be moved in a straight line while remaining in the horizontal position.

[0004] Medical equipment can be aligned as desired by rotating it around its longitudinal axis, not only when in a horizontal position. For example, with an ultrasound probe, the solid angle examined by ultrasound can always be rotated around its longitudinal axis and thus aligned.

[0005] It is an object of the present invention to be able to guide movements of a medical device, namely rectilinear movements in the direction of a rectilinear axis of movement and rotational movements about the rectilinear axis of movement, while the medical device is precisely aligned.

[0006] Especially with a measuring probe like an ultrasound probe, which has a limited solid angle that can be detected, precise alignment of the probe is crucial. The device for guiding movements allows the medical device to be moved longitudinally and rotated around its longitudinal axis. It is possible for the respective longitudinal and / or rotational position to be determined and / or displayed. However, this refers to an initially undefined starting state. That is, the medical device can be moved from a starting state, but its orientation in that initial state can vary. Particularly in the case of the aforementioned limited solid angle, it may not be oriented exactly in the desired direction in the initial state.For example, with an ultrasound probe, it is desirable to orient the solid angle within which a patient can be examined using ultrasound precisely upwards in the vertical direction in its initial state, provided the probe's longitudinal axis is horizontally oriented. In this case, a central axis (for example, an axis of symmetry) of the solid angle runs vertically upwards. However, this is just one example of a possible orientation of the solid angle in its initial state. For instance, it might be desirable for the solid angle to be horizontally oriented in its initial state, for example, in a direction perpendicular to the longitudinal axis, which is itself horizontally oriented.

[0007] It is now proposed to equip the device for guiding the movements of a medical device with a calibration unit and, during operation of the device, to calibrate a rotational position of the medical device around a rotational axis of the device, i.e., to adjust it in a desired direction. This establishes a defined initial state. After calibration, the medical device can be moved from this initial state, guided by the device. Thus, it is easily possible to determine the orientation of the medical device in any position of movement and / or to adjust it to a desired orientation by moving the medical device.

[0008] In particular, the following is proposed: a device for guiding movements of a medical device, in particular a probe, wherein the device comprises: - a base, - a carriage that is movable relative to the base along a straight axis of motion in order to move a medical device arranged on the carriage in the direction of the straight axis of motion, - a movement guide attached to the sled, - wherein the movement guidance is designed to guide a rotational movement of the medical device arranged on the slide around the straight axis of movement during operation of the device, - a calibration device comprising a first component which is rotatably connected to the medical device with respect to a rotational movement about the linear axis of motion, and a second component whose rotational movement about the linear axis of motion is supported by the motion guide during operation of the device, wherein a rotational position of the first component and the second component relative to each other about an axis of rotation which coincides with the linear axis of motion during operation of the device is adjustable in a calibration process.

[0009] The invention further relates to a method for guiding movements of a medical device, in particular a probe, wherein, in a movement to set an axial longitudinal position of the medical device, a carriage on which the medical device is arranged is moved relative to a base along a straight axis of movement, wherein, in a movement to set a rotational position of the medical device about the straight axis of movement, the medical device is rotated by a motion guide, and wherein a rotational position of a first component of a calibration device, which first component is connected or connectable to the medical device, is set in a calibration process relative to a second component of the calibration device, which second component is rotatably mounted about the straight axis of movement by the motion guide.

[0010] The procedural steps of the method for guiding movements of a medical device result from the description of the device's configurations.

[0011] Furthermore, the invention relates to a method for manufacturing a device for guiding movements of a medical device, in particular a probe, and in particular for manufacturing the device for guiding movements of a medical device described in this description, comprising the following steps: - Providing a base, - movable arrangement of a carriage at the base so that the carriage is movable relative to the base along a straight axis of movement in order to move a medical device arranged on the carriage in the direction of the straight axis of movement, - Attaching a movement guide to the sled, - Designing a calibration device with a first component that is rotationally fixed to the medical device with respect to a rotational movement about the linear axis of motion, and with a second component whose rotational movement about the linear axis of motion is supported by the motion guide during operation of the device, so that a rotational position of the first component and the second component relative to each other about an axis of rotation that coincides with the linear axis of motion during operation of the device can be set in a calibration process.

[0012] Specific features of the manufacturing process result from the description of the device's configurations.

[0013] The calibration device, comprising the first and second components, allows the rotational position of the first component relative to the motion guide and thus to the carriage to be adjusted. Since the first component is rotationally fixed to the medical device during operation, the rotational position of the medical device with respect to its axis of rotation can also be adjusted. Therefore, the medical device can first be rotationally fixed to the first component, and then calibration can be performed by rotating the medical device together with the first component relative to the second component and fixing this rotational position. However, it is also possible, particularly if the medical device can only be rotationally fixed to the first component in a single rotational position or in one of several discrete rotational positions, to first determine the rotational position of the first component relative to the second component.The component is adjusted through calibration, and then the medical device is connected to the first component.

[0014] In particular, the calibration device can have a locking mechanism that allows the rotational position of the first and second components to be fixed relative to each other. In this way, the calibrated state is reliably ensured for the operation of the device and the medical equipment.

[0015] In particular, the fixing element can have a thread. The thread can be formed on and / or in the first component or the second component. The other component can then be fixed in the set rotational position by means of a screw or nut. Additionally, the other component can have a recess through which the screw or – in the case of fixing by means of a nut – a threaded rod extends. The shank of the screw or threaded rod extends, in particular, transversely to the axis of rotation. The recess is / is designed, in particular as an elongated hole, such that the screw or threaded rod can extend through the recess in different rotational positions of the first and second components relative to each other, and preferably the respective section of the screw or threaded rod can remain in the recess while the rotational position of the first and second components is adjusted relative to each other.Tightening the screw or nut then fixes the respective rotational position.

[0016] However, the fixing method is not limited to the previously described type, where a thread is present whose longitudinal axis extends perpendicular to the axis of rotation. Another type of fixing is, for example, fixing by clamping force, where, for instance, a lever is used to apply the clamping force, and force must also be exerted on the lever to reduce or eliminate the clamping force. For example, a section of the second component can surround a section of the first component, and the clamping force can be applied to this section of the second component, pressing it against the section of the first component.

[0017] The second component can be rotatably mounted directly on the motion guide. However, it is also possible for the second component to be rotatably mounted indirectly on another component of the device via the motion guide. The latter allows the first component (optionally in a state where it is connected to the medical device) to be removed from the other component together with the second component in a calibrated state and then reconnected to the other component. The medical device can thus be removed and stored in a calibrated state. In particular, in this case, the device is designed such that the second component can only be coupled to the other component in a single rotational position or in one of several discrete rotational positions.

[0018] More generally, a preferred embodiment is therefore proposed in which the device comprises a coupling component whose rotational movement about the linear axis of motion is controlled by the motion guide during operation of the device, wherein the coupling component is designed to be connectable to the second component, and wherein the coupling component and the second component are, in particular, detachable from each other. Specifically, the coupling component and the second component can be designed to be positively interlocked.

[0019] The device may include an adjustment mechanism by means of which the rotational position of the medical device mounted on the slide can be adjusted in the direction of rotation about the linear axis of movement. This adjustment mechanism is usable during operation of the medical device, and its actuation allows the rotational position of the medical device to be adjusted. This involves adjusting the rotational position of the second component relative to the motion guide. Therefore, this adjustment mechanism is a device that is present in addition to the calibration device; that is, the rotational position of the second component relative to the first component of the calibration device can be adjusted independently of the adjustment mechanism.This adjustment device is also referred to as a second adjustment device when describing the design of a device for guiding movements of a medical device, since there may also be a first adjustment device with which the longitudinal position of the medical device with respect to the straight axis of movement relative to the base can be adjusted.

[0020] The second adjusting device and also the first adjusting device can each be combined with a locking mechanism designed to set the set rotational position in the case of the second adjusting device and the longitudinal position in the case of the first adjusting device.

[0021] In one embodiment of the device, two motion guides can be provided, via which the medical device, in particular the rod-shaped probe, is / is arranged on a carriage of the device. The two motion guides together perform a rotational movement of the medical device arranged on the carriage when the device is rotated about the linear axis of motion. Furthermore, the two motion guides support the medical device on the carriage. Therefore, when the carriage is moved in a straight line along the linear axis of motion relative to a base of the device, both motion guides support the medical device and stabilize its relative position and orientation relative to the carriage, at least with respect to those degrees of freedom of movement that correspond to the support of the medical device by the first and second motion guides.Preferably, at least one of the two motion guides, and preferably both motion guides, fix the medical device with respect to each linear degree of freedom of movement that runs transversely to the linear axis of movement. For example, each motion guide has an annular receptacle for receiving the medical device, and the medical device is therefore, in the state in which it is arranged on the slide, fixed relative to the slide with respect to these degrees of freedom of movement that run transversely to the linear axis of movement.

[0022] The invention is not limited to exactly two motion guides attached to the carriage that guide the rotational movement of the medical device and support the medical device on the carriage. For example, there may be only one such motion guide or there may be three such motion guides.

[0023] Where present, the motion guides, in particular the first and second motion guides, are arranged at a distance from each other on the carriage. This means that between each pair of motion guides, in the direction of the straight axis of movement, there is a gap between the areas where the respective motion guide is in contact with the medical device, if the medical device is mounted on the carriage. Furthermore, the motion guides are only indirectly connected to each other via the carriage.

[0024] Due to the distance in the direction of the straight axis of movement and the fact that the motion guides are only indirectly connected to each other via the slide, designs of a device for guiding movements of the medical device can be implemented in a mechanically simple way, which have a large distance between the contact areas of the motion guides and the medical device in the straight direction of movement, e.g. at least 5 cm distance in which there is no contact between the medical device and a motion guide, in particular at least 8 cm and preferably at least 10 cm.

[0025] According to one specific embodiment of the device, the distance between at least one of the motion guides and one of the other motion guides in the direction of the linear axis of movement can be adjustable. For example, the longitudinal position of one of the motion guides relative to the carriage can be adjustable. However, it is preferred that the distance is not adjustable and the motion guides are rigidly connected to the carriage.

[0026] In particular, the first movement pattern can support and flexibly position the medical device at a point that is close to the body relative to the length of the medical device. Furthermore, the second movement pattern can support and flexibly position the medical instrument at a point that is farther away from the body relative to the length of the instrument.

[0027] To enable the use of the same motion guides for medical devices of different external dimensions, it is preferred that the respective receiving spaces of the motion guides, in which the medical device is held, are large enough to accommodate different types of medical devices. Gaps between the edges of the receiving spaces and the outer surfaces of the respective medical device are preferably filled with at least one adapter per receiving space and motion guide, so that the medical device mounted on the carriage is fixed with respect to the desired degrees of freedom of movement, in particular all rectilinear degrees of freedom of movement transverse to the direction of the rectilinear axis of movement.

[0028] A device for guiding the movements of a medical device, in particular a probe, may therefore, in particular, have: - a base, - a carriage that is movable relative to the base along a straight axis of motion in order to move a medical device arranged on the carriage in the direction of the straight axis of motion, - a first movement guide attached to the sled, and - a second movement guide attached to the sled, wherein the first motion guide and the second motion guide are designed to jointly guide a rotational movement of the medical device arranged on the sled around the straight axis of movement, wherein the first motion guide and the second motion guide - viewed in the direction of the straight axis of motion - are arranged at a distance from each other on the slide and where the first motion guidance and the second motion guidance are only indirectly connected via the sled.

[0029] The medical device is not part of the apparatus. Rather, the medical device can be detachably attached to the apparatus, in particular solely by establishing mechanical contact between the medical device and the at least two motion guides. However, the scope of the invention also includes an arrangement in which the medical device is attached to the carriage of the apparatus.

[0030] When carrying out a method for guiding movements of a medical device, in particular a probe, any embodiment of the device described in this description may be used.

[0031] In one embodiment of the method for manufacturing a device for guiding the movements of a medical device, the first and second motion guides can be attached to the carriage. The first and second motion guides are arranged at a distance from each other on the carriage, viewed along the straight axis of movement. The first and second motion guides are only indirectly connected to each other via the carriage.

[0032] In particular, the linear axis of movement passes through receiving spaces defined by the first and second movement guides. Each of these receiving spaces contains a section of the medical device when it is mounted on the carriage. A direction parallel to the linear axis of movement is defined by the carriage's mobility relative to its base.

[0033] Features of the manufacturing process and the operating process are derived from the description of the device's configurations. In particular, a configuration of the manufacturing process includes a manufacturing step in which an additional component, as defined by a configuration of the device, is assembled as part of the device.

[0034] In particular, the device can have a first adjustment device by means of which the axial position of the slide can be adjusted in the direction of the linear axis of movement. Alternatively, and preferably additionally, the device can have a second adjustment device by means of which the rotational position of the medical device arranged on the slide can be adjusted in the direction of rotation about the linear axis of movement. Such adjustment devices make it easier for the user of the device, e.g., a physician, to easily adjust the position of the slide or the rotational position of the medical device. Furthermore, as will be explained in more detail below, the currently set position can be determined using the adjustment device, and in particular, can be determined automatically.

[0035] In particular, the first adjustment device can be designed such that the axial position of the slide within its range of motion can be permanently set to any desired value within that range. Therefore, there are no intermediate values ​​within the range of motion that cannot be permanently set due to the design of the first adjustment device. In contrast to mechanical designs where the slide can only be moved back and forth in steps in a straight line, there are more possibilities for adjusting the position as desired.

[0036] In particular, the first adjustment device can be combined with a first locking mechanism designed to lock the slide in its current axial position relative to the base. This prevents and / or inhibits unintentional changes in the axial position caused by actuation of the first adjustment device and / or other direct or indirect actions on the slide. This is particularly advantageous when the position adjustment range, as mentioned above, has continuously adjustable values.

[0037] Alternatively or additionally, the second adjustment device can be combined with a second locking mechanism designed to lock the medical device mounted on the slide in its current rotational position relative to the slide. This prevents and / or inhibits unintentional changes to the rotational position caused by actuation of the second adjustment device and / or other direct or indirect influence on the medical device.

[0038] In particular, the device may include a first position transmitter configured to generate at least one signal from which an axial position of the slide and / or the medical device arranged on the slide in the direction of the linear axis of movement can be determined for a first position detection device. For example, the first position transmitter is combined with the first adjustment device or attached to the medical device or to the slide.

[0039] Alternatively or additionally, the device may have a second position sensor configured to generate at least one signal from which a second position detection device can determine the rotational position of the first motion guide and / or the second motion guide, or of the medical device arranged on the carriage, about the linear axis of motion. For example, the second position sensor is combined with the second adjustment device or attached to the medical device or to one of the motion guides.

[0040] Especially when the position sensor is combined with the respective adjustment device, it can, for example, repeatedly emit a signal during the movement caused by actuating the adjustment device. This signal can, for instance, directly transmit information about the current position. Alternatively or additionally, the signal can simply transmit the information that a predefined position has been reached or exceeded. These signals can be identical to one another. For example, they could be pulse signals that the position sensor transmits each time a position is reached or exceeded at a constant distance from each other. Taking into account the knowledge of the initial position and by counting the transmitted identical signals, the position detection device can then determine the absolute position.In the case of rotational movement around the straight-line direction of motion, positions that differ from each other by a whole revolution are of course identical rotational positions.

[0041] The following describes an embodiment of the device that enables a different type of position determination by a position determination device, namely for the linear position along the linear axis of movement and / or for the rotational movement about the linear axis of movement.

[0042] According to this embodiment, at least the base, the slide, the first motion guide, and the second motion guide are made of non-magnetic materials. Preferably, the entire device is made of non-magnetic material. However, at least one magnetic marker is used as a position indicator. • to determine the position of the sled and / or the medical device attached to the sled in the direction of the straight axis of movement and / or • to determine the rotational position of the first motion guide and / or the second motion guide or the medical device arranged on the sled about the straight axis of motion attached to the carriage, to the first motion guide or to the second motion guide, or designed as a magnetic area of ​​the carriage, the first motion guide or the second motion guide, or intended for attachment to the medical device or as an integral part of the medical device.

[0043] Position detection devices are known in the prior art that determine the instantaneous position and / or movement of magnetic markers. Such a position detection device can be used in combination with the configuration described above. In particular, attaching at least one magnetic marker as a position transmitter to the medical device has the advantage that the device itself does not need to contain a position transmitter. Since the device consists of non-magnetic material, with the possible exception of the magnetic area used as a position transmitter, the device does not interfere with magnetic position determination or tracking.

[0044] The invention therefore also includes a method for using the device in conjunction with a position determination device, in particular a position determination device which uses at least one magnetic marker to determine the position and / or to track the position during a movement of the medical device and / or the moving parts of the device.

[0045] The invention will now be described in more detail with reference to the accompanying figures. The features described below can be combined individually or in any combination with the embodiments of the invention described above. The individual figures in the drawing show: Fig. 1 an embodiment of a device for guiding movements of a medical device with a view direction from above and behind, Fig. 2 a view from the top left of the in Fig. 1 device shown, Fig. 3 a view from the top left front of the in Fig. 1 device shown, Fig. 4 a view from below of the in Fig. 1 device shown, Fig. 5 an enlarged view of the rear movement guide of the in Fig. 1. Device shown from the top left front with the locking ring fully open, Fig. 6 an enlarged view of the rear movement guide of the in Fig. 1 device shown from top left, Fig. 7 an enlarged view of the rear movement guide of the in Fig. 1 device shown from the rear top, Fig. 8 an enlarged view of the front movement guide of the in Fig. 1 device shown from the front top, Fig. 9 a view like in Fig. 2, however, in addition a rod-shaped ultrasound probe is shown, which is attached to the slide of the in Fig. 1 and Fig. The device shown in section 2 is arranged. Fig. 10 an exploded view of an embodiment of a device according to the invention for guiding movements of a medical device, wherein the medical device is also shown, Fig. 11 a part of an embodiment according to the invention of a device for guiding movements of a medical device, for example the one in Fig. 10 embodiment shown, in schematic view, wherein the medical facility is also shown schematically, Fig. 12 an exploded view of an embodiment of a device according to the invention for guiding movements of a medical device in a complete view, wherein the medical device is also shown and the device has a coupling component, Fig. 13 a part of an embodiment according to the invention of a device for guiding movements of a medical device, for example the one in Fig. 12 embodiment shown, in schematic view, wherein the medical device is also shown schematically and the device has a coupling component, Fig. 14 A left-hand view of an embodiment of a device according to the invention for guiding movements of a medical device, wherein the medical device and perforated plates held by a retaining frame are also shown, Fig. 15 A view from the left of an embodiment of a device according to the invention, which is described in Fig. 14 corresponds to the embodiment shown, wherein the perforated plates and retaining frames are arranged differently than in the embodiment of Fig. 14 are arranged.

[0046] In the embodiments described below, the same reference symbols are used for identical and functionally equivalent components.

[0047] The in the Fig. 1 to Fig. The embodiment described in section 9 does not yet exhibit all the features of the subject matter of the independent claims. Based on the Fig. 10 to Fig. Section 13 describes embodiments that exhibit the features of the independent claims. Features of the embodiments according to Fig. 10 to Fig. 13 can be individually or in any combination by corresponding features of the embodiment according to Fig. 1 to Fig. 9 can be replaced. For example, the slide of the embodiment according to Fig. 1 to Fig. 9 the slide of the embodiment according to Fig. Replace 10.

[0048] In the Fig. 1 to Fig. Figure 4 shows a device for guiding the movements of a medical device, each in a complete view, but without the medical device mounted on the device's carriage. As an example of an arrangement where a medical device is mounted on the device's carriage, the view of Fig. 9 attached. At this medical facility 25 It is a rod-shaped ultrasound probe. Over large portions of its length, the probe has a cylindrical outer surface, with the outer diameters of different longitudinal sections varying.

[0049] The device 1, which is depicted in the figures, has a base 2 which can be attached to a tripod or other support. The base 2 is like for example Fig. Figure 4 shows an essentially cuboid design, featuring a profiled cylindrical adjusting handle. 6 a first setting device 5 laterally on the left side of the base 2 stands out. Regarding the first adjustment mechanism 5 belongs to a sled that runs lengthwise. 3 extending rack 7 ( Fig. 4) with a toothed section into which the teeth of at least one gear (not shown) engage, the gear projecting from the top of the base and fixed to a shaft (not shown) to prevent rotation. The shaft can be adjusted from the adjusting handle. 6 can be rotated. By turning the adjustment handle. 6 This results in a straight-line movement of the sled. 3relative to the base 2 in the direction from front to back in Fig. 1 or from right to left in Fig. 2 (or vice versa, depending on which direction the adjustment handle is turned) 6 (is rotated). By turning the adjustment handle 6 The aforementioned shaft is rotated around its axis of rotation, thereby also rotating the aforementioned gear around the axis of rotation of the shaft, and the engagement of the gear with the toothed rod of the slide 3 driven.

[0050] The first setting device is optional. 5 combined with a first position sensor, e.g. a pulse sensor, which depends on the rotational movement of the adjusting handle 6 , generates position signals for the shaft and the gear. Via a signal line connector ( Fig. 4) and a signal line 9The position signals generated by the first position transmitter can be transmitted to an external position determination device.

[0051] As from the Fig. 1 to Fig. As can be seen in section 3, the sled has a front (left) angle on its upper side. Fig. 2) and at the back (right in Fig. 2) Each movement guide. The one guided by the front movement guide 10 and the rear movement guidance 11 defined recording spaces in the interior of the respective movement guidance 10 , 11 take, as from Fig. 9 is recognizable, each a longitudinal section of the medical facility, the movement of which is controlled by the device 1 to be guided. The movement guides 10 , 11enable a rotational movement of the medical device around its longitudinal axis, which can also be defined as the straight-line axis of movement in the direction of which the medical device is moved when the sled 3 relative to the base 2 is being moved.

[0052] How Fig. 3 and the enlarged representation of the Fig. As shown in section 8, this refers to the front movement guidance. 10 for a guide with a sliding bearing. The rear part of the motion guide. 10 has a mounting surface for attaching an adapter 26 (see Fig. 9) which is located on the medical device. The surface facing inwards towards the reception area has the shape and shape of an open-topped cylinder. This means that every cross-section of the inwards-facing surface follows a circular path around the straight axis of movement of the medical device.

[0053] Both the front movement guidance 10 as well as the rear movement guidance 11 support the sled 3 ordered medical facility, these on the sled 3 They therefore not only serve to guide the rotational movement of the medical device, but also, due to their large distance from each other, ensure that the linear movement of the medical device is maintained during relative movement of the carriage. 3 to the base 2 not to a change in the orientation and position of the medical facility relative to the sled 3 leads.

[0054] In the enlarged views of the Fig. 5 - Fig. In section 8, the depicted image section is outlined by a dashed line.

[0055] Fig. 5 to Fig. 7 show the rear movement guidance 11in an enlarged view. At the front of the rear movement guide. 11 There is a ring-shaped, open-top opening. 12 with a recording room for capturing a longitudinal section of the medical facility. The ring-shaped recording 12 is via a swivel bearing 14 relative to a fixed position with the sled 3 connected part of the rear movement guide 11 It is rotatably mounted to guide the rotational movements of the medical device around the linear axis of movement. This means that the ring-shaped mount 12 which rotates with the medical device when it is rotated, while the stationary part of the rear movement guide 11 rotationally fixed to the sled 3 is.

[0056] A locking ring that can be rotated around the straight axis of movement 16 is in Fig. 5 shown in the fully open position, whereas in Fig. Figure 6 shows it in a partially closed position. The fully closed position is achieved by further turning the retaining ring. 16 from the in Fig. The medical device is protected against unintentional slippage out of the ring-shaped holder when the rotation position shown in section 6 is reached. 12 secured. The retaining ring 16 rotates during the rotational movement of the ring-shaped holder 12 around the axis of rotation, i.e. around the straight axis of movement, also with.

[0057] In the rear part of the rear movement guidance 11 There is an area which, during a rotational movement of the ring-shaped receiver, 12 The medical facility being filmed is not included in this section. This area has an interior surface. 15 It may be an end section of the medical facility. Alternatively, the inner surface may be included. 15 the U-shaped recording 17in the rear area of ​​the rear movement guidance 11 to create a sliding surface for a rotary movement of the medical device.

[0058] Furthermore, the rear movement guidance 11 a locking mechanism with a locking screw 18 up, which laterally left from the rear movement guide 11 protrudes. By screwing in the locking screw 18 into the body of the posterior movement guidance 11 The rotational position of the ring-shaped holder is entered 12 and is thus also locked during operation of the medical device. Accordingly, the first adjustment device can also be used. 5 be combined with a locking device that determines the current position of the slide 3 lockable along the straight-line direction of movement. Without limiting generality and not only in relation to Fig. 5. The left side is understood to be the side that a user looking from a position behind and above the device towards the front end of the medical facility would perceive as the left side. Fig. 5 is the side on the right in the picture.

[0059] As the overall views in Fig. 1 to Fig. 4 shows the device 1 In the illustrated embodiment, additional attachments are fitted. In the illustrated embodiment, these are a holder. 20 e.g., for holding a shadow mask. The holder 20 is via two parallel rods 21a , 21b with the sled 3 coupled. The slide points to the longitudinal position of the front movement guide for this purpose. 10 and at the longitudinal position of the rear movement guide 11Each rod has two through holes through which it can slide. It is secured with a locking screw. 23 at the longitudinal position of the rear movement guide 11 can determine the current relative position of the rods 21a , 21b relative to the sled 3 be arrested.

[0060] Furthermore, the exemplary embodiment of the device 1 a scale with values ​​from -80 to 80, located on the side of the sled 3 is arranged ( Fig. 2) A corresponding line-shaped marker at the base allows a user to adjust the currently set relative position between the base and the object. 2 and sled 3 to read.

[0061] Especially from the side view of the Fig. 2. It is evident that the rear movement guidance 11 optionally along the pair of bars 22a , 22b relative to the sled 3It can be designed to be movable. In this way, the distance of the front movement guide can be adjusted. 10 from the rear movement guidance 11 The device can be adjusted and can support medical facilities of different dimensions.

[0062] In Fig. Figure 10 shows an exploded view of an embodiment of a device according to the invention. 41 to guide movements of a medical facility 25 shown in full view, with the medical facility 25 is also shown. At this medical facility 25 It is a rod-shaped ultrasound probe. Over large portions of its length, the probe has a cylindrical outer surface, with the outer diameters of different longitudinal sections varying.

[0063] The device 41 has a base2 which can be attached to a tripod or other support. The base 2 For example, it is essentially cuboid in shape, as is the device. 1 from the Fig. 1 to Fig. 4. In the following, specific features of the embodiment shown are described, which, however, can be designed differently while retaining the basic elements of the device, in particular those claimed in the claims.

[0064] A profiled cylindrical adjustment handle 6 a first setting device 5 the device 41 is in the foreground of Fig. 10 shown left side of the base 2 prominently. To the first setting device 5 belongs to a sled that runs lengthwise. 3 below the sled 3Extending toothed rod (not shown) with teeth into which a tooth of at least one gear (not shown) engages, which is located on the top of the base 2 protrudes and is fixed to a shaft (not shown) in a rotationally secure manner. By turning the adjusting handle 6 This results in a straight-line movement of the sled. 3 relative to the base 2 along the longitudinal axes of two parallel rods 21a , 21b These longitudinal axes run parallel to the longitudinal axis of the medical facility. 25 , so that as a result the sled 3 with the attached medical facility 25 in the direction of the longitudinal axis of the medical facility 25 This can be verified by turning the adjustment handle. 6The aforementioned shaft is rotated around its axis of rotation, thereby also rotating the aforementioned gear around the axis of rotation of the shaft, and the engagement of the gear with the toothed rod of the slide 3 driven.

[0065] The first setting device is optional. 5 combined with a first position encoder, e.g. a pulse encoder, which depends on the rotational movements of the adjusting handle 6 The first position sensor generates position signals from the shaft and / or gear. These position signals can be transmitted to an external position determination device via a signal line connector (not shown) and a signal line (not shown).

[0066] The sled 3 points to its upper front (lower left in) Fig. 10) and at the back (top right in Fig. 10) each movement guide 10 , 11up. The front movement guidance 10 and the rear movement guidance 11 defined recording spaces in the interior of the respective movement guidance 10 , 11 take, as from Fig. 10 is recognizable, each a longitudinal section of the medical facility, the movement of which is controlled by the device 41 The guideline is to be used. L1 clarifies where the medical facility is located 25 with the front movement guidance 10 during operation of the device 41 is connected.

[0067] The movement guides 10 , 11 enable a rotational movement of the medical device around its longitudinal axis, which can also be defined as the straight-line axis of movement in the direction of which the medical device is moved when the sled 3 relative to the base 2 is being moved.

[0068] During the front movement guidance 10 It is a guide with a sliding bearing. In particular, the rear part of the motion guide has 10 A mounting surface is provided for attaching an adapter, which in turn is located on the medical device. In this way, the anterior movement guidance can be adjusted. 10 It can be adapted to differently shaped medical devices. For each device, for example, a specially adapted adapter can be provided. The surface facing inwards towards the receiving area has the shape and contour of an open-topped cylinder. This means that every cross-section of the inwards-facing surface follows a partial circle around the straight axis of movement of the medical device.

[0069] Both the front movement guidance 10 as well as the rear movement guidance 11 support the medical facility 25 on the sled3 They therefore not only serve to guide the rotational movement of the medical device, but also, due to their large distance from each other, ensure that a given orientation of the medical device is maintained. 25 is retained. As in the embodiment of the Fig. 5 is a retaining ring 16 planned.

[0070] A calibration device 31 is in the upper right area of ​​the Fig. 10 shown. The calibration device 31 a first component 32 and a second component 33 up. The first component 32 is rotationally fixed with respect to a rotational movement about the longitudinal axis of the medical facility 25 with the medical facility 25 connected, with this longitudinal axis corresponding to the straight-line axis of movement, when the medical facility 25 in the device 41 is built-in.

[0071] The medical facility 25 It can be solved again with the first component. 32 connected. In the specific embodiment shown, the first component has 32 a hanger 30 on, which is the rear end area of ​​the medical facility 25 partially wraps around, so that this end area between the bar 30 and one in the representation of the Fig. The contact area is located 10 below the end area. The bracket 30 can be tensioned in such a way that the second component 25 by clamping force rotationally fixed with respect to rotation of the medical device 25 around the longitudinal axis with the medical facility 25 is connected.

[0072] The second component 33 The operation of the device is directly dependent on the rear movement guide. 11 stored. The storage of the second component 33 on the rear movement guide11 is a plain bearing. On the second component 33 Approximately in the center of its longitudinal direction is a toothed ring, interrupted at the top, which meshes with a gear (not shown) that is rotatable about an axis within the rear movement guide. The gear is secured by a locking screw. 18 lockable by tightening the locking screw 18 is tightened. Due to the engagement of the gear with the toothed ring, which is on the second component. 33 The formation involves a rotational movement of the second component. 33 around the straight axis of movement, then prevented. Is the locking screw 18 Solved is a rotational movement of the second component. 33 around the straight axis of movement is possible. The first component 32 and thus the medical facility 25 can be used with the second component 33 must be connected in a rotationally fixed manner.

[0073] The first component 32 and the second component 33 They interact in such a way that a rotational position of the first component 32 and the second component 33 relative to each other around an axis of rotation which during operation of the device 41 which coincides with the straight axis of movement and can be adjusted in a calibration process.

[0074] The front section of the second component 33 The inner surface is circularly curved, i.e., it has a conical or, as in the illustrated embodiment, cylindrical inner wall surface. Correspondingly, the outer surface of the first component is... 32 also conical or cylindrical in shape, so that the first component 32 and the second component 33 can be rotated around the axis of rotation relative to each other, while the inner wall surface of the second component 33 and the outer surface of the first component 32They lie against each other. During rotation, the inner wall surface of the second component slides. 33 and the outer surface of the first component 32 next to each other. The front section of the second component 33 is open at the top to allow the insertion of a rearward-projecting projection of the first component 32 into the front area of ​​the second component 33 to enable this. The cylindrical or conical outer surface of the first component is located on the rearward-projecting projection. 32 trained.

[0075] At the front area of ​​the second component 33 There is an elongated recess running circumferentially around the axis of rotation, which serves as an alignment slot. 36 can be described. If the projection of the first component 32 in the front area of ​​the second component 33 If it is arranged, then a screw can be inserted through the alignment slot. 36through into a thread 35 The first component is screwed in. This determines the rotational position of the first component. 32 and the second component 33 can be fixed relative to each other. The thread 35 , the screw and the alignment slot 36 are therefore elements of a fixation 34 Once the rotational position is fixed, the screw exerts a compressive force on the front area of ​​the second component. 33 from, so that the front area is positively engaged with the projection of the first component. 32 is held in place. Loosening the screw allows a change in the rotational position between the first component. 32 (and thus the medical facility) 25 ) and the second component 33 This changes the position of the alignment slot relative to the screw. After changing the rotational position, the screw can be tightened again, securing the first component. 32and the second component 33 in a changed rotational position relative to each other.

[0076] The device 41 The illustrated embodiment features additional attachments. In this particular embodiment, these are a holder. 20 e.g., for holding a shadow mask. The holder 20 is across the two parallel rods 21a , 21b with the sled 3 coupled. The sled 3 This is indicated at the longitudinal position of the front movement guide 10 and at the longitudinal position of the rear movement guide 11 Each rod has two through holes through which it can slide.

[0077] Furthermore, the exemplary embodiment of the device 1 a scale with values, located on the side of the sled 3is arranged. A corresponding line-shaped marker at the base allows a user to adjust the currently set relative position between the base. 2 and sled 3 to read.

[0078] In Fig. 11 are a medical facility 25 , one connected to the medical facility 25 connected first component 32 , a second component 33 and a movement guide 11 opposite Fig. 10 simplified schematic representation. Fig. Figure 11 shows a part of an embodiment of the device according to the invention, for example the device 41 , in schematic representation. In the left area of ​​the Fig. 11 is a rear area of ​​the medical facility 25 shown in the form of a cylinder. The medical facility 25 is with a first component 32 the calibration device 31connected in such a way that the first component 32 the medical facility 25 at its rear end and rotates and translates the medical device into rotational and translational movements 25 relative to the first component 32 avoids being in a restrained state. The area of ​​the medical facility 25 , which is formed by the first component 32 The area enclosed is represented by dashed lines. The first component 32 is with the second component 33 connected. A rotational position of the first component 32 and the second component 33 relative to each other is achieved by means of a fixation 34 fixable. The fixation 34 has a thread 35 , an alignment slot 36 and a screw 38 open. If the rotational position is locked, the screw is 38 into the thread 35turned inwards so that the underside of its screw head exerts a pressure force on the second component 33 exerts a force-fit connection between the first component 32 and the second 33 creates. The second component 33 is in a movement guidance 11 rotatably mounted. The movement guide 11 is in Fig. 11 schematically through one the second component 33 The enclosing sub-area is shown, to which two longitudinally extending sub-areas are attached outside, which are used to attach the movement guide. 11 to serve, for example, on a sled. Centrally located in relation to the medical facility. 25 and running in their longitudinal direction in Fig. 11 the straight axis of motion D1 shown to the medical facility 25 and the calibration device 31during the operation of the device due to the motion guidance 11 able to rotate. A rotational position of the first component. 32 (and thus the medical facility) 25 ) and the second component 33 relative to each other around the straight axis of movement D1 can be adjusted using the calibration device.

[0079] In Fig. 12 is an embodiment of a device according to the invention. 51 to guide movements of a medical facility 25 shown in full view as an exploded view, with the medical facility 25 also shown. The device 51 Apart from the design of the calibration device, it corresponds 31 the device 41 , which in Fig. Figure 10 is shown below. The differences of the device are discussed below. 51 ( Fig. 12) compared to the device 41( Fig. 10) received. Apart from the calibration equipment, the description applies to Fig. 10 also for Fig. 12 analog.

[0080] A calibration device 31 is in the upper right area of ​​the Fig. 12 shown. The calibration device 31 a first component 32 and a second component 53 and additionally a coupling component 37 up. The first component 32 is rotationally fixed with respect to a rotational movement about the longitudinal axis of the medical facility 25 with the medical facility 25 connected, with this longitudinal axis corresponding to the straight-line axis of movement, when the medical facility 25 on the device 51 is arranged. The second component 53 is in operation of the device 51 with a coupling component 37 positively connected, which is controlled by the rear movement guide 11is stored. Alternatively or additionally, the connection can be a positive-locking connection. The second component 53 is in operation of the device 51 indirectly via the coupling component 37 from the rear movement guidance 11 stored. The positive-locking connection between the second component 53 and the coupling component 37 It can be produced on a triangular profile, wherein the three edges of the profile run in pairs relative to each other essentially at right angles to each other, so that a rectangular profile is formed which is open on one side. Fig. Figure 12 shows the profile as an upward-opening profile. The second component 53 It has the three edges of the profile on its outer contour, which are in Fig. 12 in the rear area of ​​the second component 53 are shown. The coupling component 37It has the three edges of the profile on its inner contour, which are in Fig. 12 in the front area of ​​the coupling component 37 are shown. Is the second component 53 and the coupling component 37 The outer surface of the second component lies connected to each other. 53 , which has the profile, and the inner surface of the coupling component 37 The profiles they have meet each other. The lower edge of the inner contour of the coupling component. 37 features an upward-extending pin that passes through a hole (not shown) in the second component 53 protrudes, with the hole extending through its outer contour when the coupling component 37 and the second component 53 are connected to each other. The pen 54 contributes to a positive-locking connection and, in particular, prevents longitudinal movement of the second component. 53 relative to the coupling component 37 .

[0081] The bearing of the coupling component 37 on the rear movement guide 11 is a sliding bearing. As in the embodiment of the Fig. 5 is a retaining ring 16 planned. On the coupling component 37 Approximately in its longitudinal direction, a toothed ring with an interrupted top is arranged in the middle, which is connected to a toothed ring within the rear movement guide. 11 The gear (not shown) rotates around an axis. The gear is secured by a locking screw. 18 Lockable. Due to the engagement of the gear with the toothed ring, which is attached to the coupling component. 37 The arrangement involves a rotational movement of the coupling component. 37 around the straight axis of movement, then prevented. Is the locking screw 18 Solved, is a rotational movement of the coupling component. 37 around the straight axis of movement is possible. The first component 32and thus the medical facility 25 can be used with the second component 53 and the coupling component 37 be / become connected in a rotationally fixed manner.

[0082] The first component 32 is with the second component 53 connected in such a way that a rotational position of the first component 32 and the second component 53 relative to each other around an axis of rotation which during operation of the device 51 which coincides with the straight axis of movement and can be adjusted in a calibration process.

[0083] At the front area of ​​the second component 53 There is an elongated recess running circumferentially around the axis of rotation, which serves as an alignment slot. 36 can be described. If the projection of the first component 32 in the front area of ​​the second component 53 If it is arranged, then a screw can be inserted through the alignment slot. 36through into a thread 35 The first component is screwed in. This determines the rotational position of the first component. 32 and the second component 53 can be fixed relative to each other. The thread 35 , the screw and the alignment slot 36 are therefore elements of a fixation 34 Once the rotational position is fixed, the screw exerts a compressive force on the front area of ​​the second component. 53 from, so that the front area is positively engaged with the projection of the first component. 32 is held in place. Loosening the screw allows a change in the rotational position between the first component. 32 (and thus the medical facility) 25 ) and the second component 53 In this process, the position of the alignment slot changes. 36 relative to the screw. After changing the rotational position, the screw can be tightened again and secures the first component. 32and the second component 53 in a changed rotational position relative to each other.

[0084] Fig. Figure 13 shows a part of an embodiment of the device according to the invention, for example the device 51 , in schematic view. In the left area of ​​the Fig. 13 is a rear area of ​​the medical facility 25 shown in the form of a cylinder. The medical facility 25 is with a first component 32 the calibration device 31 connected in such a way that the first component 32 the medical facility 25 at its rear end and rotates and translates the medical device into rotational and translational movements 25 relative to the first component 32 suppressed. The area of ​​the medical facility 25 , which is formed by the first component 32 The area enclosed is represented by dashed lines. The first component32 is with the second component 53 connected. A rotational position of the first component 32 and the second component 53 relative to each other is achieved through fixation. 34 adjusted. The fixation 34 has a thread 35 , an alignment slot 36 and a screw 38 open. If the rotational position is locked, the screw is 38 into the thread 35 screwed in and tightened so that the underside of its screw head exerts a pressure force on the second component 53 exerts a force-fit connection between the first component 32 and the second 53 creates. The second component 53 is equipped with a coupling component 37 Form-fit connection. A line running between the second component. 53 and the coupling component 37, which has a bulge to the left and to the right, indicates the positive locking connection between the two components.

[0085] The coupling component 37 is from a movement guidance 11 rotatably mounted. The movement guide 11 is in Fig. 13 schematically through one the second component 53 The transversely enclosing sub-area is shown, to which two longitudinally extending sub-areas are attached outside, which are used to attach the movement guide. 11 serve, for example, on a sled. The center, running lengthwise, is in Fig. 13 the straight axis of motion D1 shown to the medical facility 25 and the calibration device 31 during the operation of the device, when the medical facility is used for diagnosis and / or treatment, due to the movement guidance 11able to rotate. A rotational position of the first component. 32 (and thus the medical facility) 25 ) and the second component 33 The relative positions of the two can be adjusted using the calibration device.

[0086] The in the Fig. 10 described embodiment of the device 41 allows operation of the device 41 as described below. The medical facility 25 will be with the first component 32 the calibration device 31 connected, creating a rotationally fixed connection between the medical facility 25 and the first component 32 is created. In the connection between the medical facility 25 and the first component 32 can determine a desired orientation of the medical facility 25already set approximately by a user, for example based on a setting at the medical facility 25 existing alignment aid in the form of a marking or based on a specification that the medical facility 25 with its upper side in the medical facility 25 It should be oriented upwards. The desired and / or specified orientation can be adjusted more precisely through subsequent calibration.

[0087] During calibration, the second component 33 the calibration device 31 through the movement guidance 11 mounted and therefore movable with the device 41 connected. The medical facility 25 and the first component 32 They can first be connected to each other. Then the second component can be connected. 33 and the first component 32They are brought into contact and / or interact with each other. The rotational position, and thus the orientation of the medical device, can also be approximately set by a user before calibration is performed.

[0088] Using the locking screw 18 can occur before, during and / or after the deployment of the medical device 25 a rotational movement of the first component 32 and the second component 33The rotation of the medical device is prevented relative to each other. With the screw loosened, the rotational position of the device is precisely adjusted to the desired and / or predetermined position. For example, a test operation of the medical device can take place, in which it generates images of a test object in a predetermined position relative to the device. By comparing the images with a target state, it can be determined whether the desired and / or predetermined rotational position is set and, if not, the rotational position can be corrected. Alternatively or additionally, a marking can be used to determine whether the desired and / or predetermined rotational position is set. If the medical device 25Furthermore, if an ultrasound probe is used, alternatively or additionally emitted ultrasound signals can be measured by a measuring device arranged at a predetermined position relative to the device, and it can be determined whether the desired and / or predetermined rotational position is set.

[0089] Unlike the one in Fig. 10 device shown 41 indicates the in Fig. 12 device shown 51 a second component 53 on, which is equipped with a coupling component 37 can be connected. The operation of the device described above. 41 This applies analogously to the device 51 However, an additional step is taken by creating a connection between the second component. 53 and the coupling component 37 is manufactured. The device 51 offers compared to the device 41 the advantage that the second component 53permanently at the medical facility 25 may remain, even during use of the device 51 with another medical facility. The rotational position between the second component 53 and the first component 32 This allows it to be retained, thus eliminating the need for recalibration of the rotational position upon repeated use of the medical device. 25 , after these from the device 51 being separated can be avoided.

[0090] In Fig. 14 is an embodiment of a device 61 to guide movements of a medical facility 25 Shown in a complete view from the left side in fully assembled state. The medical facility 25 The ultrasound probe shown here is only partially depicted. 61 is, for example, identical in construction to the device 51 out of Fig. 12. On the device 61 are additionally compared to the device 51 two plates 62a , 62b attached, which are mounted on a holding frame 63 be held, which is attached to the holder 20 is attached. These plates, designed as perforated plates, are also referred to in medical technology as "templates" for guiding the movement of biopsy and / or therapy needles. The holder 20 is formed by the two parallel rods 21a , 21b held, whereby in Fig. 14 only the pole arranged in the foreground of the picture 21b is recognizable. Furthermore, in Fig. 14 especially the sled 3 , the base 2 and the rear movement guidance 11 Shown from the left side.

[0091] The medical facility 25 extends through a recess between the mounting frame in each case 63 and the records62a , 62b in Fig. 14 to the left Fig. 14, where the operation of the facility 25 whose front end and the patient are located.

[0092] As from Fig. As can be seen in section 12, the holder possesses 20 A U-shaped profile when viewed from above. The device 61 is set up so that the holder 20 close to the front movement guide 10 is located. The outer areas of the holder. 20 , which form the legs of the U-shaped profile with the free ends (i.e., not the middle leg), are located on opposite sides of the front movement guide 10 arranged. In this way the holder protrudes. 20 from a position below the front movement guide 10 at the height of the holder 20 From the perspective, only slightly towards the free end of the medical facility. 25 before.

[0093] The records 62a , 62b extend in the representation of the Fig. 14 starting from the mounting frame 63 to the left towards the open end of the medical facility. In the Fig. 14 shown position of the holder 20 relative to the sled 3 reduce the ultrasonic template plates 62a , 62b the possible penetration depth of the medical device 25 into a patient around the route Dx .

[0094] Fig. 15 shows the in Fig. 14 Arrangement shown in a different assembly state of the plates 62a , 62b . In the Fig. There are 14 records 62a , 62b from the mounting frame 63 Viewed from the side towards the free end of the medical facility (i.e., on the left in the illustration of the Fig. 14) ordered. In Fig. 15, on the other hand, are the records 72a ,72b , which are the same records as the records 62a , 62b in Fig. 14 can be dealt with, from the holding frame 63 Viewed from the side in the direction of the second movement path 11 arranged so that the intrusion marks advantageously do not extend around the distance Dx is reduced. Reference symbol list 1; 41; 51; 61; 71 Device 2 Basic 3 sleds 5 first setting device 6 Adjustment handle 7 toothed rod 8 signal line connectors 9 Signal line 10 front movement guidance 11 rear movement guidance 12 ring-shaped recording 14 swivel bearings 15 Interior surface 16 retaining ring 17 U-shaped recording 18 Locking screw 20 holders 21a, 21b bars 22a, 22b bars 23 Locking screw 25 medical facilities 26 adapters 27 adapters 30 hangers 31 Calibration device 32 first component 33; 53 second component 34 Fixation 35 threads 36 alignment slots 37 Coupling component 38 screw 54 pens 62a, 62b; 72a, 72b plates 63; 73 Mounting frame D1 straight axis of motion Dx route L1 guideline QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] WO 9856295 A1

[0002]

Claims

[1] Device (41; 51; 61; 71) for guiding movements of a medical device (25), in particular a probe, wherein the device (41; 51; 61; 71) comprises: - a base (2), - a carriage (3) which is movable relative to the base (2) along a straight axis of motion (D1) in order to move a medical device (25) arranged on the carriage (3) in the direction of the straight axis of motion (D1), - a motion guide (11) which is attached to the carriage (3), - wherein the motion control (11) is designed to guide a rotational movement of the medical device (25) arranged on the slide (3) about the straight axis of motion (D1) during operation of the device (41; 51; 61; 71), - a calibration device (31) with a first component (32) which is rotatably connected to the medical device (25) with respect to a rotational movement about the linear axis of motion (D1), and with a second component (33; 53) whose rotational movement about the linear axis of motion (D1) is supported by the motion guide (11) during operation of the device (41; 51; 61; 71), wherein a rotational position of the first component (32) and the second component (33; 53) relative to each other about an axis of rotation which coincides with the linear axis of motion (D1) during operation of the device is adjustable in a calibration process. [2] Device (41; 51; 61; 71) according to claim 1, characterized by , that the calibration device (31) has a fixing (34) with which the rotational position of the first (32) and the second component (33; 53) can be fixed relative to each other. [3] Device (41; 51; 61; 71) according to one of claims 1-2, characterized by, that it has a coupling component (37) whose rotational movement about the straight axis of movement (D1) during operation of the device (41; 51; 61; 71) is supported by the motion guide (11), wherein the coupling component (37) is designed in such a way that it can be connected to the second component (33; 53). [4] Device (41; 51; 61; 71) according to claim 3, characterized by , that the coupling component (37) and the second component (33; 53) are designed in such a way that they can be positively connected to each other. [5] Device (41; 51; 61; 71) according to one of claims 1 to 4, wherein the device (41; 51; 61; 71) has a second adjustment device by means of which a rotational position of the medical device (25) arranged on the slide (3) can be adjusted in the direction of rotation about the straight axis of movement (D1). [6] Device (41; 51; 61; 71) according to claim 5, wherein the second adjustment device is combined with a second locking mechanism configured to lock the medical device (25) arranged on the slide (3) in its instantaneous rotational position relative to the slide (3). [7] Method for guiding movements of a medical device (25), in particular a probe, wherein, in a movement to set an axial longitudinal position of the medical device (25), a slide (3) on which the medical device (25) is arranged is moved relative to a base (2) along a straight axis of movement (D1), wherein, in a movement to set a rotational position of the medical device (25) about the straight axis of movement (D1), the medical device (25) is rotated by a motion guide (11), and wherein a rotational position of a first component (32) of a calibration device (31), which first component (32) is connected or connectable to the medical device (25), is set relative to a second component (33; 53) of the calibration device, which second component (33;53) is rotatably mounted about the straight axis of movement (D1) on the motion guide (11), is adjusted in a calibration process.; [8] Method for manufacturing a device (41; 51; 61; 71) for guiding movements of a medical device (25), in particular a probe, in particular for manufacturing the device (41; 51; 61; 71) according to any one of claims 1 to 6, comprising the following steps: - Providing a base (2), - movable arrangement of a carriage (3) on the base (2) such that the carriage (3) is movable relative to the base (2) along a straight axis of motion (D1) in order to move a medical device (25) arranged on the carriage (3) in the direction of the straight axis of motion (D1), - Attaching a motion guide (11) to the carriage (3), - Design of a calibration device (31) with a first component (32) which is rotatably connected to the medical device (25) with respect to a rotational movement about the linear axis of motion (D1), and with a second component (33; 53) whose rotational movement about the linear axis of motion (D1) is supported by the motion guide (11) during operation of the device (41; 51; 61; 71), so that a rotational position of the first component (32) and the second component (33; 53) relative to each other about an axis of rotation which coincides with the linear axis of motion (D1) during operation of the device (41; 51; 61; 71) is adjustable in a calibration process.

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