Connection assembly, protective tube tool, mounting tool, detaching tool, intraoperative ultrasound probe assembly, and puncture system

Abstract

The present invention relates to the technical field of medical devices, and specifically discloses a connection assembly, a protective tube tool, a mounting tool, a detaching tool, an intraoperative ultrasound probe assembly, and a puncture system. The connection assembly is used in the intraoperative ultrasound probe and comprises: a connection member which is detachably connected to an acoustic window portion of the intraoperative ultrasound probe, a clearance recess for providing clearance for an emission acoustic window of the intraoperative ultrasound probe being provided on the connection member; and a mounting member which is provided on the connection member, a mounting portion for mounting an electromagnetic navigation sensor kit being provided on the mounting member. The connection member comprises a snap-fit body, the snap-fit body is snap-fitted to the front end of the intraoperative ultrasound probe, and the mounting member is provided on an inner side of the snap-fit body; the snap-fit body is sleeved and fixed on the acoustic window portion, a second end of the snap-fit body has an opening which is sleeved and fixed on the rear end of the acoustic window portion, the second end of the snap-fit body is provided with a fastening structure, and the fastening structure fastens the snap-fit body to the acoustic window portion. The present invention achieves the technical effects of obtaining the position of a puncture kit during puncturing in laparoscopic ultrasound-guided puncture surgery, facilitating puncture operations for doctors, and improving the puncture success rate.

Description

Connection assembly, protective tube tool, installation tool, disassembly tool and intraoperative ultrasound probe assembly, puncture system TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, in particular to a connection assembly, a protective tube tool, an installation tool, a disassembly tool and an intraoperative ultrasound probe assembly, and a puncture system. BACKGROUND

[0002] In the 1990s, the fusion of ultrasound technology and laparoscopic technology led to the emergence of laparoscopic ultrasound (LUS). With the help of high-resolution images, LUS can find tiny satellite lesions and metastases, mark important pipeline structures, determine the cutting edge, and guide puncture, making up for the blind area of laparoscopic liver surgery and also being figuratively called the "third eye" of surgeons.

[0003] Unlike open ultrasound-guided puncture, laparoscopic ultrasound-guided puncture neither has a puncture rack nor an accurate guide wire guide, nor a special puncture needle. The operator selects an 18G PTC needle for puncture, but the length of the needle is not enough for puncture of some liver segments. The operator needs to puncture manually, and the puncture needle cannot be inserted from any direction and angle. In order to see the needle path, LUS-guided intrahepatic portal vein puncture should be performed as much as possible by inserting the needle from the foot side to the head side, and the puncture point on the surface of the liver is determined according to the position of the probe, the depth of the pipeline, and the angle between the puncture needle and the probe. After the needle is inserted, the probe is withdrawn and the needle path is found, the position of the probe is adjusted with the depth of the needle, and the needle tip is monitored throughout to avoid other important pipeline structures. When the needle tip approaches the target hepatic portal vein, only a slight axial rotation of the probe is needed to simultaneously display the needle path and the target hepatic pedicle, determine the positional relationship between the needle path and the target hepatic pedicle, and judge whether the needle tip can further penetrate the target hepatic portal vein.

[0004] In most cases, the LUS probe displays an oblique section of the liver. Clockwise and counterclockwise axial rotation of the probe represents movement of the scanning plane to the right foot side and left head side. Clinically, the direction of needle insertion can be adjusted in combination with the relative positions of the needle path and the target portal vein according to the changes in orientation. If the needle path deviates far from the target portal vein, the needle needs to be withdrawn and the puncture point on the surface of the liver needs to be selected again. This way, the target portal vein is accurately penetrated by repeated adjustment and correction, and after the needle core is withdrawn, blood is drawn and the corresponding dye is injected.

[0005] Currently, there are LUS probes with puncture channels and guide wires. However, since the puncture channel is in the center of the probe and has a fixed angle, it is difficult for the operator to accurately insert the needle into the channel through the abdominal puncture. A little angle that is not suitable will cause further needle insertion difficulty. Since the probe cannot rotate after the needle is inserted, it is difficult to display the needle channel and the needle tip, and the puncture success rate is low. Since the puncture technology under LUS is high in technical requirements, the existing LUS probe and puncture kit (such as a puncture needle) cannot meet the use requirements of surgeons, so this technology is difficult to popularize and promote in a short time, and this technology needs to be developed and improved. SUMMARY

[0006] The main purpose of the present application is to provide a connecting assembly for an intraoperative ultrasound probe, so as to solve the problem that it is difficult to determine the position of the puncture kit in the laparoscopic ultrasound guided puncture surgery in the related art, resulting in puncture difficulty.

[0007] In order to achieve the above purpose, the present application provides a connecting assembly for an intraoperative ultrasound probe, comprising:

[0008] A connecting piece is used for detachably connecting to a sound window part of the intraoperative ultrasound probe and is located at the front end of the bending part of the intraoperative ultrasound probe, and an avoiding slot for avoiding the emission sound window of the intraoperative ultrasound probe is arranged on the connecting piece;

[0009] A mounting piece is arranged on the connecting piece, and a mounting part for mounting an electromagnetic navigation sensor kit is arranged on the mounting piece;

[0010] The connecting piece comprises a buckle main body, the buckle main body is used for buckle connection with the front end of the intraoperative ultrasound probe, and the mounting piece is arranged on the inner side of the buckle main body;

[0011] The mounting piece is a clamping groove piece arranged on the inner side of the buckle main body, and the mounting part is a mounting groove arranged on the clamping groove piece, and the mounting groove is used for mounting the electromagnetic navigation sensor kit;

[0012] A first clamping groove is arranged on the inner side of the buckle main body, and the clamping groove piece is mounted in the first clamping groove;

[0013] The buckle main body is used for sleeved fixing on the sound window part, the inner wall of the buckle main body is attached to the outer wall of the sound window part, the first end of the buckle main body is limitingly connected with the front end of the sound window part, and the second end of the buckle main body has an opening for sleeved fixing to the rear end of the sound window part;

[0014] The first clamping groove is arranged in a long strip structure, and the inner bottom of the clamping buckle body is further provided with a first limiting structure. The clamping groove member is provided with a second limiting structure matched with the first limiting structure. The axial movement of the clamping groove member in the first clamping groove is limited by the cooperation of the first limiting structure and the second limiting structure.

[0015] The bottom of the clamping buckle body is provided with a dismounting hole. The dismounting hole is communicated with the first clamping groove. The dismounting hole is used for the dismounting tool to pass through to dismount the clamping groove member.

[0016] Optionally, the second end of the clamping buckle body is provided with a fastening structure. The fastening structure is used for fastening the clamping buckle body to the acoustic window part.

[0017] Optionally, the fastening structure comprises a plurality of second notches arranged in the circumferential direction at the second end of the clamping buckle body. The second end of the clamping buckle body is divided into a plurality of second fastening pieces distributed at intervals through the plurality of second notches. The outer side of the second fastening piece is provided with a first clamping part.

[0018] The fastening structure further comprises a clamping member. The clamping member can be sleeved on the second end of the clamping buckle body and located on the outer side of the second fastening piece. The inner side of the clamping member is provided with a second clamping part. The first clamping part and the second clamping part are clamped and matched to press the second fastening piece tightly against the outer side of the acoustic window part.

[0019] Optionally, the outer side of the second fastening piece is further provided with a second connecting surface. The first clamping part and the second connecting surface are distributed in the front-rear direction.

[0020] The inner side of the clamping member is provided with a second pressing surface. The second clamping part and the second pressing surface are distributed in the front-rear direction.

[0021] The second pressing surface is a reduced diameter structure towards the rear end. When the clamping member is clamped and matched with the second fastening piece, the second pressing surface can extrude the second connecting surface to press the second fastening piece tightly against the outer side of the acoustic window part.

[0022] Optionally, the fastening structure comprises a deformation wide groove arranged at the second end of the clamping buckle body. The deformation wide groove can allow the second end of the clamping buckle body to elastically deform to fasten and adapt to an intraoperative ultrasonic probe with a certain outer diameter range; or,

[0023] The fastening structure comprises a first opening structure arranged at the second end of the clamping buckle body. The first opening structure is arranged in an arc shape. The first opening structure is used for being matched to the first side of the acoustic window part.

[0024] The fastening structure further comprises a first fastening buckle, an inner surface of the first fastening buckle being capable of being attached to the second side of the acoustic window part;

[0025] A first end of the first fastening buckle is hinged to a first side of the first opening structure, and a second end of the first fastening buckle is buckled to a second side of the first opening structure; or,

[0026] The fastening structure comprises an arc-shaped second opening structure arranged at the second end of the buckle main body, the second opening structure being used for being attached to the first side of the acoustic window part;

[0027] The fastening structure further comprises a second fastening buckle and a third fastening buckle, inner surfaces of the second fastening buckle and the third fastening buckle being capable of being attached to the second side of the acoustic window part;

[0028] A first end of the second fastening buckle is hinged to a first end of the second opening structure, and an elastic member is arranged between the second fastening buckle and a side wall of the second opening structure, the elastic member being used for applying a force rotating away from a fastening direction to the second fastening buckle;

[0029] A first end of the third fastening buckle is hinged to a second end of the second opening structure, and a second end of the second fastening buckle is buckled to a second end of the third fastening buckle.

[0030] Optionally, the fastening structure comprises a plurality of first notches arranged at the second end of the buckle main body in a circumferential direction, the second end of the buckle main body being divided into a plurality of first fastening pieces distributed at intervals through the plurality of first notches;

[0031] The fastening structure further comprises a screwing member, the screwing member being sleeved outside the second end of the buckle main body and being in threaded connection with each of the first fastening pieces, so as to press the first fastening pieces to be attached to the outside of the acoustic window part;

[0032] An outer side of the first fastening piece has an outer thread and a smooth first connecting surface, the outer thread and the first connecting surface being distributed along an front-rear direction of the first fastening piece;

[0033] An inner side of the screwing member is provided with an inner thread and a first pressing surface, the inner thread and the first pressing surface being distributed along a front-rear direction of the screwing member;

[0034] The inner thread is in threaded connection with the outer thread, and the first pressing surface is a reduced-diameter structure towards the rear end, so that when the screwing member and the first fastening piece are in threaded connection, the first pressing surface can extrude the first connecting surface to press the first fastening piece to be attached to the outside of the acoustic window part.

[0035] According to another aspect of the present application, a protection tube tool is provided for connecting the above-mentioned connecting assembly and an intraoperative ultrasound probe; comprising:

[0036] a protection long tube, a first installation channel is arranged in the protection long tube, the first installation channel is used for installing an intraoperative ultrasound probe, a first sensor protection tube is fixedly arranged in the protection long tube, a first sliding channel is established in the first sensor protection tube, the first sliding channel is used for accommodating a sensor wire harness; the connecting assembly is used for being installed at a front end of the intraoperative ultrasound probe extending out of the protection long tube;

[0037] a handle fixing assembly, a second installation channel is arranged in the handle fixing assembly, the handle fixing assembly is fixedly arranged at an end of the protection long tube, the second installation channel is in communication with the first installation channel, the second installation channel is used for the front end of the intraoperative ultrasound probe to pass through and accommodate a probe handle end of the intraoperative ultrasound probe.

[0038] Optionally, a sliding groove is arranged on the handle fixing assembly, a sliding block is arranged in the sliding groove, the sliding groove is in communication with the first sliding channel, and the sliding block is used for fixing the sensor wire harness;

[0039] a second sliding channel is arranged on the handle fixing assembly, two ends of the second sliding channel are in communication with the first sliding channel and the sliding groove respectively;

[0040] a wire harness installation groove is arranged on the sliding block, the wire harness installation groove penetrates through the sliding block along the sliding direction of the sliding block, and the wire harness installation groove is used for fixing the sensor wire harness;

[0041] the wire harness installation groove comprises a first groove body and a second groove body arranged in sequence from front to back, the width of the first groove body is greater than the width of the second groove body, the first groove body is used for accommodating the second sensor protection tube, and the second groove body is used for accommodating the sensor wire harness.

[0042] Optionally, the handle fixing assembly comprises a handle connecting piece, a first clamping fixing piece and a second clamping fixing piece;

[0043] the handle connecting piece is fixedly sleeved at the end of the protection long tube, the first clamping fixing piece and the second clamping fixing piece are oppositely distributed, and the first clamping fixing piece and the second clamping fixing piece are used for clamping and fixing the probe handle end of the intraoperative ultrasound probe;

[0044] the sliding groove is arranged on the first clamping fixing piece or the second clamping fixing piece;

[0045] The first clamping fixing member comprises a fixed segment and a movable segment, the fixed segment is arranged as a holding segment, the first end of the fixed segment is fixedly connected with the upper side of the handle connecting member, and the second end of the fixed segment is hingedly connected with the first end of the movable segment;

[0046] The first end of the second clamping fixing member is hingedly connected with the lower side of the handle connecting member;

[0047] The second end of the movable segment and the second end of the second clamping fixing member are detachably fixedly connected through a locking member;

[0048] The sliding groove is arranged on the movable segment, the second sliding channel comprises a first sliding segment, a second sliding segment and a third sliding segment, the first sliding segment is located on the handle connecting member, the second sliding segment is located on the fixed segment, and the third sliding segment is located on the movable segment;

[0049] The end of the first sensor protection tube extends to the third sliding segment through the first sliding segment and the second sliding segment;

[0050] When the movable segment is at the maximum supination angle, the opening and closing angle between the second sliding segment and the third sliding segment is less than 20°.

[0051] Optionally, a wire winding spring and a fixing portion are further arranged on the first clamping fixing member, the wire winding spring is located at the rear end of the sliding block, the front end of the wire winding spring is fixedly connected with the sliding block, and the rear end of the wire winding spring is fixed on the first clamping fixing member;

[0052] The fixing portion is located at the rear end of the wire winding spring, the wire winding spring is used for winding the sensor wire harness, and the fixing portion is used for fixing the sensor wire harness;

[0053] The maximum stretching amount of the wire winding spring is greater than the maximum sliding stroke of the sliding block in the sliding groove;

[0054] The wire winding spring is arranged in the sliding groove, the fixing portion is a fixing clamping groove opened at the rear end of the sliding groove, a fixing plate is detachably fixed on the fixing clamping groove, and the fixing plate is used for tightly pressing the sensor wire harness in the fixing clamping groove;

[0055] A fixing seat is further arranged on the handle fixing assembly, the fixing seat is located in front of the fixing clamping groove, and the rear end of the wire winding spring is fixedly connected with the fixing seat;

[0056] A wire passing groove is opened on the fixing seat, and the wire passing groove is used for the sensor wire harness to pass through.

[0057] Optionally, the protection tube tool further comprises a second sensor protection tube, which is slidably arranged in the first sliding channel, and a third mounting channel is arranged in the second sensor protection tube, and the third mounting channel is used for mounting an electromagnetic navigation sensor.

[0058] The front end of the first sensor protection tube extends out of the front end of the protection long tube and forms an extension section, and at least a part of the extension section is arranged as a transition section formed by cutting the extension section along a spiral line.

[0059] According to another aspect of the present application, a mounting tool for an intraoperative ultrasound probe is provided, which is used for mounting the above-mentioned connecting assembly and the intraoperative ultrasound probe, and comprises:

[0060] A first base is further provided with a first support seat, and the first support seat is provided with a first support groove used for supporting the intraoperative ultrasound probe;

[0061] A mounting seat is fixedly arranged on the first base, and the mounting seat is provided with an assembly channel, and the mounting seat is provided with an assembly entrance communicated with the assembly channel, and the assembly channel is arranged to be capable of accommodating the buckle body;

[0062] A first pushing mechanism comprises a first moving end and a first pushing end, the first moving end is arranged to be capable of moving linearly along an axial direction parallel to the intraoperative ultrasound probe, the first pushing end is arranged on the first moving end, and the first pushing end is arranged to be capable of being connected with the clamping piece and pushing the clamping piece to move towards the mounting seat to be fixedly sleeved on the buckle body under the action of the first moving end, so as to tightly hold the buckle body on the intraoperative ultrasound probe.

[0063] Optionally, the mounting seat comprises a fixed vertical plate and a calibration mechanism, the fixed vertical plate is fixedly arranged on the first base, and the fixed vertical plate is provided with the assembly entrance;

[0064] The calibration mechanism is provided with the assembly channel, and the calibration mechanism comprises a fixing piece, the fixing piece is arranged in two groups and is respectively located on two sides of the axis of the assembly channel, and the fixing piece is used for abutting against the opening end face of the avoiding groove on the buckle body to position the opening end face to a horizontal position;

[0065] The calibration mechanism is rotatably connected to the fixed vertical plate, and the calibration mechanism is capable of rotating around the axis of the intraoperative ultrasound probe to calibrate the relative position of the ultrasound wave emission window of the buckle body and the intraoperative ultrasound probe.

[0066] The calibration mechanism further comprises a rotating seat and an elastic pressing piece, and the end of the rotating seat is rotatably connected to the fixed vertical plate through a bearing.

[0067] The rotating seat is provided with the assembly channel, the fixing member is arranged on the rotating seat, and one end of the fixing member extends into the assembly channel to press and fix the buckle body;

[0068] The elastic pressing member is arranged on the rotating seat, the elastic pressing member comprises a first elastic part and a first pressing part, the first pressing part at least partially extends into the assembly channel under the action of the first elastic part and is located on the assembly path of the ultrasonic wave emission window;

[0069] The first elastic part comprises a first spring, and the first spring is arranged on the rotating seat;

[0070] The first pressing part comprises a pressing block, a first end of the pressing block is in abutment with the first spring, and a second end of the pressing block can extend into the assembly channel under the action of the first spring and abut against the ultrasonic wave emission window;

[0071] The pressing block is hinged to the inner side of the rotating seat through a rotating shaft, the first spring abuts against one end of the pressing block away from the rotating shaft, the one end of the pressing block away from the rotating shaft is provided with a first rolling member, and the first rolling member can extend into the assembly channel under the action of the first spring and abut against the ultrasonic wave emission window.

[0072] Optionally, the fixing member comprises a second elastic part and a second pressing part arranged in the rotating seat, the second pressing part at least partially extends into the assembly channel under the action of the second elastic part and is located on the assembly path of the buckle body;

[0073] The second elastic part comprises a second spring, the second pressing part comprises a pressing column, the second spring is arranged in the rotating seat, a first end of the pressing column abuts against the second spring, and a second end of the pressing column can extend into the assembly channel under the action of the second spring and abut against the opening end face of the avoiding groove on the buckle body.

[0074] Optionally, a first linear driving mechanism is arranged on the first base, the first linear driving mechanism is in transmission connection with the first moving end, and is used for driving the first moving end to move linearly;

[0075] The first pushing end comprises a first clamping member, the first clamping member is arranged to be capable of moving linearly along the radial direction of the intraoperative ultrasonic probe, so as to connect and release the clamping member;

[0076] The first linear driving mechanism comprises a lead screw transmission mechanism and a guide shaft, and the lead screw transmission mechanism and the guide shaft are both arranged on the first base;

[0077] The first moving end is fixedly connected with a screw block of the screw transmission mechanism, and the first moving end is slidingly sleeved on the guide shaft;

[0078] The first moving end is provided in two groups and symmetrically distributed on two sides of the first base, the guide shaft is provided in two and slidingly connected with the first moving ends on the two sides respectively, and the screw transmission mechanism is arranged between the two first moving ends, and the two groups of first moving ends are fixedly connected with the screw block;

[0079] The first moving end comprises a first moving seat, the first pushing end further comprises a third spring, the first clamping piece comprises a first push rod and a first clamping ring, the first push rod is slidingly arranged in the first moving seat and can be driven to move linearly, and the third spring is sleeved on the first push rod;

[0080] The front end of the first push rod extends out of the first moving end and is fixedly connected with the first clamping ring, the first clamping ring is used for abutting against the rear end surface of the clamping piece, and the rear end of the first push rod extends out of the first moving seat.

[0081] Optionally, one end of the first clamping ring close to the clamping piece is provided with a first positioning protrusion, the first positioning protrusion is used for being clamped into and abutting against the inner side of the clamping piece before the clamping piece is pushed, so as to position the radial position of the clamping piece;

[0082] The first moving seat is provided with a first locking structure, the first locking structure is used for locking the first push rod at a first position, and the first position is an open position of the first clamping ring;

[0083] The first base is provided with a first linkage structure, the first linkage structure is located in the moving direction of the first moving seat, the first linkage structure is arranged to be ableable to be linked with the first locking structure, when the first moving seat moves to a second position, the first linkage structure triggers the first locking structure to perform the action of releasing the first clamping ring, and the second position is a position in which the first clamping ring is closed into a ring;

[0084] The first push rod is provided with a second clamping groove, the first locking structure comprises a first clamping rod and a fourth spring arranged in the first moving seat, the first clamping rod is hinged in the first base, the fourth spring is connected with the first clamping rod, and the first end of the first clamping rod is clamped and matched with the second clamping groove;

[0085] The second end of the first clamping rod extends out of the lower end of the first moving seat and corresponds to the first linkage structure, when the first moving seat moves to the second position, the first linkage structure pushes the second end of the first clamping rod to make the first clamping rod rotate, so that the first end of the first clamping rod is separated from the second clamping groove.

[0086] According to another aspect of the present application, there is provided a dismounting tool for an intraoperative ultrasound probe, for dismounting the connecting assembly from the intraoperative ultrasound probe, comprising:

[0087] a second base, which is further provided with a second support seat, and the second support seat is provided with a second support groove for supporting the ultrasound probe;

[0088] a dismounting seat, which is arranged on the second base and is provided with a dismounting groove for accommodating the buckle body;

[0089] a second pushing mechanism, which comprises a second moving end and a second pushing end, the second moving end is arranged to be linearly movable along a direction parallel to the axial direction of the ultrasound probe, and the second pushing end is arranged on the second moving end and is arranged to be connected with the clamping piece and to be movable away from the dismounting seat under the action of the second moving end, so as to make the clamping piece disengage from the buckle body;

[0090] a positioning mechanism, which is arranged on the second base and is used for fixing the buckle body in the dismounting groove;

[0091] the second base is provided with a second linear driving mechanism, which is in transmission connection with the second moving end and is used for driving the second moving end to linearly move;

[0092] the second pushing end comprises a second clamping piece, which is arranged to be linearly movable along the radial direction of the ultrasound probe, so as to connect and release the clamping piece.

[0093] Optionally, the second moving end comprises a second moving seat, the second pushing end further comprises a fifth spring, and the second clamping piece comprises a second push rod and a second clamping ring, the second push rod is slidingly arranged in the second moving seat and is linearly movable in the second moving seat under the action of the drive, and the fifth spring is sleeved on the second push rod;

[0094] the front end of the second push rod extends out of the second moving end and is fixedly connected with the second clamping ring, the second clamping ring is used for clamping on the ultrasound probe and abutting against the front end surface of the clamping piece, and the rear end of the second push rod extends out of the second moving seat;

[0095] one end of the second clamping ring close to the clamping piece is provided with a second positioning protrusion, which is used for being clamped into and abutting against the inner side of the clamping piece before pushing the clamping piece, so as to position the radial position of the clamping piece.

[0096] Optionally, a second locking structure is arranged in the second moving seat, and the second locking structure is used for locking the second push rod in a third position, and the third position is an open position of the second clamping ring;

[0097] A second linkage structure is arranged on the second base, and the second linkage structure is located in a moving direction of the second moving seat, and the second linkage structure is arranged to be able to link with the second locking structure, and when the second moving seat moves to a fourth position, the second linkage structure triggers the second locking structure to perform an action of releasing the second clamping ring, and the fourth position is a position in which a rear end surface of the second clamping ring is close to a front end surface of the clamping piece;

[0098] A third clamping groove is arranged on the second push rod, the second locking structure includes a second clamping rod and a sixth spring arranged in the second moving seat, the second clamping rod is hinged in the second base, the sixth spring is connected with the second clamping rod, and a first end of the second clamping rod is clamped and matched with the third clamping groove;

[0099] A second end of the second clamping rod extends out of a lower end of the second moving seat and corresponds to the second linkage structure, and when the second moving seat moves to the fourth position, the second linkage structure pushes the second end of the second clamping rod to make the second clamping rod rotate, so that the first end of the second clamping rod is separated from the third clamping groove;

[0100] A third linkage structure is further arranged on the second base, and the third linkage structure is arranged to be able to link with the positioning mechanism and the second advancing mechanism;

[0101] When the second moving seat moves to the fourth position, the third linkage structure triggers the positioning mechanism to perform an action of fixing the buckle body.

[0102] Optionally, the positioning mechanism includes a positioning block and a third elastic part, and the positioning block includes a blocking part, and the blocking part is located at a rear of the dismounting groove;

[0103] The positioning block is connected with the third elastic part, and the positioning block is arranged on the second base and can move linearly in a radial direction of the ultrasonic probe, so that the blocking part can move to be attached to a rear end surface of the buckle body under the action of the third elastic part;

[0104] The second moving seat links with the positioning block through the third linkage structure;

[0105] The dismounting seat is provided with a hinged top rod, the dismounting seat is provided with a pressing rod and a top block, the pressing rod and the top block correspond to two ends of the top rod and can move vertically and linearly on the dismounting seat, the upper end of the pressing rod extends out of the upper end of the dismounting seat, and the upper end of the top block can extend out of the bottom surface of the dismounting groove and be inserted into the dismounting hole of the buckle body under the pushing action of the pressing rod.

[0106] According to another aspect of the present application, there is provided an ultrasound probe assembly, comprising: an intraoperative ultrasound probe, an electromagnetic navigation sensor kit and the connecting assembly described above, or the protection tube tool described above, the electromagnetic navigation sensor kit is mounted to the front end of the intraoperative ultrasound probe through the connecting assembly.

[0107] According to another aspect of the present application, there is provided a puncture system, comprising the ultrasound probe assembly described above, and a puncture kit and a navigation device, the puncture kit is provided with another electromagnetic navigation sensor kit;

[0108] The navigation device is configured to extract electromagnetic signals received by the two electromagnetic navigation sensor kits, and determine the positional relationship between the puncture kit and the intraoperative ultrasound probe based on the electromagnetic signals.

[0109] In the embodiment of the present application, the connecting piece is used for detachably fixedly connecting with the front end of the intraoperative ultrasound probe, the connecting piece is provided with an avoiding part for avoiding the emission sound window of the intraoperative ultrasound probe; the mounting piece is arranged on the connecting piece, and the mounting piece is provided with a mounting part for mounting the electromagnetic navigation sensor kit, which can achieve the purpose of mounting the electromagnetic navigation sensor kit to the connecting piece, and the connecting piece can be mounted to the front end of the intraoperative ultrasound probe, and the relative position of the puncture kit and the intraoperative ultrasound probe can be obtained after the electromagnetic navigation sensor kit on the puncture kit is matched, so that the position of the puncture kit in the puncture process can be obtained in the laparoscopic ultrasound guided puncture surgery, the doctor can easily perform the puncture operation, the success rate of puncture is improved, and the problem that the position of the puncture kit is difficult to determine in the laparoscopic ultrasound guided puncture surgery in the related art is solved.

[0110] On the other hand, since the connecting piece and the intraoperative ultrasound probe adopt a detachable connection structure, the connecting piece is convenient to replace during use, and the connecting piece can also be removed for separate use of the intraoperative ultrasound probe in some surgical environments, so that the flexibility of surgical operation is improved. BRIEF DESCRIPTION OF DRAWINGS

[0111] The accompanying drawings, which form a part of this specification, are included to provide a further understanding of the application, and are incorporated in and constitute a part of this specification. The illustrative embodiments of the application, and their description, are presented to describe aspects of the application and are not used to limit, define or constrain the application in any way. In the drawings:

[0112] Fig. 1 is a schematic view of an intraoperative ultrasound probe according to an embodiment of the present application;

[0113] Fig. 2 is a schematic view of a mounting position of an electromagnetic navigation sensor kit according to an embodiment of the present application;

[0114] Fig. 3 is a schematic view of a mounting position of a connector according to an embodiment of the present application;

[0115] Fig. 4 is a schematic view of a buckle body according to an embodiment of the present application;

[0116] Fig. 5 is a schematic view of an assembly of a buckle body and a mounting member according to an embodiment of the present application;

[0117] Fig. 6 is a schematic view of a mounting of a buckle body to an intraoperative ultrasound probe according to an embodiment of the present application;

[0118] Fig. 7 is a cross-sectional view of Fig. 6;

[0119] Fig. 8 is an exploded schematic view of a mounting of an electromagnetic navigation sensor kit and a connector assembly according to an embodiment of the present application;

[0120] Fig. 9 is a side view of Fig. 8;

[0121] Fig. 10 is a schematic view of an assembly of an electromagnetic navigation sensor kit and a connector assembly according to an embodiment of the present application;

[0122] Fig. 11 is a schematic view of an assembly of Fig. 10 from another perspective;

[0123] Fig. 12 is a schematic view of a bending of a bending portion of an ultrasound probe according to an embodiment of the present application;

[0124] Fig. 13 is a schematic view of an intraoperative probe after mounting of a connector assembly according to an embodiment of the present application before passing through a trocar;

[0125] Fig. 14 is a schematic view of an intraoperative probe after mounting of a connector assembly according to an embodiment of the present application after passing through a trocar;

[0126] Fig. 15 is a schematic view of a buckle body according to an embodiment of the present application;

[0127] Fig. 16 is a schematic view of a shaft side of a buckle body according to an embodiment of the present application;

[0128] Fig. 17 is a schematic view of the structure of the mounting member according to an embodiment of the present application;

[0129] Fig. 18 is a schematic view of the structure of the fastening structure opened according to an embodiment of the present application;

[0130] Fig. 19 is a schematic view of the structure of the fastening structure fastened according to an embodiment of the present application;

[0131] Fig. 20 is a schematic view of the structure of the fastening structure opened according to another embodiment of the present application;

[0132] Fig. 21 is a schematic view of the structure of the fastening structure fastened according to another embodiment of the present application;

[0133] Fig. 22 is a schematic view of the structure of the fastening structure opened according to still another embodiment of the present application;

[0134] Fig. 23 is a schematic view of the structure of the fastening structure and the intraoperative ultrasound probe assembled according to still another embodiment of the present application;

[0135] Fig. 24 is a schematic view of the structure of the fastening structure opened according to yet another embodiment of the present application;

[0136] Fig. 25 is a schematic view of the structure of the protective tube tool according to an embodiment of the present application;

[0137] Fig. 26 is a schematic view of the structure of a partial portion of Fig. 25;

[0138] Fig. 27 is a schematic view of the structure of the intraoperative ultrasound probe assembled according to an embodiment of the present application;

[0139] Fig. 28 is a schematic view of the structure of the handle fixing assembly according to an embodiment of the present application;

[0140] Fig. 29 is a schematic view of the structure of a partial portion of Fig. 28;

[0141] Fig. 30 is a schematic view of the structure of the handle fixing assembly according to an embodiment of the present application from another perspective;

[0142] Fig. 31 is a schematic view of the structure of the covered stent assembled according to an embodiment of the present application;

[0143] Fig. 32 is a schematic view of the structure of the second sensor protective tube assembled according to an embodiment of the present application;

[0144] Fig. 33 is a schematic view of the structure of the locking member according to an embodiment of the present application;

[0145] Fig. 34 is a schematic view of the structure of the protective tube tool from a rear view according to an embodiment of the present application;

[0146] Fig. 35 is a schematic view of the structure of the intraoperative ultrasound probe assembled according to an embodiment of the present application;

[0147] Fig. 36 is a schematic view of the structure of the clamping member and the buckle body before assembly according to an embodiment of the present application;

[0148] Fig. 37 is a schematic view of the structure of a portion of Fig. 36;

[0149] Fig. 38 is a schematic view of the structure of a first clamping ring according to an embodiment of the present application;

[0150] Fig. 39 is a schematic view of the structure of Fig. 36 from above;

[0151] Fig. 40 is a schematic view of the structure of a portion of Fig. 39 along A-A;

[0152] Fig. 41 is a schematic view of the structure of a portion of Fig. 39 along a transverse section of the fixing member;

[0153] Fig. 42 is a schematic view of the structure of a portion of Fig. 39 along a transverse section of the elastic pressing member;

[0154] Fig. 43 is a schematic view of the structure of a portion of Fig. 39 along B-B;

[0155] Fig. 44 is a schematic view of the structure of the clamping member and the buckle body after assembly according to an embodiment of the present application;

[0156] Fig. 45 is a schematic view of the structure of the clamping member and the buckle body after assembly according to an embodiment of the present application;

[0157] Fig. 46 is a schematic view of the structure of the electromagnetic navigation sensor mounted to the buckle body and the protection tube tool according to an embodiment of the present application;

[0158] Fig. 47 is a schematic view of a portion of Fig. 46;

[0159] Fig. 48 is a schematic view of the structure of the electromagnetic navigation sensor and the intraoperative ultrasonic probe after assembly according to an embodiment of the present application;

[0160] Fig. 49 is a schematic view of the structure of the disassembly tool according to an embodiment of the present application;

[0161] Fig. 50 is a schematic view of the structure of a second clamping ring according to an embodiment of the present application;

[0162] Fig. 51 is a schematic view of the structure of the disassembly tool according to an embodiment of the present application from above;

[0163] Fig. 52 is a schematic view of the structure of a portion of Fig. 51 along A-A;

[0164] Fig. 53 is a schematic view of the structure of a portion of Fig. 52;

[0165] Fig. 54 is a schematic view of the structure of a portion of Fig. 51 along B-B;

[0166] Fig. 55 is a structure schematic diagram of the connection between the pushing end of the dismounting tool and the clamping piece according to an embodiment of the present application;

[0167] Fig. 56 is a top structure schematic diagram of Fig. 55;

[0168] Fig. 57 is a structure schematic diagram of the installation of the electromagnetic navigation sensor to the clasp main body and the protection tube tool according to an embodiment of the present application;

[0169] Fig. 58 is a partial structure schematic diagram of Fig. 57;

[0170] Fig. 59 is a structure schematic diagram of the assembly of the electromagnetic navigation sensor and the ultrasonic probe according to an embodiment of the present application. DETAILED DESCRIPTION

[0171] In order to make the person skilled in the art better understand the present application scheme, the technical scheme in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor should belong to the protection scope of the present application.

[0172] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0173] Unlike open ultrasound-guided puncture, LUS (laparoscopic ultrasound) guided puncture has neither a puncture frame nor an accurate guide wire guide, nor a special puncture needle. The operator selects a 18G PTC needle for puncture, but the length of the needle is not enough for puncture of some liver segments. The operator needs to puncture manually, and the puncture needle cannot be inserted from any direction and angle. In order to see the needle path, the LUS guided intrahepatic portal vein puncture should be inserted as much as possible from the foot side to the head side, and the puncture point on the surface of the liver is determined according to the position of the probe, the depth of the pipeline and the angle between the puncture needle and the probe. After the needle is inserted, the probe is withdrawn and the needle path is found. The probe adjusts the position with the depth of the needle, and the needle tip is monitored throughout to avoid other important pipeline structures. When the needle tip approaches the target liver segment portal vein, only a slight axial rotation of the probe is needed to simultaneously display the needle path and the target liver pedicle. The positional relationship between the needle path and the target liver pedicle is determined, and it is judged whether the needle tip can further penetrate into the target liver segment portal vein.

[0174] Most of the time, the LUS probe displays an oblique section of the liver. The clockwise and counterclockwise axial rotation of the probe represents the scanning plane moving to the right foot side and the left head side. Clinically, the direction of needle insertion can be adjusted according to the changes in the orientation combined with the relative positions of the needle tract and the target portal vein. If the needle tract deviates from the target portal vein, the needle should be withdrawn and the puncture point on the surface of the liver should be reselected. The process of adjusting and correcting the accurate penetration into the target portal vein is repeated, and after the needle core is withdrawn, blood is drawn and the corresponding dye is injected. If there is bleeding at the puncture point on the surface of the liver, it can be coagulated. There are currently LUS probes with puncture holes and guide wires. However, since the puncture hole is in the center of the probe and the angle is fixed, it is difficult for the surgeon to accurately insert the needle into the hole through the abdominal wall. A little angle that is not suitable will cause further difficulty in needle insertion. Since the probe cannot rotate after the needle is inserted, it is difficult to display the needle tract and the needle tip, and the success rate of puncture is low. Given the high technical requirements of intrahepatic portal vein puncture under LUS, the current LUS probe and puncture needle cannot meet the requirements of surgeons, and therefore this technology is difficult to popularize and promote in the short term, and it needs to be developed and improved.

[0175] As a necessary supplement to percutaneous ultrasound-guided liver tumor ablation, LUS-guided liver tumor ablation treatment can be visualized throughout the process. The use of high-frequency ultrasound images not only allows for real-time and accurate monitoring of the needle tract and timely treatment of possible intraoperative complications, but also allows for the protection of surrounding organs through the use of instruments, thereby enabling the ablation of tumors at "dangerous sites" such as the surface of the liver, the diaphragmatic top, the second hepatic portal, the caudate lobe of the liver, the gallbladder, and the surface of the liver under percutaneous ultrasound, thereby achieving better safety and effectiveness. However, due to the space-occupying effect of the trocar, ultrasound probe, and ablation needle outside the abdominal cavity, puncture under LUS cannot be done in the scanning plane of percutaneous ultrasound guidance, and the ultrasound probe plane and the needle insertion plane form an angle. Therefore, slight axial rotation of the probe is necessary to adjust the intersection of the two planes in order to better observe the needle tract and evaluate the depth and angle of needle insertion, making the puncture process extremely difficult, and this technology needs to be developed and improved.

[0176] Due to the existence of two "fulcrums" of the abdominal wall and the surface of the liver parenchyma in the needle tract, it is difficult to manipulate the electrode needle flexibly under laparoscopy. For this reason, surgeons have discussed various technical points, and even with LUS assistance, repeated puncture may still be necessary to find the appropriate path to the tumor.

[0177] Therefore, the current laparoscopic anatomic hepatectomy target liver segment portal vein positive and negative staining and intraoperative LUS-guided liver tumor ablation puncture not only require surgeons to have good three-dimensional anatomy and stereoscopic vision, but also should master skilled ultrasound operation skills, which is a very high requirement for doctors. In laparoscopic ultrasound-guided puncture surgery, it is difficult for doctors to determine the position of the puncture kit (such as the puncture needle), leading to difficulty in puncture.

[0178] To this end, as shown in FIGS. 2-11, the embodiment of the present application provides a connecting assembly for an intraoperative ultrasound probe, comprising: a connecting piece 2, which is used to detachably fixedly connect with the front end of the intraoperative ultrasound probe 1, and the connecting piece 2 is provided with an avoiding part 201 for avoiding the emission sound window 106 of the intraoperative ultrasound probe 1; the avoiding part 201 is an avoiding groove opened on the connecting piece 2, and the upper end of the connecting piece 2 is flush with or lower than the upper end surface of the emission sound window 106;

[0179] A mounting piece 22 is arranged on the connecting piece 2, and the mounting piece 22 is provided with a mounting part for mounting the electromagnetic navigation sensor suite 3.

[0180] In the embodiment, the connecting assembly is a structure capable of mounting the electromagnetic navigation sensor suite 3 to the front end of the intraoperative ultrasound probe 1. As shown in FIG. 1, the intraoperative ultrasound probe 1 to which the connecting assembly is applied comprises a sound window part 105, an insertion tube 103, a handle end 101 and a probe wire, wherein the sound window part 105 is located at the foremost end of the whole probe, the sound window part 105 contains the emission sound window 106, the sound window part 105 and the insertion tube 103 are connected through a bending part 104, the sound window part 105 and the bending part 104 are connected through a rigid adhesive part, and the probe wire is connected to the rear end of the handle end 101. In use, the bending part 104 can drive the sound window part 105 to bend forward, backward, leftward and rightward by operating the handle 102 of the handle end 101.

[0181] In the embodiment, the connecting assembly comprises a connecting piece 2 having a connecting function. The connecting function of the connecting piece 2 mainly has two aspects, one of which is that the connecting piece 2 can be connected with the front end of the intraoperative ultrasound probe 1, and the other of which is that the connecting piece 2 can be connected with the electromagnetic navigation sensor suite 3. In other words, the connecting piece 2 in the embodiment comprises at least two connecting ends, one of which can be connected with the intraoperative ultrasound probe 1, and the other of which can be connected with the electromagnetic navigation sensor suite 3, so that the electromagnetic navigation sensor suite 3 can be fixed to the front end of the intraoperative ultrasound probe 1 through the connecting piece 2.

[0182] On this basis, in order to facilitate the independent mounting of the connecting piece 2 to the intraoperative ultrasound probe 1 for use, the connecting piece 2 and the intraoperative ultrasound probe 1 are detachably connected in the embodiment, for example, can be connected by clamping, bonding, threaded connection and the like, and the specific connecting structure is not limited in the embodiment. Since the connecting piece 2 needs to be connected with the ultrasound probe to intervene in the human body, the connecting piece 2 needs to have the characteristics of biocompatibility and non-magnetic, so as to provide a stable and firm fixing mode for the intervention navigation electromagnetic navigation sensor 301 in the operation, so as to bring clear real-time puncture images and help the doctors to accurately operate.

[0183] According to the structural features of the intraoperative ultrasound probe 1, as shown in FIG. 3, it has a transmitting acoustic window 106 for transmitting ultrasound waves on the acoustic window part 105, therefore the connector 2 needs to ensure that it will not affect the normal transmission of ultrasound waves by the transmitting acoustic window 106 after being mounted to the intraoperative ultrasound probe 1, for this purpose, in the embodiment, a avoiding part 201 for avoiding the transmitting acoustic window 106 of the intraoperative ultrasound probe 1 is arranged on the connector 2.

[0184] In an embodiment of the avoiding part 201, the avoiding part 201 can be an avoiding groove arranged on the connector 2, the position and size of the avoiding groove are designed according to the position and size of the transmitting acoustic window 106, so that the ultrasound waves transmitted by the transmitting acoustic window 106 can normally pass through the avoiding groove.

[0185] In another embodiment of the avoiding part 201, the connector 2 can be designed in the connection position and shape so that the connector 2 does not extend to the position of the transmitting acoustic window 106, so that it will not interfere with the transmission of ultrasound waves after being mounted. It should be noted that the above description of the specific arrangement of the avoiding part 201 is not restrictive, and can be designed according to actual needs.

[0186] As shown in FIG. 4 and FIG. 5, since the other connecting end on the connector 2 needs to mount the electromagnetic navigation sensor kit 3, for this purpose, in the embodiment, a mounting part 22 is also arranged on the connector 2, which can cooperate with the electromagnetic navigation sensor kit 3, so as to fix the electromagnetic navigation sensor kit 3 to the connector 2.

[0187] The mounting part 22 and the electromagnetic navigation sensor kit 3 have various connection modes, in an embodiment, the mounting part 22 can be a groove structure formed on the connector 2, which can at least partially accommodate the electromagnetic navigation sensor kit 3.

[0188] In another embodiment, the mounting part 22 can be a clamping structure formed on the connector 2, which can be clamped and fixed on the connector 2 with the electromagnetic navigation sensor kit 3.

[0189] In another embodiment, the mounting part 22 can be a mounting channel formed on the connector 2, the mounting channel is circumferentially closed, both ends are open, and the electromagnetic navigation sensor kit 3 can be inserted into the mounting channel for fixation and the like. The embodiment does not limit the specific connection mode of the mounting part 22 and the electromagnetic navigation sensor kit 3, which can be designed according to actual needs. In addition, it should be noted that the position of the mounting part 22 also needs to avoid the transmitting acoustic window 106 to avoid the interference of the electromagnetic navigation sensor kit 3 to the transmission of ultrasound waves.

[0190] In use, the electromagnetic navigation sensor kit 3 can be first installed on the connecting piece 2, and then the connecting piece 2 is installed on the front end of the intraoperative ultrasonic probe 1, or the connecting piece 2 can be first installed on the front end of the intraoperative ultrasonic probe 1, and then the electromagnetic navigation sensor kit 3 is installed on the connecting piece 2, or the electromagnetic navigation sensor kit 3 can be first installed on a designated position of the intraoperative ultrasonic probe 1, and then the connecting piece 2 is installed on the front end of the intraoperative ultrasonic probe 1, and the electromagnetic navigation sensor kit 3 is fixed through the connecting piece 2.

[0191] During the operation, the electromagnetic navigation sensor kit 3 located at the front end of the ultrasonic probe can receive an electromagnetic signal, and after being electrically connected with an external electromagnetic navigation device, the navigation device can determine the spatial position of the electromagnetic navigation sensor kit 3 according to the electromagnetic signal, and through a specific algorithm, the spatial position of the ultrasonic probe can be converted, and after the electromagnetic navigation sensor kit on the puncture kit is connected, the position relationship between the puncture kit and the ultrasonic probe can be established, that is, the position relationship between the puncture kit and the ultrasonic image, so that the operator can operate the puncture kit for puncture operation based on the position relationship.

[0192] Specifically, in the embodiment, the electromagnetic navigation sensor kit 3 can be fixedly installed on the front end of the intraoperative ultrasonic probe 1 through the connecting piece 2, so that the relative position between the intraoperative ultrasonic probe 1 and the electromagnetic navigation sensor kit 3 can be determined based on the position of the electromagnetic navigation sensor kit 3, and since the relative position is fixed, a coordinate system with the position of the intraoperative ultrasonic probe 1 as the origin or with the position of the electromagnetic navigation sensor kit 3 as the origin can be established by using the relative position. The position of the puncture kit can be converted into the coordinate system by means of the electromagnetic navigation sensor kit on the puncture kit, so as to determine the relative position between the puncture kit and the intraoperative ultrasonic probe, that is, the position of the puncture kit in the intraoperative ultrasonic probe or the ultrasonic image obtained, and the operator can perform puncture operation of the puncture kit by means of the position.

[0193] The electromagnetic navigation sensor kit 3 can be installed on the connecting piece 2 by using the mounting piece 22, the connecting piece 2 can be installed on the front end of the intraoperative ultrasonic probe 1, and the relative position between the puncture kit and the intraoperative ultrasonic probe 1 can be obtained after the electromagnetic navigation sensor kit on the puncture kit is connected, so that in the laparoscopic ultrasonic guided puncture operation, the position of the puncture kit during puncture can be determined, the doctor can perform puncture operation, the success rate of puncture is improved, and the technical effect is achieved.

[0194] On the other hand, since the connecting piece 2 and the intraoperative ultrasound probe 1 are detachably connected, the connecting piece 2 is convenient to replace during use, and in some surgical environments, the connecting piece 2 can also be removed and the intraoperative ultrasound probe 1 is used alone, improving the flexibility of surgical operation.

[0195] In another aspect, after the electromagnetic navigation sensor kit 3 is installed to the intraoperative ultrasound probe 1 through the connecting piece 2, a hardware basis can be provided for subsequent acquisition of the position of the intraoperative ultrasound probe 1.

[0196] According to the structure of the intraoperative ultrasound probe 1, the transmitting sound window 106 is only arranged on one side of the sound window part 105, and the devices arranged on the back side of the sound window part 105 and the parts on the sound window part 105 located on both sides of the transmitting sound window 106 will not interfere with the transmitting sound window 106, so the position of the mounting part 22 on the connecting piece 2 can be selected on the position corresponding to the back side of the transmitting sound window 106 or on any one side of the adjacent two sides of the transmitting sound window 106.

[0197] In a preferred embodiment, as shown in FIGS. 4 and 5, the mounting part 22 is located on the back side of the avoiding part 201, so that the mounted electromagnetic navigation sensor kit 3 is located on the back side of the transmitting sound window 106.

[0198] According to the structure of the intraoperative ultrasound probe 1, the sound window part 105 and the bending part 104 are arranged at the front end of the ultrasound probe, and the bending part 104 is made of flexible material to meet the bending requirement of the sound window part 105. Since the position of the front end of the ultrasound probe (i.e. the transmitting sound window 106) needs to be acquired through the electromagnetic navigation sensor kit 3, the electromagnetic navigation sensor kit 3 is preferably relatively fixed to the sound window part 105, that is, the relative position between the electromagnetic navigation sensor kit 3 and the transmitting sound window 106 is fixed during the bending of the sound window part 105.

[0199] Therefore, in the present embodiment, the electromagnetic navigation sensor kit 3 needs to be fixed to the sound window part 105 through the connecting piece 2. In order to avoid the interference of the connecting piece 2 to the bending of the bending part 104, the connecting piece 2 needs to be located at the front end of the bending part 104 after being connected to the sound window part 105, so that the connecting piece 2 can bend with the sound window part 105 (as shown in FIG. 12), thereby fixing the relative position between the electromagnetic navigation sensor kit 3 and the transmitting sound window 106.

[0200] In an embodiment, the distance between the rear end of the connecting piece 2 and the front end of the bending part 104 is 2-6 mm, further preferably 3-4 mm, and further preferably 3 mm.

[0201] In one connection mode of the connecting piece 2 and the intraoperative ultrasound probe 1, the connecting piece 2 is connected with the front end of the intraoperative ultrasound probe 1 in a buckle connection mode. Specifically, in the embodiment, as shown in FIG. 4 and FIG. 5, the connecting piece 2 includes a buckle body 21 for buckle connection with the front end of the intraoperative ultrasound probe 1, and a mounting piece 22 arranged on the inner side of the buckle body 21.

[0202] In the embodiment, the buckle body 21 can be buckle connected to the front end of the intraoperative ultrasound probe 1, thereby facilitating the installation and dismounting of the buckle body 21. In one specific connection mode, corresponding buckle structures can be arranged on both the buckle body 21 and the intraoperative ultrasound probe 1, and the buckle connection is realized by the cooperation of the two buckle structures (for example, the cooperation of a clamping protrusion and a clamping groove, etc.). In another specific connection mode, the buckle structure can be arranged only on the buckle body 21, and the intraoperative ultrasound probe 1 is not adjusted, and the buckle body 21 is only fixed by the cooperation of the buckle structure on the buckle body 21 with the intraoperative ultrasound probe 1. In order to reduce the use cost, it is preferred that the buckle structure is arranged only on the buckle body 21, and the intraoperative ultrasound probe 1 is not adjusted. In the embodiment, the buckle structure of the buckle body 21 also has various arrangement modes, for example, the buckle structure can be tightly sleeved on the intraoperative ultrasound probe 1 by the elastic deformation of the buckle structure itself, or the buckle structure is additionally provided with a structure capable of exerting a fastening force (for example, a hoop structure), etc., which are not limited herein.

[0203] On the basis of the above-mentioned embodiment, as shown in FIG. 5, the mounting piece 22 is a clamping groove piece 221 arranged on the inner side of the bottom of the buckle body 21, and the mounting part is a mounting groove 220 arranged on the clamping groove piece 221, and the mounting groove 220 is used for mounting the electromagnetic navigation sensor suite 3.

[0204] Specifically, it should be noted that the clamping groove piece 221 in the embodiment can be installed as an independent structure on the inner side of the bottom of the buckle body 21, or can be a structure directly formed on the inner side of the bottom of the buckle body 21. The mounting groove 220 formed on the clamping groove piece 221 can at least partially accommodate the signal receiving end of the electromagnetic navigation sensor suite 3, and preferably can fully accommodate the signal receiving end of the electromagnetic navigation sensor suite 3. The contour and size of the mounting groove 220 need to be adapted to the electromagnetic navigation sensor suite 3 to be mounted, and the specific size is not limited herein.

[0205] On the basis of the above-mentioned embodiments, as shown in FIG. 5, the clamping groove part 221 is preferably installed into the clasp main body 21 as an independent structure, and therefore, in order to facilitate the installation of the clamping groove part 221, the inner side of the clasp main body 21 is provided with a clamping groove 202, and the clamping groove part 221 is installed into the clamping groove 202. The clamping groove 202 forms a working channel for accommodating the sensor suite composed of the clamping groove part 221 and the electromagnetic navigation sensor suite 3. The specific structure of the clamping groove 202 is adapted to the structure of the clamping groove part 221, so that the clamping groove part 221 can be installed into the clamping groove 202. In an embodiment, the clamping groove 202 is a long strip-shaped groove, and the corresponding clamping groove part 221 is a long strip-shaped structure, which can be at least partially installed into the clamping groove 202. In order to reduce the occupied space, the clamping groove part 221 is preferably fully installed into the clamping groove 202.

[0206] In an embodiment of the electromagnetic navigation sensor suite 3, as shown in FIG. 8, the electromagnetic navigation sensor suite 3 includes an electromagnetic navigation sensor 301 and a protective tube 302, and the electromagnetic navigation sensor 301 needs to be installed into the protective tube 302 for use. The protective tube 302 can be a nickel-titanium protective tube, the electromagnetic navigation sensor 301 is installed into the protective tube 302, and then the protective tube 302 is installed into the clamping groove part 221, and the electromagnetic navigation sensor 301, the protective tube 302 and the clamping groove part 221 can constitute a sensor suite. After installation, the outer side of the protective tube 302 is fitted and installed into the installation groove 220, and the depth of the installation groove 220 is greater than or equal to the outer diameter of the protective tube 302.

[0207] In an embodiment, as shown in FIG. 5, the front end of the installation groove 220 is a closed structure, and the rear end of the installation groove 220 is an open structure, and the front end of the electromagnetic navigation sensor 301 main body extends out of the protective tube 302 and abuts against the inner front side of the closed structure.

[0208] It should be noted that the protective tube 302 can be a nickel-titanium protective tube, and of course, the material for making the protective tube 302 is not limited to nickel-titanium material, and one or a combination of titanium alloy or PI tube can also be selected according to needs.

[0209] In an embodiment of the sensor suite, as shown in FIGS. 8 and 9, the nickel-titanium protective tube 302 constituting the sensor suite is provided in two, which are a first tube body 3020 and a second tube body 3021, wherein the outer diameter of the first tube body 3020 is smaller than the inner diameter of the second tube body 3021, the first tube body 3020 can be movably sleeved in the second tube body 3021, and the electromagnetic navigation sensor 301 can be installed in the first tube body 3020.

[0210] In the embodiment, the front end of the second tube 3021 is located behind the mounting member 22, and the front end of the first tube 3020 extends to the second tube 3021 and is mounted in the mounting groove 220. The length of the first tube 3020 extending out of the second tube 3021 is greater than the length of the curved portion 104 of the intraoperative ultrasound probe 1.

[0211] Specifically, the front end of the first tube 3020 extends to a position close to the front end of the electromagnetic navigation sensor 301, and the front end of the second tube 3021 extends to a position close to the rear end of the curved portion 104 of the intraoperative ultrasound probe 1, i.e., the length of the second tube 3021 is significantly shorter than the length of the first tube 3020. The front end of the first tube 3020, the front end of the electromagnetic navigation sensor 301, and the acoustic window portion 105 of the intraoperative ultrasound probe 1 are relatively fixed, and the three can be bent synchronously. The second tube 3021 is relatively fixed with the portion of the intraoperative ultrasound probe 1 located behind the rear end of the curved portion 104, so that, for the electromagnetic navigation sensor 301 and the first tube 3020, when they are bent, linear movement relative to the second tube 3021 will be generated, and the movement process will not affect the second tube 3021.

[0212] As shown in FIGS. 9-11, the tail end of the electromagnetic navigation sensor 301 and the wire harness of the intraoperative ultrasound probe 1 can be fixed together, and a reserved amount of displacement change caused by the bending of the acoustic window portion 105 is reserved at an appropriate position (such as the ultrasound handle 102). Therefore, as a whole, when the acoustic window portion 105 is bent, the front end of the electromagnetic navigation sensor 301 located at the lower end of the acoustic window portion 105 does not change in relative position. The tail end of the electromagnetic navigation sensor 301 fixed with the wire harness also does not change in relative position. The intermediate stage makes forward and backward displacement in the channel established by the second tube 3021. In an embodiment, the left and right bending displacement amounts of the acoustic window portion 105 are consistent, and the maximum displacement amount is 0.9 cm; the maximum forward bending displacement amount is 2.5 cm; and the maximum backward bending displacement amount is 1.1 cm.

[0213] Since the electromagnetic navigation sensor 301 includes a cable portion, the cable portion needs to extend to the tail end of the intraoperative ultrasound probe 1, and the corresponding first tube body 3020 and the second tube body 3021 also need to extend towards the rear end, so that the cable portion of the electromagnetic navigation sensor 301, the rear end portion of the first tube body 3020 and the second tube body 3021 are located behind the buckle body 21, that is, the buckle body 21 cannot play a role of connecting this part to the intraoperative ultrasound probe 1. Therefore, in order to facilitate the connection of this part to the intraoperative ultrasound probe 1, improve the stability and convenience of use, a plurality of fixed buckles 4 are also provided in the embodiment, which can be connected to the intraoperative ultrasound probe 1, and the fixed buckle 4 can be a C-shaped clamping piece with elasticity. The fixed buckle 4 can be arranged from the rear end of the bending portion 104 of the intraoperative ultrasound probe 1, so as to avoid affecting the bending of the bending portion 104. A plurality of fixed buckles can be arranged along the cable portion of the electromagnetic navigation sensor 301, the rear end portion of the first tube body 3020 and the second tube body 3021.

[0214] In an embodiment, the size of the buckle body 21 mentioned in the above embodiment and the size of the electromagnetic navigation sensor kit 3 need to be suitable for a punch card 5 (also called a puncture cannula) with a size specification of 12.5 mm. Under the size limitation of the punch card 5, the structure of the buckle body 21, the connection structure of the buckle body 21 and the intraoperative ultrasound probe 1, the structure of the electromagnetic navigation sensor kit 3, and the connection structure of the electromagnetic navigation sensor kit 3 and the buckle body 21 all have certain requirements. Under the premise of being able to pass through the punch card 5, the corresponding structure part needs to have sufficient structural strength and connection stability. The assembly process of the intraoperative ultrasound probe 1 with the punch card 5 after the installation of the connecting piece 2 and the electromagnetic navigation sensor kit 3 is shown in FIGS. 13 and 14.

[0215] After the buckle body 21 is connected to the intraoperative ultrasound probe 1, it should be fixed with the probe firmly and cannot rotate, deviate, etc., to avoid affecting the parameters of the electromagnetic navigation sensor kit 3 after debugging. In the embodiment, the buckle body 21 is used for sleeved fixing on the acoustic window portion 105, in order to improve the connection firmness, the inner wall of the buckle body 21 is attached to the outer wall of the acoustic window portion 105, the first end of the buckle body 21 is limitingly connected with the front end of the acoustic window portion 105, and the second end of the buckle body 21 has an opening for sleeved fixing to the rear end of the acoustic window portion 105.

[0216] Specifically, in the embodiment, as shown in FIG. 8, the overall shape of the buckle body 21 is similar to the acoustic window part 105, and the inner profile needs to meet the outer fit of the acoustic window part 105, so as to reduce the overall volume while improving the connection firmness. In addition, in order to avoid relative axial movement between the buckle body 21 and the acoustic window part 105, the buckle body 21 needs to have a corresponding limiting structure, and in the embodiment, the first end of the buckle body 21 is in limiting connection with the front end of the acoustic window part 105. Specifically, a plurality of limiting pieces can be formed at the first end of the buckle body 21, which are located at the front end of the acoustic window part 105 and abut against the acoustic window part 105, so as to limit the movement of the buckle body 21 relative to the acoustic window part 105 towards the rear end. Alternatively, the outer front end of the buckle body 21 can be a closed surrounding structure 205, which is used to surround the front end of the intraoperative ultrasound probe 1, and the front end of the acoustic window part 105 (i.e. the front end of the intraoperative ultrasound probe 1) is surrounded by the surrounding structure 205, thereby playing a limiting role.

[0217] Since the buckle body 21 also needs to be inserted into the human body, in order to avoid causing harm to the body, the first end of the buckle body 21 can be a dome-shaped closed structure, i.e. the outer front side of the surrounding structure 205 is a circular arc surface. In some embodiments, the outer front side of the surrounding structure 205 can also be other structural forms, which are not limited herein. On this basis, the inner front side of the surrounding structure 205 matches the front end of the intraoperative ultrasound probe 1, so that the inner front side of the surrounding structure 205 can be fitted on the front end of the intraoperative ultrasound probe 1, while playing a limiting and fastening role.

[0218] The axial position of the buckle slot 202 on the buckle body 21 will affect the axial position of the buckle piece 221, and then affect the axial position of the electromagnetic navigation sensor suite 3. In one embodiment, as shown in FIG. 8, the buckle slot 202 is arranged such that after the buckle piece 221 is connected with the buckle slot 202, the front end of the electromagnetic navigation sensor suite 3 installed in the buckle piece 221 is shorter than the front end of the transmitting acoustic window 106 in the axial direction. Specifically, the axial position of the electromagnetic navigation sensor suite 3 can be at a position about 1 / 2 length away from the front end of the transmitting acoustic window 106, or about 1 / 3 or 1 / 4 away from the front end, which is not particularly limited herein.

[0219] The position selection of the electromagnetic navigation sensor kit 3 is mainly based on whether the transmitting sound window 106 of the intraoperative ultrasonic probe 1 will interfere with the signal transmission of the electromagnetic navigation sensor kit 3. When the transmitting sound window 106 does not interfere with the electromagnetic navigation sensor kit 3, the position of the electromagnetic navigation sensor kit 3 is diversified, and in the embodiment, it is preferably located at 1 / 2 position of the transmitting sound window 106, so as to facilitate calibration and calculation. When the transmitting sound window 106 will interfere with the electromagnetic navigation sensor kit 3, the electromagnetic navigation sensor kit 3 needs to extend out of the front end of the transmitting sound window 106, and the corresponding clamping groove part 221 needs to extend out of the front end of the transmitting sound window 106.

[0220] Since the clamping groove part 221 is a structure independently installed in the buckle body 21, in order to avoid the axial relative movement between the clamping groove part 221 and the buckle body 21, as shown in FIG. 5, a first limiting structure 203 is further arranged on the inner side of the buckle body 21 in the embodiment, and a second limiting structure 222 is arranged on the clamping groove part 221 and matched with the first limiting structure 203, so as to limit the axial movement of the clamping groove part 221 in the clamping groove 202.

[0221] Specifically, in order to limit the axial movement of the clamping groove part 221 in the clamping groove 202, the first limiting structure 203 and the second limiting structure 222 can adopt a radial matching mode. In an embodiment, the first limiting structure 203 is a limiting groove opened in the buckle body 21, and the second limiting structure 222 is a limiting protrusion arranged on the clamping groove part 221; and / or,

[0222] The first limiting structure 203 is a limiting protrusion opened in the buckle body 21, and the second limiting structure 222 is a limiting groove arranged on the clamping groove part 221. In the embodiment, the positions of the limiting groove and the limiting protrusion are not limited, as long as the limiting groove can match the limiting protrusion.

[0223] In an embodiment, the first limiting structure 203 is a limiting groove opened in the buckle body 21, and the second limiting structure 222 is a limiting protrusion arranged on the clamping groove part 221.

[0224] The limiting groove is located on both sides of the clamping groove 202 and communicates with the clamping groove 202, and the limiting protrusion is arranged on both sides of the clamping groove part 221 and corresponds to the limiting groove.

[0225] In the embodiment, the cooperation of the limiting groove and the limiting protrusion on both sides can better limit the axial movement and deviation of the clamping groove part 221, thereby improving the firmness of the clamping groove part 221 after installation.

[0226] In another embodiment, the limiting groove is arranged as a plurality of groove holes spacedly arranged in the buckle body 21, and the limiting part is arranged as a plurality of spacedly arranged protrusions on the clamping groove piece 221, which correspond to the groove holes.

[0227] In the embodiment, the groove holes are formed in the bottom of the clamping groove 202, and the protrusions are correspondingly formed in the bottom of the clamping groove piece 221. The groove holes are arranged as a plurality of groove holes which can be arranged in an array, triangularly, or the like, and the protrusions have the same distribution mode. The groove holes and the protrusions cooperate to limit the clamping groove piece 221.

[0228] Since the buckle body 21 needs to enter the body with the ultrasonic probe, in order to avoid the body fluid from entering the clamping groove 202 and causing the clamping groove piece 221 and the clamping groove 202 to be bonded, so that the clamping groove piece 221 is difficult to be taken out, as shown in FIGS. 4 and 5, a dismounting hole 204 is formed in the bottom of the buckle body 21 in the embodiment, the dismounting hole 204 is communicated with the clamping groove 202, and the dismounting hole 204 is used for a dismounting tool to pass through to dismount the clamping groove piece 221. The hole can be a round hole or a square hole, or the like.

[0229] On the basis of arranging the avoiding part 201 on the buckle body 21 to avoid interference with the emitting sound window 106 and to avoid affecting the adhesion of the sound window to the organ, and to avoid bringing adverse effects to the ultrasonic image operation, as shown in FIG. 7, the upper end surface of the buckle body 21 in the embodiment is flush with or lower than the upper end surface of the emitting sound window 106.

[0230] In order to reduce the use cost, the embodiment adopts an embodiment in which only the buckle body 21 is improved to be fixed to the sound window part 105. Therefore, in order to make the buckle body fixed firmly, as shown in FIG. 6, the second end of the buckle body 21 is provided with a fastening structure 23 in the embodiment, which is used for fastening the buckle body 21 to the sound window part 105.

[0231] In the embodiment, the fastening structure 23 has various forms. In one embodiment, the fastening structure 23 can be an elastically deformable structure connected to the sound window part 105 on the buckle body 21. In another embodiment, the fastening structure 23 can be a clamping structure similar to a hoop. In still another embodiment, the fastening structure 23 can be a structure similar to a bolt, or the like.

[0232] In one embodiment of the fastening structure 23, as shown in FIGS. 15 and 16, the buckle body 21 is arranged as a thin-walled structure similar to a cylinder, and the second end of the buckle body 21 is arranged as a near-circular ring structure. The fastening structure 23 includes a deformation wide groove 230 formed in the second end of the buckle body 21. The deformation wide groove 230 can allow the opening to be elastically deformed, so as to fasten the intraoperative ultrasonic probe 1 with a certain outer diameter range.

[0233] Specifically, when the second end of the buckle body 21 is sleeved to the acoustic window part 105, the second end of the buckle body 21 can be elastically deformed under the compression of the acoustic window part 105 by the deformation wide groove 230, so as to be tightly held on the acoustic window part 105. The deformation amount of the second end of the buckle body 21 can be increased by the deformation wide groove 230, so that the second end of the buckle body 21 can be adapted to more sizes of the ultrasonic probe. It should be noted that the deformation wide groove 230 can be one or multiple. Of course, the more the number of the deformation wide groove 230 and the greater the width of the deformation wide groove 230, the more easily the second end of the buckle body 21 can be elastically deformed, but the fastening ability of the second end of the buckle body 21 is reduced, so the number and width of the deformation wide groove 230 can be reasonably selected. In an embodiment, the deformation wide groove 230 is one and the width is 3 mm.

[0234] Since the buckle body 21 is provided with the avoiding groove, in order to make the second end of the buckle body 21 have better deformation ability, the two ends of the deformation wide groove 230 in the embodiment are respectively communicated with the avoiding groove and the end of the buckle body 21. Further, in order to ensure the fastening ability of the second end of the buckle body 21, the width of the deformation wide groove 230 is less than the width of the avoiding groove, and the deformation wide groove 230 corresponds to the middle part of the avoiding groove.

[0235] On the basis of the deformation wide groove 230, in order to further improve the connection firmness of the buckle body 21 and the acoustic window part 105, the fastening structure 23 in the embodiment further comprises an adhesive member, which is adhered and wound on the second end of the buckle body 21, and is used to press and tightly fit the second end of the buckle body 21 on the acoustic window part 105. The adhesive member can be a medical adhesive tape.

[0236] In the embodiment, as shown in FIG. 17, the clamping groove 202 in the buckle body 21 is a long strip structure, and the corresponding clamping groove member 221 is also a long strip structure.

[0237] The buckle body 21 can be processed by using TC4 (titanium 4) material. It has been verified that the TC4 material can be used as an implant material, which meets the medical conditions such as biocompatibility, and does not interfere with and weaken the signal of the intervention navigation system, and does not cause adverse effects. At the same time, the TC4 material can withstand various conventional sterilization forms of hospitals and departments, such as ultraviolet rays, high temperature and pressure, low temperature plasma, etc., and will not cause adverse changes.

[0238] In another embodiment of the fastening structure 23, as shown in FIGS. 18 and 19, the buckle body 21 is provided as a thin-walled structure in a cylindrical shape, and the fastening structure 23 comprises a first opening structure 231 provided on the second end of the buckle body 21, the first opening structure 231 is provided as an arc shape, and the first opening structure 231 is used to fit on the first side of the acoustic window part 105;

[0239] The fastening structure 23 further comprises a first fastening buckle 232, an inner surface of the first fastening buckle 232 being capable of being attached to the second side of the acoustic window part 105;

[0240] A first end of the first fastening buckle 232 is hinged to the first side of the first opening structure 231, and a second end of the first fastening buckle 232 is buckled to the second side of the first opening structure 231.

[0241] Specifically, in the present embodiment, when the buckle main body 21 is installed, the first opening structure 231 is first attached to the first side of the acoustic window part 105, and then the first fastening buckle 232 is rotated to cover the second side of the acoustic window part 105, and the first fastening buckle 232 is buckled to the second side of the first opening structure 231 by pressing, so as to tightly hold the acoustic window part 105. In order to improve the fastening connection, the inner surface of the first opening structure 231 and the outer surface of the first side of the acoustic window part 105 are attached, and the inner surface of the first fastening buckle 232 and the outer surface of the second side of the acoustic window part 105 are attached. The first end of the first fastening buckle 232 can be hinged to the first side of the first opening structure 231 through a rotating shaft type structure, or the first end of the first fastening buckle 232 can be hinged to the first side of the first opening structure 231 by thinning the connection part and forming a fold. The first fastening buckle 232 can be rotated by using the fold. In order to enable the first fastening buckle 232 to be buckled to the second side of the first opening structure 231, the second end of the first fastening buckle 232 and the second side of the first opening structure 231 can be provided with corresponding buckling structures.

[0242] In the present embodiment, by providing the first fastening buckle 232 which can be opened and closed at the second end of the buckle main body 21, the connection between the buckle main body 21 and the acoustic window part 105 is facilitated, and the fastening of the buckle main body 21 and the acoustic window part 105 is also facilitated after the connection. When disassembling, the first fastening buckle 232 is only needed to be pressed to be separated from the buckling connection with the second side of the first opening structure 231, and then the first fastening buckle 232 is opened, so that the disassembly is convenient.

[0243] In one buckling connection structure of the first fastening buckle 232 and the first opening structure 231, as shown in FIGS. 18 and 19, an outer side of the second end of the first fastening buckle 232 is provided with a first clamping protrusion 2320, and an inner side of the first opening structure 231 is provided with a first clamping groove 2310 which is buckled to the first clamping protrusion 2320.

[0244] Specifically, it should be noted that when buckling, the first clamping protrusion 2320 is deformed inwardly under pressure, so as to be clamped into the first clamping groove 2310. When disassembling, the first clamping protrusion 2320 also needs to be pressed to deform inwardly to be separated from the first clamping groove 2310.

[0245] In another snap connection structure, the first snap protrusion 2320 can be arranged on the inner side of the first fastening snap 232, and the corresponding first snap groove 2310 is arranged on the outer side of the first opening structure 231. After using this connection structure, the end surface of the first fastening snap 232 can protrude from the outer surface of the first opening structure 231, thereby causing the surface of the snap body 21 to be uneven and easily damaging human tissue. Therefore, it is preferred that the first snap protrusion 2320 is arranged on the outer side of the first fastening snap 232, and the first snap groove 2310 is arranged on the inner side of the first opening structure 231.

[0246] In order to improve the connection strength of the first snap protrusion 2320 and the first snap groove 2310, in the embodiment, the first snap groove 2310 needs to have a certain depth, thereby increasing the contact area of the first snap groove 2310 and the first snap protrusion 2320. Therefore, as shown in FIG. 18, the first snap groove 2310 in the embodiment includes a first groove body 23101 that penetrates the side wall of the first opening structure 231 in the radial direction, and the protrusion height of the first snap protrusion 2320 is less than or equal to the depth of the first groove body 23101, so that the first snap protrusion 2320 can be completely snapped into the first snap groove 2310, maintaining sufficient snap strength, while avoiding the first snap protrusion 2320 protruding from the first groove body 23101, which causes the surface of the snap body 21 to have a protrusion and damage human tissue.

[0247] On the basis of the above-mentioned embodiments, in order to facilitate the first snap protrusion 2320 to be snapped into the first groove body 23101, in the embodiment, the first snap groove 2310 further includes a second groove body 23102, the second groove body 23102 and the first groove body 23101 are distributed along the snapping-in direction of the first snap protrusion 2320, the second groove body 23102 is arranged on the side wall of the first opening structure 231, and the two sides of the second groove body 23102 are respectively communicated with the first groove body 23101 and the end surface of the first opening structure 231, thereby forming a snapping-in channel of the first snap protrusion 2320 through the second groove body 23102;

[0248] The depth of the second groove body 23102 is less than the depth of the first groove body 23101, and the protrusion height of the first snap protrusion 2320 is greater than the depth of the second groove body 23102 and less than or equal to the depth of the first groove body 23101.

[0249] In the embodiment, the second groove 23102 does not penetrate the sidewall of the first opening structure 231 in the radial direction, and thus the depth of the second groove 23102 is less than the depth of the first groove 23101. However, the wall thickness of the first opening structure 231 corresponding to the second groove 23102 is reduced, so that the deformation amount of the first clamping protrusion 2320 when clamped into the second groove 23102 is reduced, and the first clamping protrusion 2320 can be smoothly clamped into the first groove 23101. Since the surface of the first groove 23101 abutting against the first clamping protrusion 2320 is reduced after the second groove 23102 is formed, in this case, the protrusion height of the first clamping protrusion 2320 is greater than the depth of the second groove 23102, and the protrusion height of the first clamping protrusion 2320 is less than or equal to the depth of the first groove 23101, so as to avoid that the first clamping protrusion 2320 protrudes out of the first groove 23101.

[0250] In addition, in order to facilitate the clamping of the first clamping protrusion 2320 into the first groove 23101, the surface of the second groove 23102 for guiding the first clamping protrusion 2320 can be an inclined surface, so that the thickness of the sidewall of the first opening structure 231 corresponding to the first groove 23101 gradually increases along the clamping direction, thereby ensuring the smooth clamping of the first clamping protrusion 2320 and increasing the contact area between the first clamping protrusion 2320 and the first groove 23101, and improving the connection stability.

[0251] Of course, alternatively, the outer surface of the first clamping protrusion 2320 can also be provided with a clamping inclined surface, and the clamping inclined surface is used to guide the deformation of the first clamping protrusion 2320, so as to be clamped into the first groove 23101 smoothly.

[0252] In an embodiment, the height of the first clamping protrusion 2320 is 2 mm, and the angle of the clamping inclined surface is 10°.

[0253] In order to make the surface of the clasp main body 21 flat after installation, in the embodiment, the outer surface of the first fastening clasp 232 is located on the same circumferential surface as the outer surface of the first opening structure 231, that is, after the clamping connection of the first fastening clasp 232 and the first opening structure 231, the outer surface of the first fastening clasp 232 and the outer surface of the first opening structure 231 can be flush.

[0254] As shown in FIG. 18, in order to facilitate the buckle connection of the first fastening buckle 232 and the first opening structure 231, an arc-shaped first connecting strip 2321 is arranged at the second end of the first fastening buckle 232 in the embodiment, the first connecting strip 2321 is arranged in a U-shaped structure, and the first clamping protrusion 2320 is arranged at the end of the first connecting strip 2321. Specifically, the width of the first connecting strip 2321 is smaller than the width of the first fastening buckle 232 in the embodiment, so that the first connecting strip 2321 can be deformed better to facilitate the clamping of the first clamping protrusion 2320 into the first clamping groove 2310.

[0255] On this basis, the inner surface of the first connecting strip 2321 is located on the same circumferential surface as the inner surface of the first fastening buckle 232, so that the connecting strip can also be attached to the surface of the acoustic window part 105. The thickness of the first connecting strip 2321 is smaller than the thickness of the first fastening buckle 232, so that the first connecting strip 2321 is more prone to deformation, thereby further facilitating the clamping of the first clamping protrusion 2320 into the first clamping groove 2310.

[0256] In order to ensure the connection strength of the buckle connection, the first connecting strip 2321 is arranged in multiple axially spaced-apart arrangements in the embodiment, and the end of each first connecting strip 2321 is provided with a first clamping protrusion 2320. When the first connecting strip 2321 is arranged in multiple spaced-apart arrangements, the deformation process of each first connecting strip 2321 does not interfere, and at the same time, multiple first clamping protrusions 2320 are provided to ensure the connection strength.

[0257] In the embodiment, the buckle body 21 and the first fastening buckle 232 can be made of medical PP material and injection molded. PP plastic is colorless, odorless, and non-toxic, can be sterilized at a temperature above 100℃, and can also withstand low-temperature plasma sterilization. At the same time, PP material has good flexibility and can withstand repeated bending.

[0258] In another embodiment of the fastening structure 23, as shown in FIGS. 20 and 21, the fastening structure 23 includes an arc-shaped second opening structure 237 arranged at the second end of the buckle body 21, and the second opening structure 237 is used to attach to the first side of the acoustic window part 105;

[0259] The fastening structure 23 further includes a second fastening buckle 233 and a third fastening buckle 234, and the inner surfaces of the second fastening buckle 233 and the third fastening buckle 234 can attach to the second side of the acoustic window part 105;

[0260] The first end of the second fastening buckle 233 is hinged to the first end of the second opening structure 237, and an elastic member 236 is arranged between the second fastening buckle 233 and the side wall of the second opening structure 237, and the elastic member 236 applies a force to the second fastening buckle 233 in a direction away from the fastening direction;

[0261] The first end of the third fastening buckle 234 is hinged to the second end of the second opening structure 237, and the second end of the second fastening buckle 233 is buckled to the second end of the third fastening buckle 234.

[0262] In the present embodiment, when the buckle body 21 is installed, first, the connection between the second fastening buckle 233 and the third fastening buckle 234 is released, the inner side of the second opening structure 237 is attached to the first side of the acoustic window part 105, and then the second fastening buckle 233 is rotated to be attached to the surface of the acoustic window part 105, and then the third fastening buckle 234 is rotated, and the third fastening buckle 234 is buckled to the second side of the second fastening buckle 233 by pressing the third fastening buckle 234, so as to tightly hold the acoustic window part 105. In this process, the elastic member 236 is elastically deformed. When it is necessary to disassemble the buckle body 21, the third fastening buckle 234 is rotated outward to be separated from the second fastening buckle 233, and at this time the second fastening buckle 233 is automatically rotated outward to be opened under the elastic force of the elastic member 236.

[0263] In order to improve the connection fastening, the inner surface of the second opening structure 237 and the outer surface of the first side of the acoustic window part 105 are attached, and the inner surfaces of the second fastening buckle 233 and the third fastening buckle 234 and the outer surfaces of the second side of the acoustic window part 105 are attached. The first end of the second fastening buckle 233 can be hinged to the first side of the second opening structure 237 through a rotating shaft type structure, or the first end of the second fastening buckle 233 can be hinged to the first side of the second opening structure 237 by thinning the connection part and forming a fold line, and the second fastening buckle 233 can be rotated by using the fold line, and the third fastening buckle 234 is arranged in the same way, which will not be described here.

[0264] In order to enable the second fastening buckle 233 to be buckled to the second side of the third fastening buckle 234, the second end of the second fastening buckle 233 and the second side of the third fastening buckle 234 can be provided with corresponding buckle structures.

[0265] In one hinging mode of the second fastening buckle 233 and the second opening structure 237, the first end of the second fastening buckle 233 is hinged to the first end of the second opening structure 237 through a rotating shaft, and the rotating performance of the second fastening buckle 233 can be ensured through the rotating shaft. Similarly, the third fastening buckle 234 can also be hinged to the second end of the second opening structure 237 through a rotating shaft. Since the second fastening buckle 233 needs to have a rotating force away from the fastening direction through the elastic member 236, in order to enable the elastic member 236 to better exert the rotating force, the elastic member 236 in the present embodiment is a torsional spring sleeved on the rotating shaft, and the two legs of the torsional spring are respectively connected to the side wall of the second fastening buckle 233 and the second opening structure 237.

[0266] In order to ensure the surface flatness of the buckle body 21 after installation, the outer surface of the second fastening buckle 233, the outer surface of the third fastening buckle 234 and the outer surface of the second opening structure 237 are located on the same circumferential surface in the embodiment.

[0267] In one buckle connection structure of the second fastening buckle 233 and the third fastening buckle 234, as shown in FIG. 20, the outer side of the second end of the second fastening buckle 233 is provided with a second clamping protrusion 2332, and the inner side of the third fastening buckle 234 is provided with a second clamping groove 2341 which is buckled with the second clamping protrusion 2332.

[0268] Specifically, it should be noted that when buckling, the second clamping protrusion 2332 is deformed inward under pressure, so as to be clamped into the second clamping groove 2341. When disassembly is needed, the second clamping protrusion 2332 also needs to be pressed inward to deform and disengage from the second clamping groove 2341.

[0269] In another buckle connection structure, the second clamping protrusion 2332 can be arranged on the inner side of the second fastening buckle 233, and the corresponding second clamping groove 2341 is located on the outer side of the third fastening buckle 234. After using this connection structure, the end surface of the second fastening buckle 233 can protrude from the outer surface of the third fastening buckle 234, thereby causing the surface of the buckle body 21 to be uneven and easily damaging human tissue. Therefore, it is preferred to arrange the second clamping protrusion 2332 on the outer side of the second fastening buckle 233 and arrange the second clamping groove 2341 on the inner side of the third fastening buckle 234.

[0270] In order to improve the connection strength of the second clamping protrusion 2332 and the second clamping groove 2341, the second clamping groove 2341 needs to have a certain depth in the embodiment, thereby increasing the contact area of the second clamping groove 2341 and the second clamping protrusion 2332. Therefore, the second clamping groove 2341 in the embodiment includes a third groove body which penetrates the side wall of the third fastening buckle 234 along the radial direction, and the protruding height of the second clamping protrusion 2332 is less than or equal to the depth of the third groove body, so that the second clamping protrusion 2332 can be completely clamped into the second clamping groove 2341, maintaining sufficient clamping strength, while avoiding the second clamping protrusion 2332 extending out of the third groove body to cause the surface of the buckle body 21 to have a protrusion and damage human tissue.

[0271] On the basis of the above-mentioned embodiments, in order to facilitate the clamping of the second clamping protrusion 2332 into the third groove body, the second clamping groove 2341 further includes a fourth groove body in the embodiment, the fourth groove body and the third groove body are distributed along the clamping direction of the second clamping protrusion 2332, the fourth groove body is opened on the side wall of the third fastening buckle 234, and the two sides of the fourth groove body are respectively communicated with the third groove body and the end surface of the third fastening buckle 234, and the clamping channel of the second clamping protrusion 2332 is formed through the fourth groove body.

[0272] The depth of the fourth groove is less than the depth of the third groove, and the protruding height of the second clamping protrusion 2332 is greater than the depth of the fourth groove and less than or equal to the depth of the third groove.

[0273] In the embodiment, the fourth groove does not penetrate the side wall of the third fastening buckle 234 in the radial direction, so the depth of the fourth groove is less than the depth of the fourth groove, but at the same time, the wall thickness of the part of the third fastening buckle 234 corresponding to the fourth groove is reduced, so that the deformation amount of the second clamping protrusion 2332 when clamped into the fourth groove is reduced, which facilitates the smooth clamping of the second clamping protrusion 2332 into the third groove. Since the opening of the fourth groove may reduce the surface of the third groove that is in contact with the second clamping protrusion 2332, in this case, to ensure that the second clamping protrusion 2332 can be smoothly clamped with the third groove, the protruding height of the second clamping protrusion 2332 is greater than the depth of the fourth groove, and at the same time, to avoid the second clamping protrusion 2332 extending out of the third groove, the protruding height of the second clamping protrusion 2332 is less than or equal to the depth of the third groove.

[0274] On this basis, to further facilitate the clamping of the second clamping protrusion 2332 into the third groove, the surface of the fourth groove for guiding the second clamping protrusion 2332 can be a bevel, so that the wall thickness of the part of the third fastening buckle 234 corresponding to the third groove gradually increases along the clamping direction, thereby ensuring the smooth clamping of the second clamping protrusion 2332 while increasing the contact area between the second clamping protrusion 2332 and the third groove, and improving the connection stability.

[0275] Of course, alternatively, the outer side surface of the second clamping protrusion 2332 can also be provided with a clamping bevel to guide the deformation of the second clamping protrusion 2332 and thereby smoothly clamp into the third groove.

[0276] To facilitate the clamping connection of the second fastening buckle 233 and the third fastening buckle 234, as shown in FIG. 20, the second end of the second fastening buckle 233 is provided with an arc-shaped second connecting strip 2331, and the second clamping protrusion 2332 is arranged at the end of the second connecting strip 2331. Specifically, in the embodiment, the width of the second connecting strip 2331 is less than the width of the second fastening buckle 233, so that the second connecting strip 2331 can be deformed better to facilitate the clamping of the second clamping protrusion 2332 into the second clamping groove 2341.

[0277] Further, the inner surface of the second connecting strip 2331 and the inner surface of the second fastening buckle 233 are located on the same circumferential surface, the thickness of the second connecting strip 2331 is less than the thickness of the second fastening buckle 233, and the width of the second connecting strip 2331 is less than the width of the second fastening buckle 233.

[0278] To facilitate the hinging of the second fastening buckle 233 and the third fastening buckle 234 on the second opening structure 237, in the embodiment, an arc-shaped connecting groove 235 is formed at the first end and the second end of the second opening structure 237, the first end of the second fastening buckle 233 is embedded in the corresponding arc-shaped connecting groove 235 and is hinged through a rotating shaft, and the first end of the third fastening buckle 234 is embedded in the corresponding arc-shaped connecting groove 235 and is hinged through a rotating shaft.

[0279] The buckle body 21, the second fastening buckle 233 and the third fastening buckle 234 in the embodiment are processed by using TC4 (titanium 4) material. It has been verified that the TC4 material can be used as an implant material, meets the medical conditions such as biocompatibility, and does not interfere with and weaken the signal of the intervention navigation system and does not cause adverse effects. Meanwhile, the TC4 material can withstand various conventional sterilization forms of hospitals and departments, such as ultraviolet rays, high temperature and pressure, low temperature plasma and the like, and will not cause adverse changes.

[0280] In another embodiment of the fastening structure 23, as shown in FIGS. 22 and 23, the buckle body 21 is in a cylindrical thin-walled structure as a whole, the fastening structure 23 includes a plurality of first notches 238 formed in the second end of the buckle body 21 in a circumferential direction, and the second end of the buckle body 21 is divided into a plurality of first fastening pieces 239 distributed at intervals through the plurality of first notches 238.

[0281] The fastening structure 23 further includes a rotating member 240, which is sleeved on the outside of the second end of the buckle body 21 and is threadedly connected with each first fastening piece 239 to press the first fastening piece 239 tightly against the outside of the acoustic window part 105.

[0282] In the embodiment, the fastening structure 23 is intended to firmly connect the buckle body 21 to the acoustic window part 105 by using a threaded form. Specifically, in the embodiment, a plurality of first notches 238 distributed in a circumferential direction are formed in the second end of the buckle body 21, the second end of the buckle body 21 is divided into a plurality of first fastening pieces 239 distributed at intervals through the first notches 238, and the inner side surface of the first fastening piece 239 can be attached to the outer surface of the acoustic window part 105. When the second end of the buckle body 21 is sleeved to the acoustic window part 105, the plurality of first fastening pieces 239 are surrounded on the outside of the acoustic window part 105. To enable the first fastening piece 239 to be pressed tightly against the outside of the acoustic window part 105, the fastening structure 23 in the embodiment further includes a rotating member 240. The rotating member 240 is arranged at the second end of the buckle body 21 and is in a hollow cylindrical structure as a whole, can be sleeved on the second end of the buckle body 21, i.e., on the outside of the first fastening piece 239. The rotating member 240 is threadedly connected with the first fastening piece 239, thereby pressing the first fastening piece 239 tightly against the outside of the acoustic window part 105 and realizing the holding of the buckle body 21 and the acoustic window part 105.

[0283] The rotating member 240 and the plurality of circumferentially distributed first fastening pieces 239 can apply a certain holding force to the periphery of the acoustic window portion 105 in this embodiment, so that the buckle body 21 can be stably connected with the acoustic window portion 105. When disassembling, only need to reverse the rotating member 240, so that the first fastening piece 239 can be separated from the acoustic window portion 105, and the buckle body 21 can be taken out along the axial direction.

[0284] In order to make the rotating member 240 better press the first fastening piece 239 to the surface of the acoustic window portion 105 by rotating with the thread, as shown in FIG. 22, the outer side of the first fastening piece 239 has an outer thread 2393 and a smooth first connecting surface 2392 in this embodiment, and the outer thread 2393 and the first connecting surface 2392 are distributed along the front and back direction of the first fastening piece 239;

[0285] The inner side of the rotating member 240 is provided with an inner thread 2401 and a first pressing surface 2402, and the inner thread 2401 and the first pressing surface 2402 are distributed along the front and back direction of the rotating member 240;

[0286] The inner thread 2401 is threadedly connected with the outer thread 2393, and the first pressing surface 2402 is a reduced diameter structure towards the rear end, so that when the rotating member 240 and the first fastening piece 239 are threadedly connected, the first pressing surface 2402 can extrude the first connecting surface 2392 to make the first fastening piece 239 press and fit on the outer side of the acoustic window portion 105.

[0287] Specifically, it should be noted that the inner diameter of the front end of the rotating member 240 is greater than the diameter of the outer thread 2393 on the first fastening piece 239, so that the front end of the rotating member 240 can be axially sleeved on the first fastening piece 239 and pass through the part of the outer thread 2393. The rear end of the rotating member 240 is a first pressing surface 2402 with a reduced diameter structure, and the diameter of the last end of the first pressing surface 2402 is less than or equal to the outer diameter of the first fastening piece 239 after being pressed to the acoustic window portion 105, and is greater than the outer diameter of the acoustic window portion 105.

[0288] When assembling, the second end of the buckle body 21 and the rotating member 240 are sleeved on the acoustic window portion 105, and then the rotating member 240 is rotated towards the front end, so that the first pressing surface 2402 at the rear end moves towards the front end. In the process of moving, the inner diameter of the part in contact with the first fastening piece 239 gradually decreases and presses the first fastening piece 239 inward, so that after moving to the set position, the first fastening piece 239 can be pressed to tightly fit on the surface of the acoustic window portion 105, thereby fixing the buckle body 21 to the acoustic window portion 105. When disassembling, reverse the rotating member 240, and the first fastening piece 239 can be separated from the acoustic window portion 105 under the action of its own elastic force.

[0289] To avoid the over-travel of the screwing member 240 causing the first fastening piece 239 to apply excessive pressure to the acoustic window part 105, a first limiting boss is arranged on the first fastening piece 239 in the embodiment, the first limiting boss is located at the front end of the outer thread 2393, the inner diameter of the front end portion of the inner thread 2401 on the screwing member 240 is greater than the outer diameter of the outer thread 2393 and smaller than the outer diameter of the first limiting boss, and the travel of the screwing member 240 is limited by the first limiting boss.

[0290] Specifically, when the screwing member 240 rotates to the position where the end thereof abuts against the first limiting boss, the screwing member 240 cannot move further, at this time, the pressure applied by the first pressing surface 2402 to the first fastening piece 239 is limited, thereby avoiding excessive pressure.

[0291] To facilitate the rotation of the screwing member 240, a knurled groove is arranged on the outer side of the screwing member 240 in the embodiment.

[0292] In one arrangement of the first slot 238, the first slot 238 is arranged as four and uniformly distributed in the circumferential direction. Of course, according to the requirements, the first slot 238 can also be arranged as three or five or other number.

[0293] Since the pressure applied by the first fastening piece 239 to the acoustic window part 105 needs a certain amount of inward deformation of the first fastening piece 239 to be achieved, to facilitate the corresponding deformation of the first fastening piece 239, as shown in FIG. 22, the first fastening piece 239 in the embodiment includes the first piece body 2391 and the second piece body 2394 distributed in front and back, the inner surface of the first piece body 2391 and the inner surface of the second piece body 2394 are located on the same circumferential surface, thereby enabling them to better fit the surface of the acoustic window part 105, the thickness of the first piece body 2391 is smaller than the thickness of the second piece body 2394, thereby enabling the second piece body 2394 to better deform using the first piece body 2391, and the thicker second piece body 2394 can also ensure the connection strength with the acoustic window part 105, therefore the outer thread 2393 and the first connecting surface 2392 are both located on the second piece body 2394.

[0294] In one embodiment, the thickness of the second piece body 2394 is greater than 0.6mm.

[0295] In another embodiment of the fastening structure 23, as shown in FIG. 24, the fastening structure 23 includes a plurality of second slots 241 arranged on the second end of the buckle body 21 in the circumferential direction, the second end of the buckle body 21 is divided into a plurality of second fastening pieces 242 spaced apart by the plurality of second slots 241, and the outer side of the second fastening piece 242 is provided with a first clamping portion 2421;

[0296] The fastening structure 23 further comprises a clamping member 243, which is capable of being sleeved on the second end of the buckle body 21 and located outside the second fastening piece 242. The inner side of the clamping member 243 is provided with a second clamping portion 2431. The first clamping portion 2421 and the second clamping portion 2431 are clamped and matched to press the second fastening piece 242 tightly against the outer side of the acoustic window part 105.

[0297] In the embodiment, the fastening structure 23 is intended to firmly connect the buckle body 21 to the acoustic window part 105 in the form of axial clamping. Specifically, in the embodiment, the second end of the buckle body 21 is provided with a plurality of second notches 241 distributed in the circumferential direction. The second end of the buckle body 21 is divided into a plurality of second fastening pieces 242 distributed at intervals through the second notches 241. The inner side surface of the second fastening piece 242 is capable of being attached to the outer surface of the acoustic window part 105. When the second end of the buckle body 21 is sleeved to the acoustic window part 105, the plurality of second fastening pieces 242 are wrapped around the outer side of the acoustic window part 105. In order to enable the second fastening piece 242 to be pressed tightly against the outer side of the acoustic window part 105, the fastening structure 23 in the embodiment further comprises a clamping member 243. The clamping member 243 is arranged at the second end of the buckle body 21 and has a hollow cylindrical structure as a whole, which can be sleeved on the second end of the buckle body 21, i.e., on the outer side of the second fastening piece 242. In assembly, the clamping member 243 is sleeved on the second fastening piece 242 in the axial direction, and after the first clamping portion 2421 on the second fastening piece 242 and the second clamping portion 2431 in the clamping member 243 are clamped and matched, the second fastening piece 242 is pressed inward by the clamping member 243 to be pressed tightly against the surface of the acoustic window part 105, thereby realizing the clamping of the buckle body 21 and the acoustic window part 105.

[0298] In the embodiment, the clamping member 243 and the plurality of second fastening pieces 242 distributed in the circumferential direction can apply a certain clamping force to the periphery of the acoustic window part 105, so that the buckle body 21 can be stably connected with the acoustic window part 105. In disassembly, the clamping member 243 only needs to be pulled out in the reverse direction, so that the second fastening piece 242 can be separated from the acoustic window part 105, and the buckle body 21 can be taken off in the axial direction.

[0299] In order to enable the clamping member 243 to better press the second fastening piece 242, in the embodiment, the outer side of the second fastening piece 242 is further provided with a second connecting surface 2420. The first clamping portion 2421 and the second connecting surface 2420 are distributed in the front-rear direction.

[0300] The inner side of the clamping member 243 is provided with a second pressing surface 2432. The second clamping portion 2431 and the second pressing surface 2432 are distributed in the front-rear direction.

[0301] The second pressing surface 2432 is a reduced diameter structure towards the rear end, so that when the clamping member 243 is in clamping engagement with the second fastening piece 242, the second pressing surface 2432 can extrude the second connecting surface 2420 to make the second fastening piece 242 tightly adhere to the outside of the acoustic window part 105.

[0302] Specifically, it should be noted that the inner diameter of the front end of the clamping member 243 is greater than the diameter of the first clamping part 2421 on the second fastening piece 242, so that the front end of the clamping member 243 can be axially sleeved on the second fastening piece 242 and pass through the part of the first clamping part 2421. The rear end of the clamping member 243 is a second pressing surface 2432 with a reduced diameter structure, and the outer diameter of the last end of the second pressing surface 2432 is less than or equal to the outer diameter of the second fastening piece 242 after being pressed to the acoustic window part 105, and at the same time greater than the outer diameter of the acoustic window part 105. In assembly, the second end of the clamping buckle body 21 and the clamping member 243 are sleeved on the acoustic window part 105, and then the clamping member 243 is pushed towards the front end, so that the second pressing surface 2432 at the rear end moves towards the front end, and in the process of moving, the part in contact with the second fastening piece 242 gradually reduces in diameter and presses the second fastening piece 242 inward, so that after moving to the set position, the second fastening piece 242 can be pressed to tightly adhere to the surface of the acoustic window part 105, thereby fixing the clamping buckle body 21 to the acoustic window part 105. In disassembly, the clamping member 243 is pulled out in reverse, and the second fastening piece 242 can be separated from the acoustic window part 105 under the action of its own elastic force.

[0303] To avoid overtravel of the clamping member 243, causing the second fastening piece 242 to exert excessive pressure on the acoustic window part 105, a second limiting boss is provided on the second fastening piece 242 in this embodiment, and the second limiting boss is located at the front end of the first clamping part 2421. The inner diameter of the front end part of the second clamping part 2431 on the clamping member 243 is greater than the outer diameter of the first clamping part 2421 and less than the outer diameter of the second limiting boss, thereby limiting the stroke of the clamping member 243 by the second limiting boss.

[0304] Specifically, when the clamping member 243 moves axially to the end thereof abutting against the second limiting boss, the clamping member 243 cannot move further, and at this time the pressure exerted by the second pressing surface 2432 on the second fastening piece 242 is limited, thereby avoiding excessive pressure.

[0305] Further, the first clamping part 2421 is a fastening clamping groove formed on the second fastening piece 242, and the second clamping part 2431 is a fastening protrusion formed in the clamping member 243, which is in clamping engagement with the fastening clamping groove.

[0306] Of course, it can be understood that the first clamping part 2421 can also be a fastening protrusion formed on the second fastening piece 242, and the second clamping part 2431 can also be a fastening clamping groove formed in the clamping member 243.

[0307] Since the fastening groove needs to be opposite to the fastening protrusion to complete clamping, and the clamping piece 243 and the buckle body 21 are substantially two independent components, in order to facilitate the clamping piece 243 to be able to be connected with the opposite end at any circumferential position, the fastening groove is provided as an arc-shaped through groove structure, and the fastening protrusion is provided as a protruding strip capable of being clamped and matched with the through groove structure.

[0308] In order to improve the connection firmness and further facilitate the connection, the fastening groove on the second fastening sheet 242 is provided as a plurality of grooves distributed along the axial direction, and each second fastening sheet 242 has the same fastening groove at the same axial position.

[0309] In an embodiment, the second slot 241 is provided as four slots uniformly distributed along the circumferential direction.

[0310] Since the pressure exerted by the first fastening sheet 239 on the acoustic window part 105 needs a certain amount of inward deformation of the first fastening sheet 239 to be generated, in order to facilitate the first fastening sheet 239 to generate corresponding deformation, the second fastening sheet 242 in the embodiment includes a third sheet body 2422 and a fourth sheet body 2423 distributed in front and back, the inner surface of the third sheet body 2422 and the inner surface of the fourth sheet body 2423 are located on the same circumferential surface, so that they can better fit the surface of the acoustic window part 105, the thickness of the third sheet body 2422 is smaller than the thickness of the fourth sheet body 2423, so that the fourth sheet body 2423 can better generate deformation by the third sheet body 2422, and the thicker fourth sheet body 2423 can also ensure the connection strength with the acoustic window part 105, therefore the first clamping part 2421 and the second connecting surface 2420 are both located on the fourth sheet body 2423.

[0311] In an embodiment, the thickness of the fourth sheet body 2423 is greater than 0.6mm.

[0312] According to another aspect of the present application, an ultrasonic probe assembly is provided, comprising: an intraoperative ultrasonic probe 1, an electromagnetic navigation sensor kit 3, and the buckle assembly 21 described above, the electromagnetic navigation sensor kit 3 is installed to the front end of the intraoperative ultrasonic probe 1 through the buckle assembly 21.

[0313] According to another aspect of the present application, a puncture system is provided, comprising the ultrasonic probe assembly, a puncture kit, and a navigation device, the puncture kit is provided with another electromagnetic navigation sensor kit;

[0314] The navigation device is configured to extract electromagnetic signals received by the two electromagnetic navigation sensor kits, and determine the positional relationship between the puncture kit and the intraoperative ultrasonic probe based on the extracted electromagnetic signals.

[0315] The navigation device is further configured to display the position relationship, and when an extension line of the puncture set in a puncture direction intersects with an ultrasound plane of the ultrasound probe assembly, at least display the intersection point in the ultrasound image, and / or when the body of the puncture set or an extension line thereof is coplanar with the ultrasound plane, display the extension line in the ultrasound image.

[0316] According to the above display mode, the doctor can scan the target (which can be a target portal vein or a target tumor) after the ultrasound probe assembly enters the patient's body and is placed on the surface of an organ in combination with the ultrasound image. Then the position and orientation of the puncture set are adjusted outside the patient's body, and the target is aimed at through the displayed intersection point and / or extension line. The aiming process can simultaneously determine the body surface needle entry point, the liver surface needle entry point and the target point, i.e., three positioning points. Finally, the puncture action is performed, and the intersection point in the ultrasound image is kept on the target during the puncture process, or the extension line passes through the target, so as to ensure that the puncture needle can reach the target, thereby improving the puncture efficiency.

[0317] As shown in FIGS. 25 and 27, the embodiment of the present application provides a protection tube tool for an intraoperative ultrasound probe 1, which comprises:

[0318] A protection long tube 6 is provided with a first installation channel 600 inside, the first installation channel 600 being used for installing the intraoperative ultrasound probe 1. A first sensor protection tube 7 is fixedly arranged inside the protection long tube 6, and a first sliding channel 700 is established inside the first sensor protection tube 7, the first sliding channel 700 being used for accommodating a sensor wire harness.

[0319] A handle fixing assembly 8 is provided with a second installation channel 88 inside, the handle fixing assembly 8 being fixedly arranged at the end of the protection long tube 6, the second installation channel 88 being in communication with the first installation channel 600, and the second installation channel 88 being used for the front end of the intraoperative ultrasound probe 1 to pass through and accommodate the handle end 101 of the intraoperative ultrasound probe 1.

[0320] In the embodiment, the protection tube tool is mainly used for installing the intraoperative ultrasound probe 1 and the electromagnetic navigation sensor together. The intraoperative ultrasound probe 1 comprises a handle end 101, an insertion tube in a strip shape, and an ultrasound wave emitting part at the front end of the insertion tube. The electromagnetic navigation sensor needs to be installed to the back of the ultrasound wave emitting part. The electromagnetic navigation sensor and the ultrasound wave emitting part can be connected through a specific buckle assembly or adhesive, which is not limited in the embodiment.

[0321] As shown in FIG. 35, in an embodiment, the electromagnetic navigation sensor can be connected with the ultrasonic wave emitting part through a specific buckle assembly, which includes a buckle body 11, a buckle groove and a buckle fastener 12. The buckle body 11 can be sleeved on the ultrasonic wave emitting part, and the buckle body 11 has an opening for avoiding the emitting sound window of the ultrasonic wave emitting part. The buckle groove is installed on the inner side of the buckle body 11, and the electromagnetic navigation sensor is installed on the buckle groove and adheres to the outer side of the ultrasonic wave emitting part under the action of the buckle body 11. The buckle fastener 12 can be sleeved on the rear end of the buckle body 11 to tightly hold the buckle body 11 on the ultrasonic wave emitting part. It should be noted that the structure of the buckle assembly in the present embodiment is not limited, and other structures of the buckle assembly can also be used by those skilled in the art.

[0322] Since the electromagnetic navigation sensor needs to be connected with a wire harness for use, the arrangement of the sensor wire harness also needs to be considered. As shown in FIG. 25, in the present embodiment, the protection pipe tool mainly includes a protection long pipe 6, a first sensor protection pipe 7 and a handle fixing assembly 8. The protection long pipe 6 is a long strip-shaped tubular structure having a hollow cavity to form a first installation channel 600 for insertion of the intraoperative ultrasonic probe 1. The handle fixing assembly 8 is fixed to the rear end of the protection long pipe 6, and the handle fixing assembly 8 is provided with a second installation channel 88 communicating with the first installation channel 600. When installed, as shown in FIG. 27, the insertion tube of the intraoperative ultrasonic probe 1 is loaded into the second installation channel 88 and after passing through the first installation channel 600, the ultrasonic wave emitting part at the front end of the insertion tube passes out of the front end of the first installation channel 600. At this time, the handle end 101 of the intraoperative ultrasonic probe 1 is located in the second installation channel 88 of the handle fixing assembly 8, and the handle end 101 of the intraoperative ultrasonic probe 1 is fixed by the handle fixing assembly 8. In an embodiment, the handle end 101 of the intraoperative ultrasonic probe 1 can be fixed by buckle fixing or screw fixing, etc., which is not limited in the present embodiment.

[0323] After the intraoperative ultrasonic probe 1 is installed to the protection pipe tool, the electromagnetic navigation sensor also needs to be installed to the protection pipe tool. As shown in FIG. 25, in the present embodiment, the first sensor protection pipe 7 is arranged in the protection long pipe 6, and the first sensor protection pipe 7 is a long strip-shaped tubular structure having a hollow cavity to form a first sliding channel 700, both ends of the first sliding channel 700 being open structures. The sensor wire harness of the electromagnetic navigation sensor can pass into the first sliding channel 700 from the rear end of the first sliding channel 700 and extend to the front of the first sliding channel 700, and the sensor wire harness is at least partially located in the first sliding channel 700.

[0324] One aspect of the present application establishes the installation channel of the intraoperative ultrasound probe 1 by protecting the long tube 6 and the handle fixing assembly 8, and establishes the installation channel of the electromagnetic navigation sensor by the first sensor protection tube 7, so that the installation and combination of the intraoperative ultrasound probe 1 and the electromagnetic navigation sensor can be facilitated, thereby solving the problem of inconvenient installation and combination of the navigation device and the intraoperative ultrasound probe 1 in the related art.

[0325] On the other hand, the long tube 6 can protect the intraoperative ultrasound probe 1 after installation, and the first sensor protection tube 7 can also protect the sensor wire harness, which can avoid damage during use and improve use safety.

[0326] In one embodiment of the intraoperative ultrasound probe 1, the ultrasound wave emitting part can be bent relative to the insertion tube, and the bending process is controlled by a wrench on the handle end 101. Since the electromagnetic navigation sensor is fixed to the ultrasound wave emitting part, the electromagnetic navigation sensor also moves with the ultrasound wave emitting part, so the sensor wire harness connected to the electromagnetic navigation sensor needs to be able to slide in the first sliding channel 700.

[0327] Therefore, as shown in FIGS. 25 and 28, a sliding groove 84 is provided on the handle fixing assembly 8 in the present embodiment, a sliding block 85 is provided in the sliding groove 84, the sliding groove 84 is in communication with the first sliding channel 700, and the sliding block 85 is used to fix the sensor wire harness.

[0328] Specifically, in the present embodiment, the electromagnetic navigation sensor enters from the rear end of the first sliding channel 700, the sensor wire harness is arranged in the first sliding channel 700, when the electromagnetic navigation sensor is installed to the designated position (i.e., the length of the electromagnetic navigation sensor extending out of the first sliding channel 700 meets the design value), the sensor wire harness is arranged in the sliding groove 84, and the sensor wire harness is fixed on the sliding block 85, and the end of the sensor wire harness extends backward to be connected with the device. In the process of the electromagnetic navigation sensor moving with the ultrasound wave emitting part, the sensor wire harness drives the sliding block 85 to slide in the sliding groove 84, and the sliding block 85 cooperates with the sliding groove 84 to constrain the sensor wire harness while providing support for the movement of the electromagnetic navigation sensor. In addition, in the present embodiment, after the sensor wire harness is arranged in the handle fixing assembly 8 of the tool, the sensor wire harness is in a hidden state in the tool as a whole, and the tool can protect the sensor wire harness from being damaged during use. In the present application, the sensor wire harness can only include the wire harness connected with the electromagnetic navigation sensor, or can include the wire harness connected with the electromagnetic navigation sensor and a protective sleeve or protective tube sleeved outside the wire harness.

[0329] The handle fixing assembly 8 is used for the doctor to hold and operate the intraoperative ultrasonic probe 1, and thus has a length and shape meeting the operation requirements. Since the movement of the electromagnetic navigation sensor is only the bending deformation movement within a certain angle relative to the ultrasonic wave emitting part, the sliding stroke of the slider 85 in the sliding groove 84 is short, i.e., the length of the sliding groove 84 does not need to be set too long. On this basis, in order to ensure the sliding of the sensor wire harness relative to the handle fixing assembly 8, as shown in FIG. 30, a second sliding channel 86 is arranged on the handle fixing assembly 8 in the embodiment, and the two ends of the second sliding channel 86 are in communication with the first sliding channel 700 and the sliding groove 84, respectively.

[0330] In other words, two channels are arranged on the handle fixing assembly 8 in the embodiment, one of which is the second sliding channel 86, and the other of which is the sliding groove 84. The second sliding channel 86 only needs to accommodate the sensor wire harness and slide with the sensor wire harness, and the sliding groove 84 needs to provide a sliding track for the slider 85. As shown in FIG. 30, the sliding groove 84 can be arranged at a position close to the end of the handle fixing assembly 8 in the embodiment.

[0331] After the second sliding channel 86 is arranged, the electromagnetic navigation sensor needs to be inserted from the rear end of the second sliding channel 86 when installed, and then inserted out from the front end of the first sliding channel 700 after passing through the first sliding channel 700. The sensor wire harness is arranged on the sliding groove 84 and the slider 85 in the same way.

[0332] On the basis of the arrangement of the sliding groove 84, as shown in FIG. 33, in order to better protect the sensor wire harness, the sliding groove 84 and the slider 85, a buckle cover 87 is arranged on the handle fixing assembly 8 in the embodiment, and the buckle cover 87 is buckled and fixed on the sliding groove 84.

[0333] Specifically, the buckle cover 87 is buckled and fixed on the handle fixing assembly 8 in the embodiment, and the buckle cover 87 can cover the sliding groove 84, thereby playing a protection role. The buckle cover 87 can be arranged as a flip cover structure, one side of which is hinged to the handle fixing assembly 8, and the other side of which is buckled to the handle fixing assembly 8 or fixed by screws, etc. Of course, the buckle cover 87 can also be arranged as a separate cover structure, and a buckle is arranged at the edge position of the buckle cover 87, which is buckled to the handle fixing assembly 8.

[0334] The handle fixing assembly 8 is a structure for fixing the handle end 101 of the intraoperative ultrasonic probe 1, and as shown in FIGS. 25 and 27, in one embodiment, the handle fixing assembly 8 is fixed by embracing the handle end 101 of the intraoperative ultrasonic probe 1. In the embodiment, the handle fixing assembly 8 includes a handle connecting piece 81, a first clamping fixing piece 82 and a second clamping fixing piece 83.

[0335] The handle connecting piece 81 is fixedly sleeved on the end of the protection long tube 6, and the first clamping fixing piece 82 and the second clamping fixing piece 83 are oppositely distributed, and the first clamping fixing piece 82 and the second clamping fixing piece 83 are used for clamping and fixing the handle end 101 of the intraoperative ultrasound probe 1.

[0336] The sliding groove 84 is arranged on the first clamping fixing piece 82 or the second clamping fixing piece 83.

[0337] Specifically, it needs to be explained that the handle fixing assembly 8 includes the oppositely distributed first clamping fixing piece 82 and the second clamping fixing piece 83, and the handle connecting piece 81 capable of being fixed on the rear end of the protection long tube 6. The handle connecting piece 81 can be a ring structure sleeved and fixed on the rear end of the protection long tube 6, or can be at least two connecting blocks fixed on the rear end of the protection long tube 6. The first clamping fixing piece 82 and the second clamping fixing piece 83 form a second mounting channel 88, and when the intraoperative ultrasound probe 1 is mounted, the first clamping fixing piece 82 and the second clamping fixing piece 83 are first separated by a distance to form a mounting space. After the intraoperative ultrasound probe 1 is installed in place, the first clamping fixing piece 82 and the second clamping fixing piece 83 are adjusted to tightly hold the handle end 101 of the intraoperative ultrasound probe 1.

[0338] In an embodiment of the first clamping fixing piece 82 and the second clamping fixing piece 83, the first clamping fixing piece 82 and the second clamping fixing piece 83 can be hinged with the handle connecting piece 81, so as to be able to be opened or tightly held in a rotating manner. In another embodiment, the first clamping fixing piece 82 and the second clamping fixing piece 83 can be slidably connected with the handle connecting piece 81, and the sliding direction is radial, so as to be able to be opened or tightly held in a straight line sliding manner.

[0339] The sliding groove 84 in the embodiment for supporting the sliding of the sensor wire harness is selectively arranged on the first clamping fixing piece 82 or the second clamping fixing piece 83, which is not limited herein. On this basis, in order to improve the tightness of the two clamping fixing pieces to the handle end 101 of the intraoperative ultrasound probe 1, the inner side surface profile of the first clamping fixing piece 82 and the second clamping fixing piece 83 in the embodiment matches the surface profile of the handle end 101 of the intraoperative ultrasound probe 1.

[0340] In the distribution, the first clamping fixed part 82 can be located above the second clamping fixed part 83, so that when holding, the first clamping fixed part 82 contacts the palm of the doctor. Since the first clamping fixed part 82 and the second clamping fixed part 83 are both movably connected with the handle connecting part 81, it is obvious that the connecting structure arranged at the connecting position will affect the doctor's holding. Therefore, as shown in FIG. 25, in the embodiment, the first clamping fixed part 82 is divided into two segments, which can be respectively a fixed segment 820 and a movable segment 821 according to the holding area of the doctor. The first end of the fixed segment 820 is fixedly connected with the upper side of the handle connecting part 81 (when the handle connecting part 81 is a ring structure, the upper side here refers to the upper area of the end surface of the handle connecting part 81), and the rear end is movably connected with the movable segment 821. After the fixed segment 820 is fixedly connected with the handle connecting part 81, the two can be integrally connected or welded on the end surface, so that the connection position of the fixed segment 820 and the handle connecting part 81 is relatively smooth, thereby facilitating the operation when the fixed segment 820 is used as the holding segment of the doctor.

[0341] In addition, it should be noted that the length of the fixed segment 820 is selected according to not only the holding area of the doctor but also the structure of the handle end 101 of the intraoperative ultrasound probe 1. In an embodiment, the handle end 101 of the intraoperative ultrasound probe 1 has a protrusion in the middle. Since the fixed segment 820 is a fixed structure, the rear end of the fixed segment 820 cannot exceed the vertex of the protrusion on the handle end 101 in consideration of the installation of the handle end 101. When the handle end 101 of the intraoperative ultrasound probe 1 has other structures, the fixed segment 820 also needs to be adjusted according to the structural characteristics of the handle end 101, which will not be described here in the embodiment.

[0342] In the embodiment, in order to make the whole structure more compact and facilitate clamping the handle end 101 of the intraoperative ultrasound probe 1, a rotary motion is adopted in the embodiment. Specifically, as shown in FIG. 25, the second end of the fixed segment 820 is hinged with the first end of the movable segment 821; and the first end of the second clamping fixed part 83 is hinged with the lower side of the handle connecting part 81 (when the handle connecting part 81 is a ring structure, the lower side here refers to the lower area of the end surface of the handle connecting part 81).

[0343] The movable section 821 can be rotated upward and the second clamping fixture 83 can be rotated downward to provide a mounting passage for the intraoperative ultrasound probe 1 during installation. After installation, the movable section 821 is rotated downward to fit the upper region of the handle end 101 of the intraoperative ultrasound probe 1, and the second clamping fixture 83 is rotated upward to fit the lower region of the handle end 101. As shown in FIG. 28, the second end of the movable section 821 and the second end of the second clamping fixture 83 are detachably connected by a locking member 9 in the embodiment to facilitate the clamping of the handle end 101. The locking member 9 connects the second end of the movable section 821 and the second end of the second clamping fixture 83 in the embodiment. In an embodiment, the locking member 9 can be a latch, a locking screw, or a buckle structure, and the like, which is not limited in the embodiment.

[0344] After the first clamping fixture 82 is divided into the fixed section 820 and the movable section 821, a sliding groove 84 is provided on the movable section 821. In addition, as shown in FIG. 30, the second sliding passage 86 provided on the first clamping fixture 82 includes a first sliding section 861, a second sliding section 862, and a third sliding section 863. The first sliding section 861 is located on the handle connecting member 81, the second sliding section 862 is located on the fixed section 820, and the third sliding section 863 is located on the movable section 821.

[0345] In the embodiment, the front part of the movable section 821 has the third sliding section 863, and the rear part of the movable section 821 has the sliding groove 84, which is in communication with the third sliding section 863. The end of the first sensor protection tube 7 extends to the third sliding section 863 through the first sliding section 861 and the second sliding section 862, and the end of the first sensor protection tube 7 can optionally extend into the sliding groove 84 or not. Since the end of the first sensor protection tube 7 extends into the movable section 821 through the fixed section 820, the movable section 821 needs to be rotated relative to the fixed section 820 to open during the installation of the intraoperative ultrasound probe 1. In order to avoid the first sensor protection tube 7 being damaged due to excessive rotation angle, the maximum rotation angle of the movable section 821 needs to be limited. In an embodiment, when the movable section 821 is at the maximum outward rotation angle, the opening angle between the second sliding section 862 and the third sliding section 863 is less than 20°.

[0346] In an embodiment of limiting the rotation angle, a limiting stopper is arranged on the fixed section 820, and the limiting stopper is located in the rotation direction of the movable section 821. When the movable section 821 rotates upward to contact the limiting stopper, the movable section 821 cannot rotate further, thereby limiting the maximum rotation angle of the movable section 821. In another embodiment, the rotation angle can be limited by adjusting the position where the movable section 821 and the fixed section 820 are hinged, which is not described herein.

[0347] As shown in FIG. 33 and FIG. 34, to achieve the locking of the first clamping fixture 82 and the second clamping fixture 83, the locking member 9 in the embodiment includes a first buckle 90 and a second buckle 91. The first buckle 90 is fixedly arranged at the second end of the movable section 821, and the second buckle 91 is fixedly arranged at the second end of the second clamping fixture 83. The first buckle 90 and the second buckle 91 are buckled and connected.

[0348] Specifically, in the embodiment, after the first clamping fixture 82 and the second clamping fixture 83 are rotated and clamped around the handle end 101 of the intraoperative ultrasound probe 1, the first buckle 90 and the second buckle 91 are buckled and connected to achieve the locking of the first clamping fixture 82 and the second clamping fixture 83. In an embodiment of the first buckle 90 and the second buckle 91, at least one of the first buckle 90 and the second buckle 91 is provided with elasticity, and can be automatically buckled during the pressing process by the elasticity thereof.

[0349] Specifically, the first buckle 90 is provided with a buckle groove on both sides, and the second buckle 91 includes a base 911, a torsional spring, and a clamping strip 910. The clamping strip 910 is provided with two and is hinged on both sides of the base 911 through a rotating shaft. The torsional spring is sleeved on the rotating shaft. The first end of the clamping strip 910 is provided with a buckling protrusion, and the second end of the clamping strip 910 is provided with a push handle 912. The buckle groove and the buckling protrusion are buckled and connected.

[0350] In the embodiment, during the buckling of the first clamping fixture 82 and the second clamping fixture 83, the lower end of the first buckle 90 abuts against the upper end of the clamping strip 910. With the further buckling of the first clamping fixture 82 and the second clamping fixture 83, the first buckle 90 pushes the clamping strip 910 to rotate outward and compresses the torsional spring. When the buckle groove on the first buckle 90 corresponds to the buckling protrusion on the clamping strip 910, the first clamping fixture 82 and the second clamping fixture 83 are clamped around the handle end 101 of the intraoperative ultrasound probe 1. At the same time, the clamping strip 910 rotates inward under the elastic force of the torsional spring, so that the buckle groove and the buckling protrusion are engaged, thereby completing the locking.

[0351] When disassembly is needed, the clamping strip 910 can be rotated to make the clamping protrusion disengage from the buckle slot. In order to facilitate the rotation of the first buckle 90 to push the clamping strip 910 during locking, in the embodiment, the surface of the lower end of the first buckle 90 for contacting the clamping strip 910 is provided as an inclined surface, and the surface of the upper end of the clamping strip 910 for contacting the first buckle 90 is provided as an inclined surface, and the force transmission is realized through the cooperation of the two inclined surfaces.

[0352] As shown in FIG. 34, in order to facilitate the rotation of the clamping strip 910 during disassembly, a push handle 912 is provided at the lower end of the clamping strip 910 in the embodiment, and the push handle 912 is perpendicular to the end surface of the clamping strip 910. In an implementation, in order to facilitate the installation of the clamping strip 910 and the torsional spring, the base 911 is provided as a U-shaped seat, an arc-shaped slot is provided in the base 911, the two clamping strips 910 are provided as arc-shaped and are installed in the arc-shaped slot through a rotating shaft, and the torsional spring is sleeved on the rotating shaft and located in the arc-shaped slot, and the clamping strip 910 rotates in the arc-shaped slot within a certain angle range.

[0353] After the sensor wire harness is fixedly connected with the sliding block 85, it still needs to pass out from the through hole at the rear end of the first clamping fixing part 82. During the bending process of the ultrasonic wave emitting part of the ultrasonic probe 1, the electromagnetic navigation sensor moves synchronously, so that the sensor wire harness drives the sliding block 85 to slide in the sliding groove 84 and pulls the rear end of the sensor wire harness to move. During the pulling process, the wire harness at the rear end of the first clamping fixing part 82 is easily damaged due to the bending in the use process. Therefore, in order to avoid damage, a certain amount of excess of the sensor wire harness is provided in the sliding groove 84, and only the sensor wire harness in the sliding groove 84 moves during the movement of the electromagnetic navigation sensor, and the sensor wire harness at the rear end of the first clamping fixing part 82 remains stationary.

[0354] In order to achieve the above purpose, as shown in FIGS. 28 to 30, the first clamping fixing part 82 in the embodiment is further provided with a wire winding spring 10, the wire winding spring 10 is located at the rear end of the sliding block 85, the front end of the wire winding spring 10 is fixedly connected with the sliding block 85, the rear end of the wire winding spring 10 is fixed on the handle fixing assembly 8, and the wire winding spring 10 is used for winding the sensor wire harness.

[0355] The handle fixing assembly 8 is provided with a fixing part, the fixing part is located at the rear end of the wire winding spring 10, and the fixing part is used for fixing the sensor wire harness.

[0356] The maximum stretching amount of the wire winding spring 10 is greater than the maximum sliding stroke of the sliding block 85 in the sliding groove 84.

[0357] Specifically, the wire spring 10 is a spring, and the sensor wire bundle can be wound on the wire spring 10 according to the spiral direction of the wire spring 10 after passing through the sliding block 85. After winding, the sensor wire bundle passes out of the first clamping fixing member 82 and is tightly fixed on the first clamping fixing member 82 by a pressing plate or the like. The front end of the wire spring 10 is fixedly connected with the sliding block 85, and the rear end is fixed on the first clamping fixing member 82. The sliding block 85 moves linearly in the sliding groove 84, and in the process, the wire spring 10 is stretched.

[0358] First, when the front end of the ultrasonic wave emitting part is bent, the sliding block 85 slides in the sliding groove 84, and at the same time, the sliding block 85 pulls the wire spring 10 to deform and obtain elastic potential energy. When the ultrasonic wave emitting part recovers, the wire spring 10 can pull the sliding block 85 to reset. Secondly, since the sensor wire bundle is wound on the wire spring 10, when the wire spring 10 is stretched, the sensor wire bundle wound on the wire spring 10 deforms. Since the maximum stretching amount of the wire spring 10 is greater than the maximum sliding stroke of the sliding block 85 in the sliding groove 84, the maximum deformable amount of the sensor wire bundle is also greater than the maximum sliding stroke of the sliding block 85. Therefore, the sliding block 85 will not pull the rear end of the sensor wire bundle during the sliding process.

[0359] As shown in FIG. 30, in order to reasonably utilize the space, the wire spring 10 in the embodiment is arranged in the sliding groove 84, and the fixed part is a fixed clamping groove arranged at the rear end of the sliding groove 84. A fixed plate is detachably fixed on the fixed clamping groove, and the fixed plate is used to tightly press the sensor wire bundle in the fixed clamping groove.

[0360] Specifically, in the embodiment, the rear end of the sensor wire bundle is extended out of the first clamping fixing member 82 after being spirally wound on the wire spring 10 through the fixed clamping groove. The part of the sensor wire bundle on the fixed clamping groove is tightly fixed by the fixed plate. During the movement of the electromagnetic navigation sensor, the part of the sensor wire bundle extended out of the first clamping fixing member 82 remains stationary, and only the part wound on the wire spring 10 is stretched with the stretching of the wire spring 10, so as to realize the follow-up movement with the electromagnetic navigation sensor, and completely avoid pulling the external sensor wire bundle.

[0361] Since the second end of the wire spring 10 needs to be fixed, in one embodiment, as shown in FIG. 29, a fixed seat 11 is arranged on the handle fixing assembly 8, especially on the first clamping fixing member 82. The fixed seat 11 is located in front of the fixed clamping groove, and the rear end of the wire spring 10 is fixedly connected with the fixed seat 11. A wire passing groove 110 is arranged on the fixed seat 11, and the wire passing groove 110 is used for the sensor wire bundle to pass through.

[0362] Specifically, in the embodiment, the rear end of the sensor wire harness passes through the wire slot 110 and then the fixing slot after being wound on the winding spring 10. The fixed connection between the rear end of the winding spring 10 and the fixed seat 11 can be achieved by welding, bonding or by a locking structure such as a locking screw, which is not limited in the embodiment.

[0363] In an embodiment, in order to fix the rear end of the winding spring 10, the fixed seat 11 is provided with a spring passing hole, which is located below the wire slot 110, and the rear end of the winding spring 10 is arranged in the spring passing hole and is locked and fixed. Specifically, in the embodiment, a threaded hole is arranged on the fixed seat 11 in the radial direction of the spring passing hole, and a locking screw is threadedly connected in the threaded hole, which can press the rear end of the winding spring 10 in the spring passing hole. Of course, other ways can also be used to fix it, and the above description is not restrictive.

[0364] As shown in FIG. 29, in order to control the stretching and contraction movement of the winding spring 10 within a set range, a guide column 111 is arranged at the front end of the fixed seat 11 in the embodiment, and the spiral part of the winding spring 10 is sleeved on the guide column 111. The stretching and contraction movement of the winding spring 10 is along the guide column 111, and the guide column 111 can avoid the winding spring 10 from being deviated during the movement.

[0365] On the basis of the above-mentioned embodiments, in order to reduce the inner diameter of the first sensor protection tube 7, the sensor wire harness can be stripped, specifically, the part of the sensor wire harness corresponding to the first sensor protection tube 7 can be stripped to reduce the diameter of the part of the sensor wire harness, and then the diameter requirement of the first sensor protection tube 7 is reduced. Similarly, the part of the sensor wire harness located on the second sliding channel 86, the sliding groove 84, the sliding block 85 and the winding spring 10 can also be stripped. The part of the sensor wire harness fixed with the rear end of the first clamping and fixing part 82 can retain the wire skin, thereby improving the structural strength.

[0366] In an embodiment, the sensor wire harness is directly arranged in the first sliding channel 700 and the second sliding channel 86. Since the sensor wire harness will slide relative to the sliding channel, in order to better protect the wire harness, in another embodiment, as shown in FIG. 32, the protection tube tool further includes a second sensor protection tube 13, which is slidably arranged in the first sliding channel 700, and the second sensor protection tube 13 is provided with a third installation channel for installing an electromagnetic navigation sensor.

[0367] In the embodiment, the electromagnetic navigation sensor is pre-installed in the third installation channel of the second sensor protection tube 13 at the time of installation, and the front end of the electromagnetic navigation sensor extends out of the second sensor protection tube 13. The stripped sensor wire harness is accommodated in the third installation channel, and the sensor wire harness can be fixed with the second sensor protection tube 13 by point gluing. Then the electromagnetic navigation sensor and the second sensor protection tube 13 are inserted into the first sliding channel 700 of the first sensor protection tube 7. During the movement of the electromagnetic navigation sensor with the ultrasonic wave emitting part, the second sensor protection tube 13 will slide linearly in the first installation channel 600, and the second sensor protection tube 13 plays a protective role on the sensor wire harness.

[0368] As shown in FIG. 30, in an embodiment, the rear end of the first sensor protection tube 7 extends to the middle of the third sliding section 863, the rear end of the second sensor protection tube 13 extends out of the rear end of the first sensor protection tube 7 and extends into the sliding groove 84 through the third sliding section 863, and is finally fixed on the sliding block 85. The stripped wire harness of the sensor wire harness extends out of the rear end of the second sensor protection tube 13 and winds around the wire spring 10 after passing through the sliding block 85, and the part of the sensor wire harness with the wire skin passes out of and is fixed on the first clamping fixing part 82.

[0369] In order to facilitate the installation of the sensor wire harness on the sliding block 85, as shown in FIG. 29, a wire harness installation slot 850 is arranged on the sliding block 85 in the embodiment, the wire harness installation slot 850 penetrates through the sliding block 85 along the sliding direction of the sliding block 85, and the wire harness installation slot 850 is used to fix the sensor wire harness.

[0370] In an embodiment, the second sensor protection tube 13 needs to be installed on the sliding block 85, and the sensor wire harness also needs to be installed on the sliding block 85. Since the diameter of the sensor wire harness is smaller than the outer diameter of the second sensor protection tube 13, the wire harness installation slot 850 includes a first slot body 8500 and a second slot body 8501 arranged in sequence from front to back, the width of the first slot body 8500 is greater than the width of the second slot body 8501, the first slot body 8500 is used to accommodate the second sensor protection tube 13, and the second slot body 8501 is used to accommodate the sensor wire harness and part of the spring wire of the wire spring 10.

[0371] When the rear end of the sensor wire harness winds around the wire spring 10 after passing through the second slot body 8501, the part of the sensor wire harness located in the second slot body 8501 and the wire spring 10 is stripped of part of the wire skin.

[0372] Since the second sensor protection tube 13 will also bend when the ultrasonic wave emitting part is bent, in order to better protect the second sensor protection tube 13, as shown in FIG. 25a, the front end of the first sensor protection tube 7 in the embodiment extends out of the front end of the protection long tube 6 and forms an extension section 701, at least a part of the extension section 701 is arranged as a transition section 702, and the transition section 702 is formed by cutting the extension section along a helix.

[0373] Specifically, in the embodiment, the front end of the second sensor protection tube 13 extends out of the front end of the first sensor protection tube 7. A helical transition section 702 is arranged on the extension section 701 of the first sensor protection tube 7 extending out of the protection long tube 6, and the position of the transition section 702 is the bending position of the second sensor protection tube 13. In the embodiment, the transition section 702 can be formed by cutting the extension section 701, and the transition section 702 can be bent at an arbitrary angle without being broken, so as to protect the second sensor protection tube 13 and avoid breaking the extension section 701 of the first sensor protection tube 7.

[0374] As shown in FIG. 31, in order to further protect the first sensor protection tube 7, the protection tube tool in the embodiment further comprises a film covering support 12, the film covering support 12 is sleeved and fixed at the front end of the protection long tube 6, and the first sensor protection tube 7 is arranged in the film covering support 12. When the ultrasonic wave emitting part is bent back, the film covering support 12 can prevent the first sensor protection tube 7 from separating from the bent back part and causing damage such as breaking of the first sensor protection tube 7. In the embodiment, the film covering support 12 can adopt a cardiovascular stent in related technologies, and the specific structure of the film covering support 12 is not limited in the embodiment.

[0375] In the embodiment, the length of the film covering support 12 should meet that the front end of the film covering support 12 is sleeved on the bending part of the intraoperative ultrasonic probe, and the front end of the film covering support 12 is bent in the bending process of the bending part. By sleeving the front end of the film covering support 12 on the bending part, the first sensor protection tube 7 can be as much as possible adhered to the bending part of the intraoperative ultrasonic probe to avoid breaking of the first sensor protection tube in the bending process. In the embodiment, the transition section 702 of the first sensor protection tube 7 extends out of the front end of the film covering support 12. The transition section 702 of the first sensor protection tube 7 extends out of the front end of the film covering support 12.

[0376] In order to facilitate the installation of the film covering support 12 on the protection long tube 6, as shown in FIGS. 31 and 32, the film covering support 12 in the embodiment comprises a large-diameter section 120 and a small-diameter section 121, the large-diameter section 120 is sleeved and fixed at the front end of the protection long tube 6, the front end of the extension section extends out of the small-diameter section 121, and the transition section 702 extends out of the small-diameter section 121.

[0377] In another embodiment, to protect the first sensor protection tube 7, the film support 12 can be replaced by a heat shrinkable tube or other tubular structure with certain supporting ability and capable of shrinking.

[0378] In one embodiment, the protection long tube 6, the first sensor protection tube 7 and the second sensor protection tube 13 are all made of biocompatible material, such as nickel-titanium material, or the protection long tube 6 is made of stainless steel material.

[0379] As shown in FIG. 36 and FIG. 37, the present application provides a mounting tool for the intraoperative ultrasound probe 1, which can be used in combination with the protection tube tool in the above embodiment to complete the assembly of the intraoperative ultrasound probe and the electromagnetic navigation sensor. The mounting tool comprises:

[0380] a first base 14;

[0381] a mounting seat 15, the mounting seat 15 being fixedly arranged on the first base 14, the mounting seat 15 being provided with an assembly channel 18, and the mounting seat 15 being provided with an assembly inlet 18 communicating with the assembly channel 18, the assembly channel 18 being arranged to accommodate the buckle body 21;

[0382] a first pushing mechanism 16, the first pushing mechanism 16 comprising a first moving end 160 and a first pushing end 161, the first moving end 160 being arranged to move linearly along the axial direction of the intraoperative ultrasound probe 1, the first pushing end 161 being arranged to be connected with the clamping member 243 and to push the clamping member 243 sleeved on the intraoperative ultrasound probe 1 to move towards the mounting seat 15 under the action of the first moving end 160, and to sleeve and clamp the clamping member 243 on the buckle body 21.

[0383] In the present embodiment, the installation tool is mainly used to sleeve the clamping member 243 on the buckle body 21, so that the buckle body 21 can be tightly held on the ultrasonic wave emitting part of the intraoperative ultrasonic probe 1, and then the navigation sensor such as the electromagnetic navigation sensor installed on the buckle body 21 can be kept in a relatively fixed positional relationship with the ultrasonic wave emitting part. Before using the installation tool, pre-assembly of the navigation sensor and the buckle body 21 is required, and the pre-assembly process is different according to different buckle body 21 structures. In an embodiment, as shown in FIGS. 46-48, 261 is arranged in the buckle body 21, and the navigation sensor is fixed on 261. When installing, the clamping member 243 needs to be sleeved on the first protective tube 2 between the buckle body 21 and the film support 9, then the front end of the intraoperative ultrasonic probe 1 is inserted into the buckle body 21 from the rear end of the buckle body 21, and finally the clamping member 243 is pushed to be clamped on the rear end of the buckle body 21, so as to tightly hold the buckle body 21 on the intraoperative ultrasonic probe 1. The rear end of the buckle body 21 can be clamped on the intraoperative ultrasonic probe 1 by means of buckle connection, for example, a plurality of second clamping grooves are arranged on the rear end of the buckle body 21, and a plurality of buckles are arranged on the inner side of the clamping member 243. After the clamping member 243 is sleeved on the rear end of the buckle body 21, the buckles are clamped into the corresponding second clamping grooves, so as to tightly hold the rear end of the buckle body 21 on the intraoperative ultrasonic probe 1.

[0384] When the protective tube tool in the above-mentioned embodiment is matched, the pre-assembly process includes: the electromagnetic navigation sensor is inserted into the second sensor protective tube 13, and the electromagnetic navigation sensor extends out of the front end of the second sensor protective tube 13 by a length, the sensor wire harness part is located in the second sensor protective tube 13 and is fixed with the second sensor protective tube 13, and the rear end of the sensor wire harness extends out of the rear end of the second sensor protective tube 13. Then the electromagnetic navigation sensor and the second sensor protective tube 13 are inserted into the first sensor protective tube 7 in the protective tube tool together, the front end of the electromagnetic navigation sensor and the second sensor protective tube 13 extends out of the front end of the first sensor protective tube 7 by a distance, the rear end of the second sensor protective tube 13 extends into the sliding channel and the sliding groove 84 in the first clamping fixing member 82, the rear end of the sensor wire harness extends out of the second sensor protective tube 13, passes through the sliding block 85 and winds on the wire spring 10, and then passes out of the rear end of the first clamping fixing member 82. The clamping member 243 is sleeved on the first sensor protective tube 7, and the clamping member 243 is located in front of the protective long tube 6 and behind the electromagnetic navigation sensor.

[0385] To achieve the above assembly process, as shown in FIG. 36 and FIG. 37, the mounting tool in the embodiment mainly includes a first base 14, a mounting seat 15 and a first advancing mechanism 16. Among them, the first base 14 is used as the basic installation structure, and the first base 14 can be provided as a long strip-shaped plate structure, of course, it can also be other structure forms, which is not limited in the embodiment. The mounting seat 15, as a structure for accommodating the buckle body 21, can be installed at the first end of the first base 14. The mounting seat 15 is provided with an assembly channel 18 extending in the horizontal direction, and the assembly channel 18 is provided with an assembly inlet 18 communicating with the assembly channel 18 at the rear end (right end) of the mounting seat 15.

[0386] After the pre-assembly is completed, the buckle body 21 provided with the navigation sensor can be first installed in the assembly channel 18, and then the clamping part 243 is sleeved on the intraoperative ultrasonic probe 1, and the front end of the intraoperative ultrasonic probe 1 is inserted into the buckle body 21, at this time, the clamping part 243 is located at the rear of the buckle body 21 (as shown in FIG. 37). Then operate the first advancing mechanism 16, which is mainly used to push the clamping part 243 forward, so that it can be clamped at the rear end of the buckle body 21 (as shown in FIG. 44). In the embodiment, the first advancing mechanism 16 mainly includes a first moving end 160 and a first pushing end 161, wherein the first moving end 160 is mainly used to drive the first pushing end 161 to move, and the first pushing end 161 is mainly used to keep connected with the clamping part 243, so as to push the clamping part 243 under the action of the first moving end 160.

[0387] Specifically, when assembling with the above-mentioned protection tube tool, after the above-mentioned pre-assembly is completed, the buckle body 21 is installed in the assembly channel 18, and the protection long tube 1 is placed on the first base 14. The first base 14 is provided with corresponding support structure to support the protection long tube 1. The handle fixing assembly 3 at the rear end of the protection long tube 1 is located at the rear of the first base 14, then the handle fixing assembly 3 is adjusted to install the intraoperative ultrasonic probe 1 from the second installation channel 38 of the handle fixing assembly 3, the front end of the intraoperative ultrasonic probe 1 is installed in the buckle body 21 through the protection long tube 1 and the clamping part 243, and finally the clamping part 243 is moved on the intraoperative ultrasonic probe 1 and sleeved on the buckle body 21 by the first advancing mechanism 16. The equipment after the whole assembly is completed is shown in FIG. 48.

[0388] In an embodiment, the first mobile end 160 can be arranged on the first base 14 and driven to move linearly by a corresponding driving mechanism. Of course, the first mobile end 160 can also not be arranged on the first base 14, but be assembled as an independent component during installation. The first pushing end 161 is connected to the first mobile end 160, and in an embodiment, the first pushing end 161 can move linearly along the radial direction of the intraoperative ultrasound probe 1. During installation, the first pushing end 161 can move linearly to approach the intraoperative ultrasound probe 1 and be located at the rear end of the clamping piece 243, at which time the front end face of the first pushing end 161 approaches or abuts the rear end face of the clamping piece 243, so that the first pushing end 161 can push the clamping piece 243 to move linearly under the action of the first mobile end 160, and after the installation is completed, the first pushing end 161 can move reversely to facilitate the removal of the intraoperative ultrasound probe 1. In another embodiment, the first pushing end 161 can be clamped on the clamping piece 243 to push the clamping piece 243 to move. In the present embodiment, the specific structure of the first pushing end 161 is not limited, and those skilled in the art can design according to actual needs.

[0389] In summary, in the present application, the navigation sensor can be installed on the buckle body 21 during assembly, then the buckle body 21 is loaded into the assembly channel 18 of the mounting seat 15 from the assembly entrance 18, the clamping piece 243 is sleeved on the intraoperative ultrasound probe 1, then the front end of the intraoperative ultrasound probe 1 is inserted into the buckle body 21 from the rear end of the buckle body 21, and finally the first pushing mechanism 16 moves the first mobile end 160 towards the mounting seat 15, and the first pushing end 161 is connected with the clamping piece 243. During the movement of the first mobile end 160, the first pushing end 161 pushes the clamping piece 243 to move towards the buckle body 21, until the clamping piece 243 is sleeved and fixed on the buckle body 21, and the buckle body 21 is tightly held on the intraoperative ultrasound probe 1, thereby realizing the technical effect that the clamping piece 243 can be conveniently and firmly sleeved on the buckle body 21, and the buckle body 21 is stably held on the intraoperative ultrasound probe 1, thereby solving the problem in the related art that there is no tooling that can firmly sleeve the clamping piece 243 on the buckle body 21.

[0390] According to the structure of the ultrasonic wave emitting part of the intraoperative ultrasound probe 1, the emitting sound window 106 is arranged on the ultrasonic wave emitting part, and the buckle body 21 needs to be provided with a notch to avoid the emitting sound window 106. In order to avoid the interference of the buckle body 21 to the ultrasonic wave emission, the avoiding slot 2100 matched with the emitting sound window 106 needs to be arranged on the probe opening. Since the buckle body 21 is pre-installed in the assembling channel 18 in the above-mentioned installation process, and then the ultrasonic wave emitting part is inserted into the buckle body 21, it is necessary to avoid the relative deflection between the emitting sound window 106 on the ultrasonic wave emitting part and the avoiding slot 2100 on the buckle body 21, that is, the relative positions of the avoiding slot 2100 and the emitting sound window 106 need to be calibrated during the installation process.

[0391] In order to achieve the above-mentioned purpose, in one embodiment, as shown in FIG. 36, the mounting seat 15 comprises a fixed vertical plate 150 and a calibration mechanism 151, the fixed vertical plate 150 is fixedly arranged on the first base 14, and the assembling channel 18 is arranged on the fixed vertical plate 150;

[0392] The calibration mechanism 151 is provided with the assembling channel 18, as shown in FIG. 40, the calibration mechanism 151 comprises a fixed part 1511, the fixed part 1511 is used to abut against the opening end surface of the avoiding slot 2100 on the buckle body 21, so as to position the opening end surface to the relative horizontal position of the calibration mechanism 151;

[0393] The calibration mechanism 151 is rotatably connected to the fixed vertical plate 150, and the calibration mechanism 151 can rotate around the axis of the intraoperative ultrasound probe 1, so as to calibrate the relative positions of the buckle body 21 and the emitting sound window 106 of the intraoperative ultrasound probe 1.

[0394] Specifically, the fixed vertical plate 150 is arranged at two positions which can be respectively installed at the front and rear ends of the calibration mechanism 151, and the assembling channel 18 is arranged in the calibration mechanism 151. When calibrating the relative positions of the avoiding slot 2100 and the emitting sound window 106, one of them is used as the basis to adjust the position of the other. For example, the position of the emitting sound window 106 is adjusted based on the buckle body 21, that is, the buckle body 21 is fixed, and the relative positions of the emitting sound window 106 and the avoiding slot 2100 are adjusted by rotating the intraoperative ultrasound probe 1. The position of the buckle body 21 can also be adjusted based on the emitting sound window 106, that is, the intraoperative ultrasound probe 1 is fixed, and the relative positions of the two are adjusted by rotating the buckle body 21. Since the intraoperative ultrasound probe 1 has a certain length, it is not convenient to rotate, and in the present application, the mode of rotating the buckle body 21 is preferred to calibrate the position.

[0395] Therefore, the calibration mechanism 151 in the embodiment includes fixing members 1511 arranged in two groups and located on both sides of the axis of the assembly channel 18. The fixing members 1511 can fix the buckle body 21 in the assembly channel 18 and position the buckle body 21. Specifically, when the buckle body 21 is installed in the assembly channel 18, the position of the buckle body 21 is adjusted by the fixing members 1511 so that the avoiding groove 2100 on the buckle body 21 is in the relative horizontal position with the calibration mechanism 151. The fixing members 1511 abut the opening end surface of the avoiding groove 2100, specifically, the upper end surface of the two side walls of the avoiding groove 2100. When the buckle body 21 is installed in the assembly channel 18 at a certain deflection angle, the fixing members 1511 can push the buckle body 21 to rotate and thus calibrate the position of the buckle body 21.

[0396] After the position of the buckle body 21 is calibrated, the buckle body 21 is fixed in the assembly channel 18, and the relative position of the buckle body 21 and the transmitting acoustic window 106 needs to be calibrated after the insertion of the intraoperative ultrasound probe 1. In the embodiment, the relative position of the buckle body 21 and the transmitting acoustic window 106 is calibrated by rotating the buckle body 21 by the rotating seat 1510.

[0397] On the basis of the above-mentioned embodiments, in order to realize automatic calibration, it is expected that the calibration mechanism 151 can rotate the buckle body 21 based on the transmitting acoustic window 106 to calibrate the relative position of the two during the insertion of the intraoperative ultrasound probe 1 into the buckle body 21. To achieve this purpose, as shown in FIGS. 40 and 42, the calibration mechanism 151 in the embodiment further includes a rotating seat 1510 and an elastic pressing member, and the end of the rotating seat 1510 is rotatably connected with the fixed vertical plate 150 through a bearing;

[0398] The rotating seat 1510 is provided with the assembly channel 18, and the fixing members 1511 are arranged on the rotating seat 1510, and one end of the fixing members 1511 extends into the assembly channel 18 to press and fix the buckle body 21;

[0399] The elastic pressing member is arranged on the rotating seat 1510, and the elastic pressing member includes a first elastic part 1513 and a first pressing part 1512. The first pressing part 1512 extends at least partially into the assembly channel 18 and is located on the assembly path of the transmitting acoustic window 106 under the action of the first elastic part 1513.

[0400] Specifically, in the embodiment, the rotating seat 1510 can rotate around the axis of the assembly channel 18 in the horizontal direction, and the fixing member 1511 installed on the rotating seat 1510 can fix the position of the calibration buckle body 21. In the embodiment, the first pressing part 1512 has a certain width and is parallel to the avoiding groove 2100 on the buckle body 21, and when the transmitting acoustic window 106 is inserted into the buckle body 21 at a certain deflection angle, a part of the first pressing part 1512 is in contact with the higher side of the transmitting acoustic window 106, and the first pressing part 1512 has a tendency to completely adhere to the surface of the transmitting acoustic window 106 under the action of the first elastic part 1513. Since the intraoperative ultrasound probe 1 is held by the operator during the insertion process and thus cannot rotate, the force applied by the first elastic part 1513 to the first pressing part 1512 will act on the rotating seat 1510, thereby driving the rotating seat 1510 and the buckle body 21 to rotate, so that the first pressing part 1512 completely adheres to the transmitting acoustic window 106 when the rotating seat 1510 rotates, and at this time, the relative positions of the transmitting acoustic window 106 and the avoiding groove 2100 meet the requirements.

[0401] In the embodiment, the avoiding groove 2100 on the buckle body 21 is not necessarily in a horizontal state after installation, and its specific state is determined by the deflection state when the transmitting acoustic window 106 is inserted. The first elastic part 1513 can be a spring or a spring sheet, and in the embodiment, it is not limited here.

[0402] As shown in FIG. 41, in one embodiment of the fixing member 1511, in order to enable the fixing member 1511 to apply a certain pressure to the buckle body 21 during the process of installing the buckle body 21 to calibrate the position of the buckle body 21, the fixing member 1511 in the embodiment includes a second elastic part and a second pressing part provided in the rotating seat 1510, and the second pressing part at least partially extends into the assembly channel 18 and is located on the assembly path of the buckle body 21 under the action of the second elastic part.

[0403] Specifically, in the embodiment, when the buckle body 21 is installed in the assembly channel 18 at a certain deflection angle, the upper end of the side wall of the avoiding groove 2100 on one side is higher than that on the other side, and thus the higher side will compress the second elastic part connected to the corresponding second pressing part to a greater extent after being in contact with the corresponding second pressing part, and the lower side will compress the second elastic part connected to the corresponding second pressing part to a relatively smaller extent after being in contact with the corresponding second pressing part. Therefore, the second elastic part with a greater compression extent will apply a greater pressure to the corresponding second pressing part, thereby driving the buckle body 21 to rotate in the assembly channel 18 by a certain angle until the compression extents of the second elastic parts on both sides are close to or consistent, at which time the buckle body 21 is in the correct position in the assembly channel 18, i.e., the avoiding groove 2100 is in a horizontal position.

[0404] In one embodiment of the second elastic part and the second pressing part, the second elastic part comprises a second spring, and the second pressing part comprises a pressing column, the second spring is arranged in the rotating seat 1510, the first end of the pressing column abuts against the second spring, and the second end of the pressing column can extend into the assembly channel 18 under the action of the second spring and abut against the opening end face of the avoiding groove 2100 on the buckle body 21.

[0405] Specifically, in the embodiment, during the process of assembling the buckle body 21 into the assembly channel 18, the lower end of the pressing column is in contact with the upper end face of the side wall of the avoiding groove 2100 and compresses the corresponding second spring. The lower end of the pressing column is in sliding friction with the upper end face of the side wall of the avoiding groove 2100 during the process of assembling the buckle body 21. In order to reduce the friction, a ball can be arranged at the lower end of the pressing column.

[0406] As shown in FIGS. 40 and 42, in one embodiment of the first elastic part 1513 and the first pressing part 1512, the first elastic part 1513 comprises a first spring 15160, and the first spring 15160 is arranged on the rotating seat 1510;

[0407] The first pressing part 1512 comprises a pressing block 15120, the first end of the pressing block 15120 abuts against the first spring 15160, and the second end of the pressing block 15120 can extend into the assembly channel 18 under the action of the first spring 15160 and abut against the transmitting acoustic window 106.

[0408] In the embodiment, during the process of inserting the intraoperative ultrasonic probe 1 into the buckle body 21, the second end of the pressing block 15120 abuts against the surface of the transmitting acoustic window 106 and compresses the first spring 15160. When the transmitting acoustic window 106 is deflected, the force applied to the pressing block 15120 by the first spring 15160 will act on the rotating seat 1510 to drive the buckle body 21 to rotate, thereby calibrating the relative positions of the avoiding groove 2100 on the buckle body 21 and the transmitting acoustic window 106.

[0409] On the basis of the above-mentioned embodiment, the pressing block 15120 is hinged to the inner side of the rotating seat 1510 through a rotating shaft, the first spring 15160 abuts against the end of the pressing block 15120 away from the rotating shaft, the end of the pressing block 15120 away from the rotating shaft is provided with a first rolling member 1514, and the first rolling member 1514 can extend into the assembly channel 18 under the action of the first spring 15160 and abut against the transmitting acoustic window 106.

[0410] Specifically, in the embodiment, the rear end of the pressing block 15120 is hingedly connected to the inner side of the rotating seat 1510 through a rotating shaft, the first spring 15160 is arranged in the rotating seat 1510, and the lower end of the first spring 15160 abuts against the upper end surface of the front end of the pressing block 15120. The lower end surface of the front end of the pressing block 15120 is provided with the first rolling element 1514, which can be a ball or a bearing, and the friction is reduced through the first rolling element 1514.

[0411] Since the first moving end 160 needs to be controlled to move during installation, in order to facilitate the driving of the first moving end 160 to move linearly, as shown in FIG. 36, the first base 14 in the embodiment is provided with a first linear driving mechanism 19, which is in transmission connection with the first moving end 160 and is used to drive the first moving end 160 to move linearly.

[0412] In the embodiment, the first linear driving mechanism 19 can be a lead screw transmission mechanism, a pneumatic cylinder, a hydraulic cylinder, etc., which is not limited herein. When the first linear driving mechanism 19 is a lead screw transmission mechanism, the lead screw slider 193 of the lead screw transmission mechanism is fixedly connected with the first moving end 160, and the rotation of the lead screw 190 of the lead screw transmission mechanism drives the lead screw slider to move linearly, thereby driving the first moving end 160 to move linearly. The first pushing end 161 is a structure of the pushing clamping element 243, which includes a first clamping element capable of moving linearly along the radial direction of the intraoperative ultrasonic probe 1. During installation, the first clamping element is controlled to move towards the intraoperative ultrasonic probe 1, and is clamped on the clamping element 243 or abuts against the end surface of the clamping element 243 by the first clamping element, so as to push the clamping element 243 to move under the action of the first moving end 160, and be sleeved and fixed on the buckle main body 21.

[0413] In one embodiment of the first linear driving mechanism 19, as shown in FIG. 37, the first linear driving mechanism 19 includes a lead screw transmission mechanism and a guide shaft 25, both of which are arranged on the first base 14.

[0414] The first moving end 160 is fixedly connected with the lead screw slider 193 of the lead screw transmission mechanism, and the first moving end 160 is sleeved on the guide shaft 25.

[0415] In the embodiment, the guide shaft 25 is installed on the first base 14, both ends of the guide shaft 25 are fixed in guide seats, the guide seats are fixed on the first base 14, and the axis of the guide shaft 25 is parallel to the axis of the intraoperative ultrasonic probe 1. The guide shaft 25 can guide the linear movement of the first moving end 160, and at the same time, the lead screw 190 of the lead screw transmission mechanism can drive the lead screw slider 193 to move linearly.

[0416] In one embodiment of the screw drive mechanism, as shown in FIG. 37, the screw drive mechanism includes a screw rod 190, a screw rod slider 193, a screw rod mounting base 192, and a rocking wheel 191, the screw rod 190 is rotatably connected to the screw rod mounting base 192, and the screw rod slider 193 is threadedly connected to the screw rod 190.

[0417] Specifically, in the present embodiment, the screw rod 190 is arranged in a direction parallel to the intraoperative ultrasound probe 1, the screw rod mounting base 192 is fixed to the first base 14 and connected to both ends of the screw rod 190 through bearings, so that the screw rod 190 can be rotated about the screw rod mounting base 192. In order to facilitate the rotation of the screw rod 190, the front end of the screw rod 190 in the present embodiment extends out of the first base 14 and is connected to the rocking wheel 191, which can be operated to rotate the screw rod 190 during installation, thereby driving the screw rod slider 193 and the first moving end 160 to move linearly.

[0418] In order to facilitate the movement of the clamping member 243, the first moving end 160 in the present embodiment is provided in two groups and symmetrically distributed on both sides of the first base 14, the guide shaft 25 is provided in two and respectively connected to the first moving end 160 on both sides, and the screw drive mechanism is arranged between the two first moving ends 160, and the two groups of first moving ends 160 are fixedly connected with the screw rod slider 193.

[0419] Specifically, in the present embodiment, the screw rod 190 is arranged between the two groups of first moving ends 160, the screw rod slider 193 is threadedly connected to the screw rod 190, and the two sides of the screw rod slider 193 are fixedly connected with the two groups of first moving ends 160 through connecting plates. A group of first pushing ends 161 are respectively arranged on the two groups of first moving ends 160, and during installation, the two groups of first pushing ends 161 are respectively located on both sides of the intraoperative ultrasound probe 1, and the two groups of first pushing ends 161 can be operated to move synchronously to the intraoperative ultrasound probe 1 to connect with both sides of the clamping member 243. In the present embodiment, the two groups of first moving ends 160 and the two groups of first pushing ends 161 are arranged to balance the force on both sides of the clamping member 243 during installation, thereby avoiding the generation of a bias blockage.

[0420] As shown in FIGS. 37-44, in one embodiment of the first moving end 160, the first moving end 160 includes a first moving seat 1600, the first pushing end 161 further includes a third spring 1612, the first clamping member includes a first push rod 1611 and a first clamping ring 1610, the first push rod 1611 is slidably arranged in the first moving seat 1600 and can be driven to move linearly, and the third spring 1612 is sleeved on the first push rod 1611.

[0421] The front end of the first push rod 1611 extends out of the first moving end 160 and is fixedly connected with the first clamping ring 1610, which is used for clamping on the intraoperative ultrasonic probe 1 and abutting against the rear end surface of the clamping part 243, and the rear end of the first push rod 1611 extends out of the first moving seat 1600.

[0422] Specifically, when installing, the rear end of the first push rod 1611 can be pulled outward to make the first clamping ring 1610 located at the front end of the first push rod 1611 move backward to leave a mounting space for the intraoperative ultrasonic probe 1, and in this process, the first push rod 1611 will compress the third spring 1612. Then the intraoperative ultrasonic probe 1 is installed into the buckle body 21, at this time the clamping part 243 is also sleeved on the intraoperative ultrasonic probe 1. Then the first push rod 1611 is released, and the first clamping ring 1610 at the front end of the first push rod 1611 moves towards the intraoperative ultrasonic probe 1 under the action of the third spring 1612 and clamps on the intraoperative ultrasonic probe 1, at this time the first clamping ring 1610 is located at the rear end of the clamping part 243. Finally, the first moving seat 1600 can be controlled to move, and in the moving process, the first clamping ring 1610 pushes the rear end surface of the clamping part 243 to make the clamping part 243 move linearly forward on the intraoperative ultrasonic probe 1 until it is sleeved on the buckle body 21. After the installation is completed, the first push rod 1611 can be pulled outward again, so that the first clamping ring 1610 is separated from the intraoperative clamping part 243 and the intraoperative ultrasonic probe 1, to facilitate the removal of the intraoperative ultrasonic probe 1.

[0423] Since the inner diameter of the clamping part 243 is greater than the outer diameter of the intraoperative ultrasonic probe 1 during installation, the upper end of the clamping part 243 is in contact with the upper surface of the intraoperative ultrasonic probe 1 after the intraoperative ultrasonic probe 1 passes through the clamping part 243, so that the clamping part 243 and the intraoperative ultrasonic probe 1 are in an eccentric state, and the intraoperative ultrasonic probe 1 and the buckle body 21 are in a concentric state, so that the connection between the clamping part 243 and the buckle body 21 is easily blocked during the movement of the clamping part 243. In addition, since the clamping part 243 is thin, only the first clamping ring 1610 is in contact with the rear end surface of the clamping part 243 to push the clamping part 243 to move, and the first clamping ring 1610 is easy to slip off the clamping part 243, resulting in assembly failure.

[0424] Therefore, as shown in FIG. 38, a first positioning protrusion 16100 is arranged on the first clamping ring 1610 close to one end of the clamping part 243 in the embodiment, and the first positioning protrusion 16100 is used for clamping into and abutting against the inner side of the clamping part 243 before the clamping part 243 is pushed to position the radial position of the clamping part 243.

[0425] Specifically, in the present embodiment, when the front end of the intraoperative ultrasound probe 1 passes through the clamping piece 243 and is inserted into the buckle body 21, the clamping piece 243 is caused to adhere to the upper surface of the intraoperative ultrasound probe 1 due to its own weight, and the two are in an eccentric state. At this time, the first moving end 160 drives the first clamping ring 1610 to move towards the clamping piece 243, so that the first positioning protrusion 16100 is clamped into the clamping piece 243. Under the action of the first positioning protrusions 16100 on both sides, the clamping piece 243 moves upward and is positioned at a position concentric with the intraoperative ultrasound probe 1. At this time, further pushing the clamping piece 243 forward can determine the accurate connection of the clamping piece 243 and the buckle body 21. In addition, since the first positioning protrusion 16100 is clamped into the inner side of the clamping piece 243, the first clamping ring 1610 and the clamping piece 243 are not easy to slip during the movement of the clamping piece 243, thereby improving the stability of the connection process. As shown in FIG. 43, in an embodiment, the first moving seat 1600 is provided with a first locking structure 26, and the first locking structure 26 is used to lock the first push rod 1611 at a first position, and the first position is the opening position of the first clamping ring 1610.

[0426] As shown in FIG. 37 and FIG. 43, the first base 14 is provided with a first linkage structure 20, and the first linkage structure 20 is located in the moving direction of the first moving seat 1600. The first linkage structure 20 is arranged to be able to link with the first locking structure 26. When the first moving seat 1600 moves to a second position, the first linkage structure 20 triggers the first locking structure 26 to perform the action of releasing the first clamping ring 1610. The second position is the position of the first clamping ring 1610 close to the rear end face of the clamping piece 243.

[0427] Specifically, before installation, the first moving seat 1600 is in an initial position. At this time, the first push rod 1611 can be manually pulled outward. When the first push rod 1611 is pulled to a first position, the first locking structure 26 is triggered, and the first push rod 1611 is locked at the first position by the first locking structure 26. In the present embodiment, the first position of the first push rod 1611 corresponds to the opening position of the first clamping ring 1610, that is, when the first clamping ring 1610 is in this position, the intraoperative probe can be installed. After the first push rod 1611 is locked at the first position, the intraoperative ultrasound can be installed into the buckle body 21, and then the first moving seat 1600 can be controlled to move forward.

[0428] When the first mobile base 1600 moves forward to the second position, the first linkage structure 20 on the first base 14 triggers the first locking structure 26 in the first mobile base 1600, at this time the first locking structure 26 releases the first push rod 1611 under the action of the first linkage structure 20, the first push rod 1611 will move inward under the action of the third spring 1612, so that the first clamping ring 1610 moves towards the intraoperative ultrasonic probe 1. Since the first clamping ring 1610 needs to abut against the rear end face of the clamping piece 243 to push the clamping piece 243 to move, therefore, in the embodiment, the second position refers to the position of the first mobile base 1600 when the projection of the first clamping ring 1610 on the intraoperative ultrasonic probe 1 is close to the rear end face of the clamping piece 243.

[0429] In the embodiment, the first locking structure 26 and the first linkage structure 20 can be provided in various forms, and a mechanical structure triggering linkage mode can be adopted. Specifically, as shown in FIGS. 43 and 45, a second clamping groove 1613 can be provided on the first push rod 1611, the first locking structure 26 includes a first clamping rod 260 and a fourth spring 261 provided in the first mobile base 1600, the first clamping rod 260 is hinged in the first base 14, the fourth spring 261 is connected with the first clamping rod 260, and the first end of the first clamping rod 260 is in clamping and matching with the second clamping groove 1613.

[0430] The second end of the first clamping rod 260 extends out of the lower end of the first mobile base 1600 and corresponds to the first linkage structure 20, when the first mobile base 1600 moves to the second position, the first linkage structure 20 pushes the second end of the first clamping rod 260 to make the first clamping rod 260 rotate, so that the first end of the first clamping rod 260 is separated from the second clamping groove 1613.

[0431] When the first mobile base 1600 is in the initial position, the first push rod 1611 can be pulled outward, when the first push rod 1611 is pulled to the first position, the second clamping groove 1613 corresponds to the first end of the first clamping rod 260, under the action of the fourth spring 261, the first end of the first clamping rod 260 is clamped into the second clamping groove 1613 to lock the first push rod 1611, at this time the second end of the first clamping rod 260 extends out of the lower end of the first mobile base 1600.

[0432] In the process of moving the first moving seat 1600 to the second position, the second end of the first clamping rod 260 gradually approaches the first linkage structure 20. When the second end of the first clamping rod 260 contacts the first linkage structure 20, with the further movement of the first moving seat 1600, the first clamping rod 260 will rotate around the hinge point so that the first end of the first clamping rod 260 gradually disengages from the second clamping groove 1613. When the first moving seat 1600 reaches the second position, the first end of the first clamping rod 260 is completely disengaged from the second clamping groove 1613, at which time the first push rod 1611 pushes the first clamping ring 1610 forward and clamps on the intraoperative ultrasonic probe 1 under the action of the third spring 1612.

[0433] As shown in FIG. 43, in an embodiment, the first clamping rod 260 can include two vertical parts and a horizontal part, and the two vertical parts are respectively fixed at the two ends of the horizontal part. The middle part of the horizontal part is hinged to the first moving seat 1600 through a rotating shaft, the vertical part located at the front end of the horizontal part is used for clamping and cooperating with the second clamping groove 1613, and the vertical part located at the rear end of the horizontal part can extend out of the lower end of the first moving seat 1600 and cooperate with the first linkage structure 20, and the lower end of the fourth spring 261 is connected with the horizontal part.

[0434] In order to enable the first end of the first clamping rod 260 to be automatically clamped into the second clamping groove 1613 when the first push rod 1611 is pulled to the first position, in the embodiment, an inclined surface can be arranged on the first end of the first clamping rod 260 and the position of the first push rod 1611 located at the rear end of the second clamping groove 1613, and automatic clamping is realized through the cooperation of the two inclined surfaces.

[0435] On the basis of the above-mentioned embodiments, as shown in FIG. 37, the first linkage structure 20 includes a first linkage block fixedly arranged on the first base 14, and the first linkage block is provided with a first linkage inclined surface 210 and a first linkage flat surface 220, which are arranged in sequence along the moving direction of the first moving seat 1600 towards the mounting seat 15.

[0436] Specifically, in the present embodiment, the first linkage block is arranged on both sides of the first base 14 and corresponds to the first moving seat 1600. The upper surface of the first linkage block comprises a first linkage inclined surface 210 and a first linkage flat surface 220. When the first push rod 1611 is locked by the first clamping rod 260, with the forward movement of the first moving seat 1600, the second end of the first clamping rod 260 gradually approaches the first linkage inclined surface 210. When the second end of the first clamping rod 260 contacts the first linkage inclined surface 210, with the further movement of the first moving seat 1600, the first clamping rod 260 will rotate around the hinge point, so that the first end of the first clamping rod 260 gradually falls off the second clamping groove 1613 on the first push rod 1611. When the second end of the first clamping rod 260 moves to the first linkage flat surface 220, the first end of the first clamping rod 260 is completely separated from the second clamping groove 1613 to release the first clamping ring 1610, which will be clamped on the intraoperative ultrasonic probe 1 and located at the rear end of the clamping member 243. With the further movement of the first moving seat 1600, the second end of the first clamping rod 260 will move on the first linkage flat surface 220, in the process, the first clamping ring 1610 pushes the clamping member 243 to move towards the buckle body 21 and is sleeved on the buckle body 21.

[0437] To reduce the friction between the second end of the first clamping rod 260 and the first linkage block, in the present embodiment, the second end of the first clamping rod 260 is provided with a second rolling member 262 for cooperating with the first linkage inclined surface 210 and the first linkage flat surface 220. The second rolling member 262 can be a ball bearing or the like, which is not limited in the present embodiment.

[0438] It can be understood that, in addition to mechanical linkage, the first locking structure 26 and the first linkage structure 20 in the present application can also be linked in an electric manner. Specifically, the first locking structure 26 can lock and release the first push rod 1611 in an electric manner, for example, the first locking structure 26 is an electromagnetic lock or the like. During the movement of the first moving seat 1600, the position of the first moving seat 1600 can be detected by a corresponding displacement sensor, when the first moving seat 1600 moves to the second position, a corresponding electric signal is triggered, and the first locking structure 26 is controlled to release the first push rod 1611.

[0439] To better push the clamping member 243, as shown in FIG. 43, the first clamping ring 1610 in the present embodiment is arranged in a semicircular shape, and the upper and lower ends of the first clamping ring 1610 on both sides are provided with a first plug-in part and a second plug-in part for plug-in cooperation.

[0440] Due to the long insertion tube of the intraoperative ultrasound probe 1, the intraoperative ultrasound probe 1 can be connected horizontally with the buckle body 21, as shown in FIG. 36. In the embodiment, a plurality of first support seats 17 are further arranged on the first base 14, and the first support seats 17 are provided with first support grooves for supporting the intraoperative ultrasound probe 1.

[0441] As shown in FIGS. 49-59, the embodiment provides a disassembly tool for the intraoperative ultrasound probe 1, which comprises:

[0442] a second base 30;

[0443] a disassembly seat 32 arranged on the second base 30, and a disassembly groove 320 is formed in the disassembly seat 32 for accommodating the buckle body 21;

[0444] a second advancing mechanism 34 comprising a second moving end 340 and a second pushing end 341, the second moving end 340 is arranged to move linearly in a direction parallel to the axial direction of the intraoperative ultrasound probe 1, and the second pushing end 341 is arranged to be connected with the clamping piece 243 and move away from the disassembly seat 32 under the action of the second moving end 340, so that the clamping piece 243 is separated from the buckle body 21;

[0445] a positioning mechanism 36 arranged on the second base 30, and the positioning mechanism 36 is used for fixing the buckle body 21 in the disassembly groove 320.

[0446] In the embodiment, the disassembly tool mainly comprises the second base 30, the disassembly seat 32, the second advancing mechanism 34 and the positioning mechanism 36. The second base 30 is used as a basic mounting structure, which can be provided in the form of a long strip-shaped plate structure, and can also be other structures, which is not limited in the embodiment. The disassembly seat 32, which is used for accommodating the buckle body 21, can be mounted at the first end of the second base 30. The disassembly seat 32 is provided with a disassembly groove 320 extending in the horizontal direction, and the upper end and the rear end of the disassembly groove 320 are both open structures. The intraoperative ultrasound probe 1 with the buckle body 21 assembled can be inserted into the disassembly groove 320 from the open structure at the rear end, and the open structure at the upper end of the disassembly groove 320 is convenient for disinfecting the entire disassembly tool after disassembly.

[0447] Since the intraoperative ultrasound probe 1 is a long strip-shaped structure, in order to facilitate the support of the intraoperative ultrasound probe 1 during disassembly, a plurality of second support seats 31 can be arranged on the second base 30 in the embodiment, and second support grooves 310 are formed in the second support seats 31, which can accommodate the intraoperative ultrasound probe 1 or protect the long tube 6 to support the intraoperative ultrasound probe 1.

[0448] For the disassembly of the clamping member 243 fitted on the buckle body 21, the clamping member 243 needs to be pushed outward along the axial direction of the intraoperative ultrasonic probe 1 to be separated from the buckle body 21. For this purpose, the disassembly tool in the present embodiment further comprises a second pushing mechanism 34, which mainly comprises a second moving end 340 and a pushing end, wherein the second moving end 340 is mainly used to drive the second pushing end 341 to move, and the second pushing end 341 is mainly used to keep connected with the clamping member 243, so as to push the clamping member 243 under the action of the second moving end 340.

[0449] The second pushing end 341 needs to be adjusted before disassembly, at least to be opened to leave the mounting space of the intraoperative ultrasonic probe 1. After the intraoperative ultrasonic probe 1 is mounted to the disassembly tool, the second pushing end 341 is adjusted again to be closed and connected with the clamping member 243. Specifically, the second pushing end 341 can be connected with the clamping member 243 in a clamping fixed manner or abut against the front end face of the clamping member 243. The second moving end 340 is used to adjust the position of the second pushing end 341, so that it is in a position capable of being connected with the clamping member 243.

[0450] When the second pushing end 341 is connected with the clamping member 243, or in the process of connection, the positioning mechanism 36 acts to fix the buckle body 21 in the disassembly groove 320, so as to avoid that the buckle body 21 moves in the process of pushing the clamping member 243 and causes disassembly failure. Since the positioning mechanism 36 only needs to realize the function of fixing the buckle body 21 in the disassembly groove 320, various structure forms can be adopted. In one embodiment, the positioning mechanism 36 can be controlled to move to abut against the rear end face of the buckle body 21, so as to overcome the backward pulling force suffered by the buckle body 21 in the disassembly process. In another embodiment, the buckle body 21 can be tightly fixed in the disassembly groove 320 through a locking structure. The specific structure of the positioning mechanism 36 in the present embodiment is not limited.

[0451] After the fixing of the buckle body 21 and the connection of the clamping member 243 are completed, the second moving end 340 can be operated again to move linearly in a direction away from the disassembly seat 32, and the second moving end 340 will drive the second pushing end 341 to move, so as to push the clamping member 243 to move backward and separate from the buckle body 21. Then the handle fixing assembly 8 of the protection tube tool is operated to be opened, and the intraoperative ultrasonic probe 1 can be withdrawn backward, so as to complete the disassembly of the intraoperative ultrasonic probe 1.

[0452] In an embodiment, the second moving end 340 can be arranged on the second base 30 and driven to move linearly by a corresponding driving mechanism. Of course, the second moving end 340 can also not be arranged on the second base 30, but be assembled as an independent component during installation. The second pushing end 341 is connected to the second moving end 340, and in an embodiment, the second pushing end 341 can move linearly along the radial direction of the intraoperative ultrasonic probe 1. During installation, the second pushing end 341 can move linearly close to the intraoperative ultrasonic probe 1 and be located at the front end of the clamping member 243, at which time the rear end surface of the second pushing end 341 is close to or abuts the front end surface of the clamping member 243, so that the second pushing end 341 can push the clamping member 243 to move linearly backward under the action of the second moving end 340. In another embodiment, the second pushing end 341 can be clamped on the clamping member 243 and push the clamping member 243 to move by friction. In the present embodiment, the specific structure of the second pushing end 341 is not limited, and a person skilled in the art can design it according to actual needs.

[0453] Since the second moving end 340 needs to be controlled to move during installation, in order to facilitate the driving of the second moving end 340 to move linearly, as shown in FIGS. 49-52, the second base 30 in the present embodiment is provided with a second linear driving mechanism 33, which is in transmission connection with the second moving end 340 and is used to drive the second moving end 340 to move linearly.

[0454] In the present embodiment, the second linear driving mechanism 33 can be a lead screw transmission mechanism, a pneumatic cylinder, a hydraulic cylinder, etc., which are not limited herein. When the second linear driving mechanism 33 is arranged as a lead screw transmission mechanism, the screw block of the lead screw transmission mechanism is fixedly connected with the second moving end 340, and the screw block is driven to move linearly by the rotation of the screw 331 of the lead screw transmission mechanism, thereby driving the second moving end 340 to move linearly. The second pushing end 341 is a structure for pushing the clamping member 243, and in the present embodiment, the second pushing end 341 includes a second clamping member that can move linearly along the radial direction of the intraoperative ultrasonic probe 1. During installation, the second clamping member is controlled to move toward the intraoperative ultrasonic probe 1, and the second clamping member is clamped on the clamping member 243 or abuts the end surface of the clamping member 243, thereby pushing the clamping member 243 to move under the action of the second moving end 340, so as to be fixedly sleeved on the buckle main body 21.

[0455] In an embodiment of the second linear driving mechanism 33, as shown in FIGS. 49 and 52, the second linear driving mechanism 33 includes a lead screw transmission mechanism and a guide shaft 25, both of which are arranged on the second base 30.

[0456] The second moving end 340 is fixedly connected with the screw block of the lead screw transmission mechanism, and the second moving end 340 is slidably sleeved on the guide shaft 25.

[0457] In the embodiment, the guide shaft 25 is installed on the second base 30, and both ends of the guide shaft 25 are fixed in guide seats which are fixed on the second base 30, and the axis of the guide shaft 25 is parallel to the axis of the intraoperative ultrasound probe 1. The guide shaft 25 can guide the linear movement of the second moving end 340, and the lead screw 331 of the lead screw transmission mechanism can drive the linear movement of the lead screw block.

[0458] In an embodiment of the lead screw transmission mechanism, as shown in the figure, the lead screw transmission mechanism includes a lead screw 331, a lead screw block, a lead screw mounting seat, and a rocking wheel 330. The lead screw 331 is hinged on the lead screw mounting seat, and the lead screw block is threadedly connected to the lead screw 331.

[0459] Specifically, in the embodiment, the lead screw 331 is arranged in a direction parallel to the intraoperative ultrasound probe 1, the lead screw mounting seat is fixed on the second base 30 and connected to both ends of the lead screw 331 through bearings, so that the lead screw 331 can rotate on the lead screw mounting seat. In order to facilitate the rotation of the lead screw 331, the front end of the lead screw 331 in the embodiment extends out of the second base 30 and is connected to the rocking wheel 330. When installing, the rocking wheel 330 can be operated to rotate and drive the rotation of the lead screw 331, thereby driving the linear movement of the lead screw block and the second moving end 340.

[0460] In order to facilitate the movement of the clamping part 243, the second moving end 340 in the embodiment is provided in two groups and symmetrically distributed on both sides of the second base 30, the guide shaft 25 is provided in two and respectively connected to the second moving end 340 on both sides, the lead screw transmission mechanism is arranged between the two second moving ends 340, and the two groups of second moving ends 340 are fixedly connected to the lead screw block.

[0461] Specifically, in the embodiment, the lead screw 331 is arranged between the two groups of second moving ends 340, the lead screw block is threadedly connected to the lead screw 331, and both sides of the lead screw block are fixedly connected to the two groups of second moving ends 340 through connecting plates. A group of second pushing ends 341 are respectively arranged on the two groups of second moving ends 340, and when installing, the two groups of second pushing ends 341 are respectively located on both sides of the intraoperative ultrasound probe 1, and the two groups of second pushing ends 341 can be operated to move synchronously to the intraoperative ultrasound probe 1 to be connected to both sides of the clamping part 243. In the embodiment, the two groups of second moving ends 340 and the two groups of second pushing ends 341 are arranged to balance the force on both sides of the clamping part 243 when installing, so as to avoid the generation of deviation and blockage.

[0462] As shown in FIGS. 51-54, in one embodiment of the second moving end 340, the second moving end 340 comprises a second moving seat 3400, the second pushing end 341 further comprises a fifth spring 3411, and the second clamping member comprises the second pushing end 3410 and the second clamping ring 3412. The second pushing end 3410 is slidingly arranged in the second moving seat 3400 and can be driven to move linearly in the second moving seat 3400. The fifth spring 3411 is sleeved on the second pushing end 3410.

[0463] The front end of the second pushing end 3410 extends out of the second moving end 340 and is fixedly connected with the second clamping ring 3412, which is used to abut against the front end surface of the clamping member 243. The rear end of the second pushing end 3410 extends out of the second moving seat 3400.

[0464] Specifically, when installing, the rear end of the second pushing end 3410 can be pulled outward to move the second clamping ring 3412 located at the front end of the second pushing end 3410 backward to leave a space for installing the intraoperative ultrasound probe 1. In this process, the second pushing end 3410 will compress the fifth spring 3411. Then the intraoperative ultrasound probe 1 is installed into the buckle body 21, at this time the clamping member 243 is also sleeved on the intraoperative ultrasound probe 1. Then the second pushing end 3410 is released, and the second clamping ring 3412 at the front end of the second pushing end 3410 moves towards the intraoperative ultrasound probe 1 under the action of the fifth spring 3411 and clamps on the intraoperative ultrasound probe 1, at this time the second clamping ring 3412 is located at the rear end of the clamping member 243. Finally, the second moving seat 3400 can be controlled to move, and in the process of moving, the second clamping ring 3412 pushes the front end surface of the clamping member 243 to make the clamping member 243 move linearly forward on the intraoperative ultrasound probe 1 until it is sleeved on the buckle body 21. After the installation is completed, the second pushing end 3410 can be pulled outward again to make the second clamping ring 3412 disengage from the intraoperative ultrasound probe 1, so as to facilitate the removal of the intraoperative ultrasound probe 1.

[0465] As shown in FIG. 54, in order to enable the second clamping ring 3412 to remain in the open state before disassembly, in this embodiment, a second locking structure 45 is arranged in the second moving seat 3400, which is used to lock the second pushing end 3410 at a third position, which is the open position of the second clamping ring 3412.

[0466] In addition, in this embodiment, it is expected that the second clamping ring 3412 can automatically close and clamp on the front end of the clamping member 243 when the second moving end 340 is operated to move to the disassembly position. To this end,

[0467] As shown in FIG. 49 and FIG. 54, the third linkage structure 35 is arranged on the second base 30 and is located in the moving direction of the second moving seat 3400. The third linkage structure 35 is arranged to be able to link with the second locking structure 45. When the second moving seat 3400 moves to the fourth position, the third linkage structure 35 triggers the second locking structure 45 to perform the action of releasing the second clamping ring 3412. The fourth position is the position where the rear end surface of the second clamping ring 3412 is close to the front end surface of the clamping piece 243.

[0468] Specifically, before installation, the second moving seat 3400 is in the initial position. At this time, the second pushing end 3410 can be manually pulled outward. When the second pushing end 3410 is pulled to the third position, the second locking structure 45 is triggered. The second pushing end 3410 is locked in the third position by the second locking structure 45. In this embodiment, the third position of the second pushing end 3410 corresponds to the open position of the second clamping ring 3412. That is, when the second clamping ring 3412 is in this position, the installation of the intraoperative probe can be performed. After the second pushing end 3410 is locked in the third position, the intraoperative ultrasound can be installed into the buckle main body 21. Then the second moving seat 3400 can be controlled to move forward.

[0469] As shown in FIG. 6 and FIG. 7, when the second moving seat 3400 moves forward to the fourth position, the third linkage structure 35 on the second base 30 triggers the second locking structure 45 in the second moving seat 3400. At this time, the second locking structure 45 releases the second pushing end 3410 under the action of the third linkage structure 35. The second pushing end 3410 will move inward under the action of the fifth spring 3411, so that the second clamping ring 3412 moves towards the intraoperative ultrasound probe 1. Since the second clamping ring 3412 needs to abut against the front end surface of the clamping piece 243 to push the clamping piece 243 to move, in this embodiment, the fourth position refers to the position of the second moving seat 3400 when the projection of the second clamping ring 3412 on the intraoperative ultrasound probe 1 is close to the front end surface of the clamping piece 243.

[0470] In this embodiment, the second locking structure 45 and the third linkage structure 35 can be arranged in multiple forms and can adopt a mechanical structure to trigger linkage. Specifically, a third clamping groove 3413 can be arranged on the second pushing end 3410. The second locking structure 45 includes a second clamping rod 452 and a sixth spring 451 arranged in the second moving seat 3400. The second clamping rod 452 is hinged in the second base 30. The sixth spring 451 is connected with the second clamping rod 452. The first end of the second clamping rod 452 is in clamping and matching with the third clamping groove 3413.

[0471] The second end of the second clamping rod 452 extends out of the lower end of the second moving seat 3400 and corresponds to the third linkage structure 35. When the second moving seat 3400 moves to the fourth position, the third linkage structure 35 pushes the second end of the second clamping rod 452 to rotate the second clamping rod 452, so that the first end of the second clamping rod 452 is disengaged from the third clamping groove 3413.

[0472] When the second moving seat 3400 is in the initial position, the second pushing end 3410 can be pulled outward. When the second pushing end 3410 is pulled to the third position, the third clamping groove 3413 corresponds to the first end of the second clamping rod 452. Under the action of the sixth spring 451, the first end of the second clamping rod 452 is clamped into the third clamping groove 3413 to lock the second pushing end 3410. At this time, the second end of the second clamping rod 452 extends out of the lower end of the second moving seat 3400.

[0473] During the movement of the second moving seat 3400 to the fourth position, the second end of the second clamping rod 452 gradually approaches the third linkage structure 35. When the second end of the second clamping rod 452 contacts the third linkage structure 35, with further movement of the second moving seat 3400, the second clamping rod 452 will rotate around the hinge point to make the first end of the second clamping rod 452 gradually disengage from the third clamping groove 3413. When the second moving seat 3400 reaches the fourth position, the first end of the second clamping rod 452 is completely disengaged from the third clamping groove 3413. At this time, the second pushing end 3410 pushes the second clamping ring 3412 to move forward under the action of the fifth spring 3411 and clamps on the intraoperative ultrasonic probe 1.

[0474] As shown in FIG. 54, in an embodiment, the second clamping rod 452 can include two vertical parts and a horizontal part. The two vertical parts are respectively fixed at the two ends of the horizontal part. The middle part of the horizontal part is hinged to the second moving seat 3400 through a rotating shaft. The vertical part located at the front end of the horizontal part is used for clamping and cooperating with the third clamping groove 3413. The vertical part located at the rear end of the horizontal part can extend out of the lower end of the second moving seat 3400 and cooperate with the third linkage structure 35. The lower end of the sixth spring 451 is connected with the horizontal part.

[0475] In order to enable the first end of the second clamping rod 452 to automatically clamp into the third clamping groove 3413 when the second pushing end 3410 is pulled to the third position, in this embodiment, an inclined surface can be arranged on the first end of the second clamping rod 452 and the position behind the third clamping groove 3413 on the second pushing end 3410. Automatic clamping is achieved through the cooperation of the two inclined surfaces.

[0476] On the basis of the above-mentioned embodiments, as shown in FIG. 49, the third linkage structure 35 comprises a second linkage block fixed on the second base 30, and the second linkage block is provided with a second linkage slope 350 and a second linkage slope 351, which are arranged in sequence along the moving direction of the second moving seat 3400 towards the disassembling seat.

[0477] Specifically, in the second linkage block of the second base 30 and corresponding to the second moving seat 3400. The upper surface of the second linkage block comprises the second linkage slope 350 and the second linkage slope 351. When the second pushing end 3410 is locked by the second clamping rod 452, with the forward movement of the second moving seat 3400, the second end of the second clamping rod 452 gradually approaches the second linkage slope 350. When the second end of the second clamping rod 452 contacts the second linkage slope 350, with the further movement of the second moving seat 3400, the second clamping rod 452 will rotate around the hinge point, so that the first end of the second clamping rod 452 gradually falls off the third clamping groove 3413 on the second pushing end 3410. When the second end of the second clamping rod 452 moves to the second linkage slope 351, the first end of the second clamping rod 452 is completely separated from the third clamping groove 3413 to release the second clamping ring 3412, which is clamped on the intraoperative ultrasonic probe 1 and located at the rear end of the clamping piece 243. With the further movement of the second moving seat 3400, the second end of the second clamping rod 452 will move on the second linkage slope 351, and in this process, the second clamping ring 3412 pushes the clamping piece 243 to move towards the buckle main body 21 and is sleeved on the buckle main body 21.

[0478] In order to reduce the friction between the second end of the second clamping rod 452 and the second linkage block, the second end of the second clamping rod 452 is provided with a third rolling piece 453 in the embodiment, which is used to cooperate with the second linkage slope 350 and the second linkage slope 351. The third rolling piece 453 can be a ball or a bearing, etc., which is not limited in the embodiment.

[0479] It can be understood that, in addition to mechanical linkage, the second locking structure 45 and the third linkage structure 35 in the utility model can also be linked in an electric manner. Specifically, the second locking structure 45 can lock and release the second pushing end 3410 in an electric manner, for example, the second locking structure 45 is an electromagnetic lock, etc. In the process of moving the second moving seat 3400, the position of the second moving seat 3400 can be detected by a corresponding displacement sensor, and when the second moving seat 3400 moves to the fourth position, a corresponding electric signal is triggered, and the second locking structure 45 is controlled to release the second pushing end 3410.

[0480] To better promote the clamping piece 243, as shown in FIG. 54, the second clamping ring 3412 in the embodiment is provided in a semicircular shape, and the upper and lower ends of the second clamping ring 3412 on both sides are provided with a first plug-in part and a second plug-in part matched with the plug-in part.

[0481] Since the positioning mechanism 36 needs to act to fix the buckle body 21 during disassembly, on the basis of the above-mentioned linkage mode, the positioning mechanism 36 is linked with the movement of the second moving seat 3400 in the embodiment, and it is expected that when the second moving seat 3400 moves to the fourth position, the positioning mechanism 36 can move to the position for fixing the buckle body 21.

[0482] Therefore, as shown in FIG. 53, the third linkage structure 20 is further provided on the second base 30 in the embodiment, and the third linkage structure 20 is provided to be able to link with the positioning mechanism 36 and the second advancing mechanism 34;

[0483] When the second moving seat 3400 moves to the fourth position, the third linkage structure 20 triggers the positioning mechanism to perform the action of fixing the buckle body 21.

[0484] Specifically, in the embodiment, when the second moving seat 3400 is in the initial position, the positioning mechanism 36 is in the initial position, and the positioning mechanism 36 does not interfere with the loading and unloading of the buckle body 21 into the disassembly slot 320. When the second moving seat 3400 moves to the fourth position (i.e., moves to the position where the second clamping ring 3412 is located at the front end of the clamping piece 243), the positioning mechanism 36 moves to the position capable of fixing the buckle body 21 under the action of the third linkage structure 20. When the second moving seat 3400 moves backward to complete the disassembly of the clamping piece 243, i.e., after the second moving seat 3400 moves backward by a distance, the positioning mechanism 36 is reset under the action of the third linkage structure 20 and releases the buckle body 21.

[0485] After the third linkage structure 20 is provided, after the second clamping ring 3412 is locked to the open position, only the forward movement of the second moving seat 3400 is needed to automatically complete the closure of the second clamping ring 3412 and the fixation of the buckle body 21 by the positioning mechanism 36, and then the backward movement of the second moving seat 3400 is operated again to complete the disassembly of the clamping piece 243 and the release of the buckle body 21.

[0486] Since the thickness of the clamping piece 243 is thin, the second clamping ring 3412 and the clamping piece 243 are prone to slipping when only the rear end surface of the second clamping ring 3412 pushes the front end surface of the clamping piece 243 during disassembly, resulting in disassembly failure. Therefore, as shown in FIG. 50, in the present embodiment, a second positioning protrusion 34120 is arranged on the second clamping ring 3412 close to one end of the clamping piece 243, and the second positioning protrusion 34120 is arranged on both sides of the second clamping ring 3412. The second positioning protrusion 34120 is used to be clamped into and fit on the inner side of the clamping piece 243 to position the radial position of the clamping piece 243 before pushing the clamping piece 243.

[0487] Specifically, in the present embodiment, for disassembly, before disassembly, the second positioning protrusion 34120 is located in front of the clamping piece 243, and the clamping piece 243 is in a clamping state with the buckle body 21. In order to enable the second positioning protrusion 34120 to be clamped into the inner side of the clamping piece 243, the part of the buckle body 21 clamped with the clamping piece 243 needs to be provided with an avoiding groove 4000. In one embodiment, the part of the buckle body 21 clamped includes a plurality of clamping pieces, and the adjacent clamping pieces are arranged at intervals to form the avoiding groove 4000. When installed, the clamping piece 243 is clamped on the clamping piece, so as to clamp the clamping piece on the ultrasonic probe. In another embodiment, the avoiding groove 4000 can be directly opened on the rear end of the buckle body 21, so that the second positioning protrusion 34120 can be clamped into the inner side of the clamping piece 243 through the avoiding groove 4000.

[0488] During disassembly, the second clamping ring 3412 moves towards the clamping piece 243, and the second positioning protrusion 34120 is clamped into the inner side of the clamping piece 243 through the avoiding groove 4000, so that the second clamping ring 3412 is not prone to slipping with the clamping piece 243 during further movement. In one embodiment of the positioning mechanism 36, as shown in FIG. 53, the positioning mechanism 36 includes a positioning stopper 360 and a third elastic part 361, and the positioning stopper 360 includes a blocking part located at the rear of the disassembly groove 320;

[0489] The positioning stopper 360 is connected with the third elastic part 361, and the positioning stopper 360 is arranged on the second base 30 and can move linearly in the radial direction of the ultrasonic probe 1, so that the blocking part can be moved to fit the rear end surface of the buckle body 21 under the action of the third elastic part 361;

[0490] The second moving seat 3400 is linked with the positioning stopper 360 through the third linkage structure 20.

[0491] Specifically, in the embodiment, the third elastic part 361 can push the positioning block 360 to move linearly along the radial direction of the ultrasound probe 1 by elastic force, so that the blocking part on the positioning block 360 can abut against the rear end surface of the buckle body 21 during disassembly, and then the pulling force on the buckle body 21 can be overcome during disassembly. In the embodiment, the positioning block 360 can be arranged at the rear end of the disassembly seat 32 and below the disassembly groove 320, and the blocking part can be a blocking piece arranged at the upper end of the positioning block 360. The third elastic part 361 can be a spring, and a corresponding spring mounting column can be arranged at the front end of the disassembly seat 32, and the spring is sleeved on the spring mounting column and connected with the positioning block 360. The second moving seat 3400 is connected with the positioning block 360 through the third linkage structure 20, so that the positioning block 360 can be linked with the second moving seat 3400.

[0492] In an embodiment of the third linkage structure 20, the third linkage structure 20 can be a traction rope and a winding wheel, the winding wheel can be arranged on the second moving seat 3400 and can be connected by a torsion spring. The two ends of the traction rope are connected with the winding wheel and the positioning block 360 respectively, and the movement of the positioning block 360 is controlled by the movement of the second moving seat 3400.

[0493] As shown in FIG. 53, in another embodiment of the third linkage structure 20, the third linkage structure 20 includes a slide rail 405 and a supporting leg 404; the slide rail 405 is fixedly arranged on the second moving seat 3400 and can move linearly on the second base 30 with the second moving seat 3400, the lower end surface of the slide rail 405 is provided with a track surface, the track surface includes a first surface 400, a second surface 401 and a third surface 402 distributed in sequence in the direction towards the disassembly seat 32, the first surface 400 is higher than the third surface 402, and the second surface 401 is arranged as an inclined surface connecting the first surface 400 and the second surface 401;

[0494] The supporting leg 404 is fixedly arranged on the positioning block 360, when the second moving seat 3400 moves to the fourth position, the supporting leg 404 abuts against the first surface 400, and the blocking part moves to abut against the rear end surface of the buckle body 21 under the action of the third elastic part 361.

[0495] Specifically, in the embodiment, when the second moving seat 3400 is at the initial position, the foot 404 is in contact with the third surface 402 with a lower height, and the positioning block 360 is at the initial position and is compressed by the third elastic part 361. During the movement of the second moving seat 3400 from the initial position to the fourth position, the second surface 401 on the track surface gradually comes into contact with the foot 404. Since the second surface 401 is an inclined surface and the second surface 401 connects the first surface 400 with a higher height, the foot 404 gradually rises and the positioning block 360 gradually rises under the action of the third elastic part 361 during the contact between the foot 404 and the second surface 401. When the second moving seat 3400 moves to the fourth position, the foot 404 is in contact with the first surface 400 and slides on the first surface 400 for a distance, and the distance is consistent with the movement required for the clamping part 243 to be disassembled. At this time, the foot 404 and the positioning block 360 are at the highest position under the action of the third elastic part 361, and the blocking part on the positioning block 360 rises to be in contact with the rear end surface of the clasp main body 21.

[0496] During disassembly, the second moving seat 3400 moves backward, and the foot 404 gradually moves from the first surface 400 to the third surface 402 through the second surface 401, and the positioning block 360 gradually moves to the initial position during the movement.

[0497] In order to reduce the friction between the foot 404 and the track surface, in the embodiment, the foot 404 is provided with a third rolling part 403, the third rolling part 403 is in contact with the track surface, and the third rolling part 403 can be a bearing or a ball.

[0498] In one embodiment of the electromagnetic navigation sensor installation, the electromagnetic navigation sensor is installed on the clasp main body 21 through the third clamping groove 3413, and therefore the third clamping groove 3413 needs to be disassembled from the clasp main body 21 when the electromagnetic navigation sensor is disassembled. The third clamping groove 3413 is generally clamped on the inner bottom surface of the clasp main body 21, and therefore in order to disassemble the third clamping groove 3413, a disassembly seat 32 is provided with a hinge top rod 38 in the embodiment, a pressing rod 37 and a top block 39 are arranged on the disassembly seat 32, the pressing rod 37 and the top block 39 correspond to the two ends of the top rod 38 respectively and can move vertically and linearly on the disassembly seat 32, the upper end of the pressing rod 37 extends out of the upper end of the disassembly seat 32, and the upper end of the top block 39 can extend out of the bottom surface of the disassembly slot 320 and be inserted into the disassembly hole of the clasp main body 21 under the pushing action of the pressing rod 37.

[0499] During disassembly, the pressing rod 37 can be pressed downward, the front end of the top rod 38 is pressed downward by the pressing rod 37, the top rod 38 rotates to push the top block 39 upward to be inserted into the disassembly hole at the lower end of the clasp main body 21, and the third clamping groove 3413 is lifted to be separated from the clasp main body 21.

[0500] The above merely provides the preferred embodiments of the present application, and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall fall into the protective scope of the present application.

Claims

A connection assembly for an intraoperative ultrasound probe, characterized by The utility model relates to a kind of electromagnetic navigation sensor fixing device for medical ultrasound, including: Connecting piece, for detachably connected to the sound window part of the intraoperative ultrasonic probe, and located at the front end of the bending part of the intraoperative ultrasonic probe, the connecting piece is provided with the avoiding slot for avoiding the emission sound window of the intraoperative ultrasonic probe; Mounting piece, provided on the connecting piece, the mounting piece is provided with mounting part for installing electromagnetic navigation sensor suite; The connecting piece includes buckle main body, and the buckle main body is used for buckling connection with the front end of the intraoperative ultrasonic probe, and the mounting piece is provided on the inner side of the buckle main body; The buckle main body is used for sleeve joint fixed in the sound window part, the inner wall of the buckle main body is attached to the outer wall of the sound window part, the first end of the buckle main body is limitedly connected with the front end of the sound window part, the second end of the buckle main body has opening for sleeve joint fixed to the rear end of the sound window part, the second end of the buckle main body is provided with fastening structure, and the fastening structure is used for fastening the buckle main body in the sound window part. The connection assembly according to claim 1, characterized in that The mounting piece is a card slot piece provided on the inner side bottom of the buckle main body, and the mounting part is a mounting slot provided on the card slot piece, and the mounting slot is used for installing electromagnetic navigation sensor suite; The inner side of the buckle main body is provided with first card slot, and the card slot piece is installed in the first card slot; The first card slot is provided as a long strip structure, and the inner side bottom of the buckle main body is further provided with first limiting structure, the card slot piece is provided with second limiting structure matched with the first limiting structure, and the axial movement of the card slot piece in the first card slot is limited by the cooperation of the first limiting structure and the second limiting structure; The bottom of the buckle main body is provided with dismounting hole, and the dismounting hole is communicated with the first card slot, and the dismounting hole is used for dismounting tool to pass through to remove the card slot piece. The connection assembly according to claim 1, characterized in that The fastening structure includes a plurality of second notches opened in the second end of the buckle main body in the circumferential direction, the second end of the buckle main body is divided into a plurality of second fastening pieces distributed at intervals by a plurality of the second notches, and the outer side of the second fastening piece is provided with first clamping part; The fastening structure further includes clamping piece, which can be sleeved on the second end of the buckle main body and located on the outer side of the second fastening piece, the inner side of the clamping piece is provided with second clamping part, and the first clamping part and the second clamping part are clamped and matched to press the second fastening piece tightly against the outer side of the sound window part. The connection assembly according to claim 3, characterized in that The outer side of the second fastening piece is further provided with second connecting surface, and the first clamping part and the second connecting surface are distributed in front-back direction; The inner side of the clamping piece is provided with second pressing surface, and the second clamping part and the second pressing surface are distributed in front-back direction; The second pressing surface is a diameter-reducing structure towards the rear end, so that when the clamping piece and the second fastening piece are clamped and matched, the second pressing surface can extrude the second connecting surface to make the second fastening piece press tightly against the outer side of the sound window part. The connection assembly according to claim 1, characterized in that The fastening structure includes a deformation wide slot opened in the second end of the buckle main body, and the second end of the buckle main body can be elastically deformed through the deformation wide slot to fasten and adapt to intraoperative ultrasonic probes with a certain outer diameter range. Or, The fastening structure comprises a first opening structure arranged at the second end of the buckle body, the first opening structure is arranged as an arc shape, and the first opening structure is used to fit the first side of the acoustic window part; The fastening structure further comprises a first fastening buckle, and an inner surface of the first fastening buckle can fit the second side of the acoustic window part; The first end of the first fastening buckle is hinged to the first side of the first opening structure, and the second end of the first fastening buckle is buckled to the second side of the first opening structure; or, The fastening structure comprises an arc-shaped second opening structure arranged at the second end of the buckle body, and the second opening structure is used to fit the first side of the acoustic window part; The fastening structure further comprises a second fastening buckle and a third fastening buckle, and inner surfaces of the second fastening buckle and the third fastening buckle can fit the second side of the acoustic window part; The first end of the second fastening buckle is hinged to the first end of the second opening structure, and an elastic member is arranged between the second fastening buckle and the side wall of the second opening structure, and the elastic member applies a force to the second fastening buckle in a direction away from the fastening direction; The first end of the third fastening buckle is hinged to the second end of the second opening structure, and the second end of the second fastening buckle is buckled to the second end of the third fastening buckle; or, The fastening structure comprises a plurality of first notches arranged at the second end of the buckle body in the circumferential direction, and the second end of the buckle body is divided into a plurality of first fastening pieces arranged at intervals through the plurality of first notches; The fastening structure further comprises a screwing member, the screwing member is sleeved on the outside of the second end of the buckle body, and is in threaded connection with each first fastening piece to press the first fastening piece to fit the outside of the acoustic window part; The outside of the first fastening piece has an external thread and a smooth first connecting surface, and the external thread and the first connecting surface are distributed in the front-rear direction of the first fastening piece; The inside of the screwing member is provided with an internal thread and a first pressing surface, and the internal thread and the first pressing surface are distributed in the front-rear direction of the screwing member; The internal thread is in threaded connection with the external thread, and the first pressing surface is a reduced diameter structure towards the rear end, so that when the screwing member and the first fastening piece are in threaded connection, the first pressing surface can extrude the first connecting surface to press the first fastening piece to fit the outside of the acoustic window part. A protection tube tool characterized by, A connection assembly for connecting an in- procedure ultrasound probe, comprising: A protective long tube, a first installation channel is arranged in the protective long tube, the first installation channel is used to install the in- procedure ultrasound probe, a first sensor protection tube is fixedly arranged in the protective long tube, a first sliding channel is established in the first sensor protection tube, and the first sliding channel is used to accommodate a sensor wire harness; and the connection assembly is used to be installed at the front end of the in- procedure ultrasound probe extending out of the protective long tube; The handle fixing assembly is provided with a second installation channel, the handle fixing assembly is fixed to the end of the protection long tube, the second installation channel is communicated with the first installation channel, and the second installation channel is used for the front end of the intraoperative ultrasonic probe to pass through and accommodate the probe handle end of the intraoperative ultrasonic probe. The protective tube tool according to claim 6, wherein The handle fixing assembly is provided with a sliding groove, the sliding groove is provided with a sliding block, the sliding groove is communicated with the first sliding channel, and the sliding block is used for fixing the sensor wire harness; The handle fixing assembly is provided with a second sliding channel, and the two ends of the second sliding channel are communicated with the first sliding channel and the sliding groove, respectively; The sliding block is provided with a wire harness installation groove, the wire harness installation groove penetrates through the sliding block along the sliding direction of the sliding block, and the wire harness installation groove is used for fixing the sensor wire harness; The wire harness installation groove comprises a first groove body and a second groove body arranged in sequence from front to back, the width of the first groove body is greater than that of the second groove body, the first groove body is used for accommodating the second sensor protection tube, and the second groove body is used for accommodating the sensor wire harness. The protective tube tool according to claim 7, wherein The handle fixing assembly comprises a handle connecting piece, a first clamping fixing piece and a second clamping fixing piece; The handle connecting piece is fixedly sleeved at the end of the protection long tube, the first clamping fixing piece and the second clamping fixing piece are oppositely distributed, and the first clamping fixing piece and the second clamping fixing piece are used for clamping and fixing the probe handle end of the intraoperative ultrasonic probe; The first clamping fixing piece comprises a fixed segment and a movable segment, the fixed segment is arranged as a holding segment, a first end of the fixed segment is fixedly connected to the upper side of the handle connecting piece, and a second end of the fixed segment is hingedly connected to a first end of the movable segment; A first end of the second clamping fixing piece is hingedly connected to the lower side of the handle connecting piece; A second end of the movable segment and a second end of the second clamping fixing piece are detachably fixedly connected through a locking piece; The sliding groove is arranged on the movable segment, the second sliding channel comprises a first sliding segment, a second sliding segment and a third sliding segment, the first sliding segment is located on the handle connecting piece, the second sliding segment is located on the fixed segment, and the third sliding segment is located on the movable segment; The end of the first sensor protection tube extends to the third sliding segment through the first sliding segment and the second sliding segment; When the movable segment is at the maximum supination angle, the opening and closing angle between the second sliding segment and the third sliding segment is less than 20°. The protective tube tool according to claim 8, wherein The first clamping fixing piece is further provided with a wire winding spring and a fixing portion, the wire winding spring is located at the rear end of the sliding block, a front end of the wire winding spring is fixedly connected to the sliding block, and a rear end of the wire winding spring is fixed on the first clamping fixing piece; The fixing portion is located at the rear end of the wire winding spring, the wire winding spring is used for winding the sensor wire harness, and the fixing portion is used for fixing the sensor wire harness; The maximum stretching amount of the wire winding spring is greater than the maximum sliding stroke of the sliding block in the sliding groove. The wire spring is arranged in the sliding groove, the fixed part is a fixed clamping groove arranged at the rear end of the sliding groove, a fixed plate is detachably arranged on the fixed clamping groove, and the fixed plate is used for pressing the sensor wire harness in the fixed clamping groove; The handle fixing assembly is further provided with a fixing seat, the fixing seat is located in front of the fixed clamping groove, and the rear end of the wire spring is fixedly connected with the fixing seat; A wire passing groove is arranged on the fixing seat, and the wire passing groove is used for the sensor wire harness to pass through. The protective tube tool according to claim 6, wherein The protection pipe tool further comprises a second sensor protection pipe, the second sensor protection pipe is slidably arranged in the first sliding channel, a third mounting channel is arranged in the second sensor protection pipe, and the third mounting channel is used for mounting an electromagnetic navigation sensor. The front end of the first sensor protection pipe extends out of the front end of the protection pipe and forms an extension section, and at least a part of the extension section is arranged as a transition section formed by cutting the extension section along a spiral line. A mounting tool for an intraoperative ultrasound probe, characterized in that For the installation of the connection assembly as claimed in claim 3 or 4 and the intraoperative ultrasound probe, comprising: A first base is further provided with a first support seat, the first support seat is provided with a first support groove, and the first support groove is used for supporting the intraoperative ultrasound probe; A mounting seat is fixedly arranged on the first base, the mounting seat is provided with an assembly channel, the mounting seat is provided with an assembly inlet in communication with the assembly channel, and the assembly channel is arranged to be capable of accommodating the buckle body; A first advancing mechanism comprises a first moving end and a first pushing end, the first moving end is arranged to be capable of moving linearly in the axial direction parallel to the intraoperative ultrasound probe, the first pushing end is arranged on the first moving end, the first pushing end is arranged to be capable of being connected with the clamping piece and pushing the clamping piece to move towards the mounting seat to be sleeved and fixed on the buckle body under the action of the first moving end, so as to tightly hold the buckle body on the intraoperative ultrasound probe. The mounting tool according to claim 11, wherein The mounting seat comprises a fixed vertical plate and a calibration mechanism, the fixed vertical plate is fixedly arranged on the first base, and the fixed vertical plate is provided with the assembly inlet; The calibration mechanism is provided with the assembly channel, the calibration mechanism comprises a fixing piece, the fixing piece is arranged in two groups and located on both sides of the axis of the assembly channel, and the fixing piece is used for abutting against the opening end face of the avoiding groove on the buckle body to position the opening end face to a horizontal position; The calibration mechanism is rotatably connected with the fixed vertical plate, and the calibration mechanism can rotate around the axis of the intraoperative ultrasound probe to calibrate the relative position of the ultrasonic wave emitting window of the buckle body and the intraoperative ultrasound probe; The calibration mechanism further comprises a rotating seat and an elastic pressing piece, the end of the rotating seat is rotatably connected with the fixed vertical plate through a bearing; The rotating seat is provided with the assembly channel, and the fixing piece is arranged on the rotating seat and one end of the fixing piece extends into the assembly channel to tightly fix the buckle body. The elastic pressing piece is arranged on the rotating seat, and comprises a first elastic part and a first pressing part, the first pressing part extends into the assembly channel and is located on the assembly path of the ultrasonic wave transmitting window under the action of the first elastic part. The mounting tool according to claim 12, wherein The fixing piece comprises a second elastic part and a second pressing part arranged in the rotating seat, the second pressing part extends into the assembly channel and is located on the assembly path of the buckle body under the action of the second elastic part. The second elastic part comprises a second spring, and the second pressing part comprises a pressing column, the second spring is arranged in the rotating seat, the first end of the pressing column is in abutment with the second spring, and the second end of the pressing column can extend into the assembly channel under the action of the second spring and abut against the opening end face of the avoiding groove on the buckle body. The mounting tool according to claim 13, wherein The first base is provided with a first linear driving mechanism, the first linear driving mechanism is in transmission connection with the first moving end, and is used for driving the first moving end to move linearly; The first pushing end comprises a first clamping piece, the first clamping piece is arranged to be capable of moving linearly along the radial direction of the intraoperative ultrasonic probe, so as to connect and release the clamping piece; The first linear driving mechanism comprises a lead screw transmission mechanism and a guide shaft, and the lead screw transmission mechanism and the guide shaft are arranged on the first base; The first moving end is fixedly connected with a lead screw block of the lead screw transmission mechanism, and the first moving end is slidably sleeved on the guide shaft; The first moving end is arranged in two groups and symmetrically distributed on two sides of the first base, the guide shaft is arranged in two groups and slidably connected with the first moving end on the two sides respectively, the lead screw transmission mechanism is arranged between the two first moving ends, and the first moving end in the two groups is fixedly connected with the lead screw block; The first moving end comprises a first moving seat, the first pushing end further comprises a third spring, the first clamping piece comprises a first push rod and a first clamping ring, the first push rod is slidably arranged in the first moving seat and can be driven to move linearly, and the third spring is sleeved on the first push rod; The front end of the first push rod extends out of the first moving end and is fixedly connected with the first clamping ring, the first clamping ring is used for abutting against the rear end face of the clamping piece, and the rear end of the first push rod extends out of the first moving seat. The mounting tool according to claim 14, wherein The first moving seat is provided with a first locking structure, the first locking structure is used for locking the first push rod at a first position, and the first position is an open position of the first clamping ring; The first base is provided with a first linkage structure, the first linkage structure is located in the moving direction of the first moving seat, the first linkage structure is arranged to be capable of being linked with the first locking structure, when the first moving seat moves to a second position, the first linkage structure triggers the first locking structure to perform an action of releasing the first clamping ring, and the second position is a position in which the first clamping ring is closed into a ring. The first push rod is provided with a second clamping groove, the first locking structure comprises a first clamping rod and a fourth spring arranged in the first moving base, the first clamping rod is hinged in the first base, the fourth spring is connected with the first clamping rod, and the first end of the first clamping rod is clamped and matched with the second clamping groove; The second end of the first clamping rod extends out of the lower end of the first moving base and corresponds to the first linkage structure, when the first moving base moves to the second position, the first linkage structure pushes the second end of the first clamping rod to make the first clamping rod rotate, so that the first end of the first clamping rod is separated from the second clamping groove. A dismounting tool for an intraoperative ultrasound probe, characterized in that For removing the connection assembly from the intraoperative ultrasonic probe, comprising: The second base is further provided with a second supporting seat, and the second supporting seat is provided with a second supporting groove for supporting the ultrasonic probe; The dismounting seat is arranged on the second base, and a dismounting groove is formed in the dismounting seat for accommodating the buckle body; The second advancing mechanism comprises a second moving end and a second pushing end, the second moving end is arranged to move linearly in a direction parallel to the axial direction of the ultrasonic probe, the second pushing end is arranged on the second moving end, and the second pushing end is arranged to be connected with the clamping piece and to move away from the dismounting seat under the action of the second moving end, so that the clamping piece is separated from the buckle body; The positioning mechanism is arranged on the second base, and the positioning mechanism is used for fixing the buckle body in the dismounting groove. The dismounting tool according to claim 16, characterized in that The second base is provided with a second linear drive mechanism, the second linear drive mechanism is in transmission connection with the second moving end, and is used for driving the second moving end to move linearly; The second pushing end comprises a second clamping piece, the second clamping piece is arranged to move linearly along the radial direction of the ultrasonic probe, so as to connect and release the clamping piece; The second moving end comprises a second moving base, the second pushing end further comprises a fifth spring, and the second clamping piece comprises a second push rod and a second clamping ring, the second push rod is slidingly arranged in the second moving base and can be driven to move linearly in the second moving base, and the fifth spring is sleeved on the second push rod; The front end of the second push rod extends out of the second moving end and is fixedly connected with the second clamping ring, the second clamping ring is used for clamping on the ultrasonic probe and abutting against the front end surface of the clamping piece, and the rear end of the second push rod extends out of the second moving base; One end of the second clamping ring close to the clamping piece is provided with a second positioning protrusion, the second positioning protrusion is used for being clamped into and abutting against the inner side of the clamping piece before the clamping piece is pushed, so as to position the radial position of the clamping piece. The dismounting tool according to claim 17, characterized in that The second moving base is provided with a second locking structure, the second locking structure is used for locking the second push rod at a third position, and the third position is an open position of the second clamping ring. The second base is provided with a second linkage structure, which is located in the moving direction of the second moving seat and is arranged to be linked with the second locking structure. When the second moving seat moves to a fourth position, the second linkage structure triggers the second locking structure to perform an action of releasing the second clamping ring. The fourth position is a position where the rear end surface of the second clamping ring is close to the front end surface of the clamping part. The second push rod is provided with a third clamping groove, and the second locking structure comprises a second clamping rod and a sixth spring arranged in the second moving seat. The second clamping rod is hinged in the second base, and the sixth spring is connected with the second clamping rod. The first end of the second clamping rod is in clamping cooperation with the third clamping groove. The second end of the second clamping rod extends out of the lower end of the second moving seat and corresponds to the second linkage structure. When the second moving seat moves to the fourth position, the second linkage structure pushes the second end of the second clamping rod to make the second clamping rod rotate, so that the first end of the second clamping rod is separated from the third clamping groove. The second base is further provided with a third linkage structure, which is arranged to be linked with the positioning mechanism and the second advancing mechanism. When the second moving seat moves to the fourth position, the third linkage structure triggers the positioning mechanism to perform an action of fixing the buckle body. The dismounting tool according to claim 18, characterized in that The positioning mechanism comprises a positioning block and a third elastic part. The positioning block comprises a blocking part, which is located behind the dismounting groove. The positioning block is connected with the third elastic part, and the positioning block is arranged on the second base and can move linearly in the radial direction of the ultrasonic probe, so that the blocking part can be moved to be in close contact with the rear end surface of the buckle body under the action of the third elastic part. The second moving seat is linked with the positioning block through the third linkage structure. The dismounting seat is provided with a hinged top rod. The dismounting seat is provided with a pressing rod and a top block, which correspond to the two ends of the top rod respectively and can move linearly in the vertical direction on the dismounting seat. The upper end of the pressing rod extends out of the upper end of the dismounting seat. The upper end of the top block can extend out of the bottom surface of the dismounting groove and be inserted into the dismounting hole of the buckle body under the pushing action of the pressing rod. An intraoperative ultrasound probe assembly characterized by It comprises: An intraoperative ultrasonic probe, an electromagnetic navigation sensor kit and a connecting assembly as claimed in any one of claims 1 to 5, or a protective tube tooling as claimed in any one of claims 6 to 10, the electromagnetic navigation sensor kit being mounted to the front end of the intraoperative ultrasonic probe through the connecting assembly. A lancing system characterized by, It comprises: The ultrasonic probe assembly as claimed in claim 20, and a puncture kit and a navigation device, the puncture kit being provided with another electromagnetic navigation sensor kit; The navigation device is arranged to extract electromagnetic signals received by the two electromagnetic navigation sensor kits and determine the positional relationship between the puncture kit and the intraoperative ultrasonic probe based on the electromagnetic signals.

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