Navigation device

Abstract

The embodiment of the present application provides a navigation device, including: a navigation marker, a connecting component and a fixing component; the fixing component is connected to the first end of the connecting component, the fixing component is used to fix the surgical instrument, and the axis of the fixing component coincides with the axis of the surgical instrument; the navigation marker is connected to the second end of the connecting component, the navigation marker is used to be sensed by the sensor module to obtain posture data indicating the surgical instrument, and the posture data of the surgical instrument includes the position data of the surgical instrument and the posture data of the surgical instrument. The navigation device provided by the embodiment of the present application makes the axis of the fixing component coincide with the axis of the surgical instrument, so that the relative posture data of the surgical instrument relative to the navigation marker remains unchanged when the surgical instrument rotates, thereby reducing measurement errors and improving navigation precision and accuracy.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of instrument tracking, and in particular to a navigation device. Background Art

[0002] In recent years, with the development of research fields such as medical imaging technology and image processing technology, surgical navigation systems have played an increasingly important role in the field of minimally invasive surgery. The surgical navigation system can visualize the local anatomical structure, locate the location of the lesion with high precision, effectively guide the surgical instruments, expand the doctor's limited visual range, and make the surgical operation more precise and safe.

[0003] When doctors use surgical navigation systems to perform surgery, they need to observe and operate surgical instruments through computer screens, so real-time tracking of surgical instruments is one of the key technologies for surgical navigation. There are currently a variety of surgical instrument tracking methods, such as mechanical tracking, ultrasonic tracking, optical tracking (OPT), and electromagnetic tracking (EMT). Regardless of the type of tracking method, it is necessary to identify feature points on the navigation device that is relatively fixed to the surgical instrument, and then use the known tool parameters to convert them into the position and posture of the instrument for display. However, the navigation accuracy of current navigation devices is not high enough, and the navigation accuracy is low. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a navigation device to overcome the problems of the prior art.

[0005] The present application provides a navigation device, including:

[0006] Navigation signs, connecting components and fixed components;

[0007] The fixing component is connected to the first end of the connecting component, and the fixing component is used to fix the surgical instrument, and the axis of the fixing component coincides with the axis of the surgical instrument;

[0008] The navigation marker is connected to the second end of the connecting component. The navigation marker is used to be sensed by the sensor module to obtain posture data indicating the posture of the surgical instrument. The posture data includes position data and posture data of the surgical instrument.

[0009] Optionally, in a specific embodiment, the fixing assembly includes: a fixing base, a fixing sleeve and a fixing clamping portion;

[0010] One end of the fixed clamping part is connected to the fixed base, and the other end of the fixed clamping part is connected to the fixed sleeve. The fixed clamping part is used to fix the surgical instrument when the fixed base is connected to the fixed sleeve.

[0011] Optionally, in a specific embodiment, the fixed clamping part includes at least one of a first clamping structure and a second clamping structure, and a fixed clamping part body; the first clamping structure is arranged at one end where the fixed clamping part body is connected to the fixed sleeve, and the second clamping structure is arranged at one end where the fixed clamping part body is connected to the fixed base, and at least one of the first clamping structure and the second clamping structure is used to clamp the surgical instrument when contracted.

[0012] Optionally, in a specific embodiment, a third clamping structure is provided on the fixing sleeve, the shape of the third clamping structure is adapted to the shape of the first clamping structure, and the third clamping structure is used to enable the first clamping structure to clamp the surgical instrument when the fixing base is connected to the fixing sleeve; and / or

[0013] A fourth clamping structure is arranged on the fixed base, the shape of the fourth clamping structure matches the shape of the second clamping structure, and the fourth clamping structure is used to enable the second clamping structure to clamp the surgical instrument when the fixed base is connected to the fixed sleeve.

[0014] Optionally, in a specific embodiment, the navigation device further includes a first rotation tool, a second rotation tool and a third rotation tool;

[0015] The first rotating tool is clamped with the fixed base, and the second rotating tool is clamped with the fixed sleeve. The first rotating tool and the second rotating tool are used to install the fixed sleeve on the fixed base.

[0016] The third rotating tool is provided with a first fixing protrusion, the shape of which matches the shape of the first fixing hole provided on the connecting component. The third rotating tool is connected to the connecting component via the first fixing protrusion and the first fixing hole so that the fixing component can rotate independently relative to the connecting component.

[0017] Optionally, in a specific embodiment, a mounting structure is further provided on the fixing component, and the fixing component is rotatably connected to the first end of the connecting component via the mounting structure, so that the fixing component can rotate independently relative to the connecting component.

[0018] Optionally, in a specific embodiment, the first end of the connecting component is a connecting sleeve, and the second end of the connecting component is a connecting sheath; the connecting sleeve includes a first connecting body and a second connecting body, the first connecting body is connected to the connecting sheath, the first connecting body and the second connecting body are semi-circular, and the first connecting body and the second connecting body cooperate to connect with the fixing component.

[0019] Optionally, in a specific implementation, the navigation marker is rotatably connected to the second end of the connecting component.

[0020] Optionally, in a specific embodiment, at least three first marks are provided on the navigation mark, and the first marks are used to be identified by the sensor module to obtain posture data indicating the posture of the surgical instrument.

[0021] Optionally, in a specific embodiment, the first mark is circular, and the circle is divided into a plurality of sectors with the center of the circle as the vertex, each sector is filled with black or white, and adjacent sectors have different colors.

[0022] The navigation device provided in the embodiment of the present application makes the axis of the fixed component coincide with the axis of the surgical instrument so that the relative posture data of the surgical instrument relative to the navigation marker remains unchanged when the surgical instrument rotates, thereby reducing measurement errors and improving navigation precision and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Hereinafter, some specific embodiments of the present application will be described in detail in an exemplary and non-limiting manner with reference to the accompanying drawings. The same reference numerals in the accompanying drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the accompanying drawings:

[0024] Figure 1 A schematic diagram of a navigation device provided in an embodiment of the present application;

[0025] Figure 2 A schematic diagram of a connecting component and a fixing component is provided for an embodiment of the present application;

[0026] Figure 3 A schematic diagram of a connection component is provided for an embodiment of the present application;

[0027] Figure 4 A schematic diagram of a navigation mark is provided for an embodiment of the present application;

[0028] Figure 5 A schematic diagram of a fixing assembly is provided for an embodiment of the present application;

[0029] Figure 6 A schematic diagram of a fixed base and a fixed sleeve is provided for an embodiment of the present application;

[0030] Figure 7 A schematic diagram of a fixed clamping portion is provided for an embodiment of the present application;

[0031] Figure 8 A schematic diagram of another navigation device is provided for an embodiment of the present application.

[0032] Explanation of the figure marks: navigation marker 10, first marker 101, connecting component 20, connecting sleeve 201, first connecting body 211, second connecting body 221, connecting sheath 202, fixing component 30, fixing base 301, first matching structure 311, mounting structure 321, fourth clamping structure 331, fixing sleeve 302, second matching structure 312, third clamping structure 322, fixed clamping part 303, fixed clamping part body 313, first clamping structure 323, second clamping structure 333, first rotating tool 40, second rotating tool 50, third rotating tool 60. DETAILED DESCRIPTION

[0033] The specific implementation of the embodiment of the present invention is further described below in conjunction with the accompanying drawings of the embodiment of the present invention.

[0034] See also Figure 1 , an embodiment of the present application provides a navigation device, including:

[0035] A navigation mark 10, a connecting component 20 and a fixing component 30;

[0036] The fixing assembly 30 is connected to the first end of the connecting assembly 20, and the fixing assembly 30 is used to fix the surgical instrument, and the axis of the fixing assembly 30 coincides with the axis of the surgical instrument;

[0037] Specifically, the fixing component 30 can be cylindrical, and the axis of the fixing component 30 refers to the line connecting the center of the upper base and the center of the lower base of the cylinder. The main body of the surgical instrument is generally cylindrical, and the axis of the surgical instrument refers to the line connecting the center of the upper base and the center of the lower base of the cylinder. During surgery, it is often necessary to rotate the surgical instrument with the axis of the surgical instrument as the rotation axis. After the fixing component 30 fixes the surgical instrument, the axis of the fixing component 30 coincides with the axis of the surgical instrument, so that when the surgical instrument rotates, the relative posture data of the surgical instrument relative to the navigation mark 10 can remain unchanged, and the measurement error is reduced, thereby improving the navigation precision and accuracy.

[0038] The navigation marker 10 is connected to the second end of the connecting component 20. The navigation marker 10 is used to be sensed by the sensor module to obtain posture data indicating the posture of the surgical instrument. The posture data of the surgical instrument includes the position data and posture data of the surgical instrument.

[0039] Specifically, before using the navigation device, or after the position data of the navigation marker 10 relative to the surgical instrument changes, it is necessary to calibrate the relative position data of the navigation marker 10 relative to the surgical instrument, so that the position data of the surgical instrument can be obtained through the position data of the navigation marker 10 during the use of the navigation device, thereby facilitating the doctor to guide the surgical instrument to perform surgery. The present application does not limit the specific calibration method.

[0040] The navigation marker 10, the connecting component 20 and the fixing component 30 may be integrally formed or assembled, and this application does not impose any limitation on this.

[0041] The sensor module can be a camera, a video camera, or a sensor for detecting position and posture, and this application does not limit this. In a specific embodiment, the sensor module can be connected to a computer, and after obtaining the posture data of the navigation mark 10, the posture data can be transmitted to the computer, so that the computer can calculate the posture data of the surgical instrument, thereby facilitating the doctor to guide the surgical instrument to perform surgery.

[0042] In a specific embodiment, the connection between the navigation marker 10 and the connection assembly 20 can be a threaded connection or a top screw connection, which is not limited in this application. In another specific embodiment, a limiting structure, such as a limiting groove, a limiting hole, a limiting protrusion, etc., can also be provided on the navigation marker 10 and / or the connection assembly 20 to make the connection between the navigation marker 10 and the connection assembly 20 more stable.

[0043] Optionally, in a specific embodiment, a mounting structure 321 is further provided on the fixing component 30 , and the fixing component 30 is rotatably connected to the first end of the connecting component 20 via the mounting structure 321 , so that the fixing component 30 can rotate independently relative to the connecting component 20 .

[0044] See also Figure 2 Specifically, the fixing component 30 may be a hollow cylinder, the shape of the hollow part may be adapted to the surgical instrument, and the hollow part may be used to fix the surgical instrument. The mounting structure 321 may be an annular groove provided on the outer wall of the cylindrical fixing component 30, and the shape of the first end of the connecting component 20 may be a ring adapted to the annular groove.

[0045] The first end of the annular connecting component 20 is sleeved in the annular groove on the outer wall of the cylindrical fixing component 30, so that when the fixing component 30 rotates with the surgical instrument, the fixing component 30 rotates independently relative to the connecting component 20, that is, the connecting component 20 may not rotate with the fixing component 30, so that the navigation marker 10 is always in a position that can be recognized by the sensor module and is not blocked by other things, thereby ensuring the accuracy of surgical navigation.

[0046] Optionally, in a specific embodiment of the present application, the fixing component 30 and the first end of the connecting component 20 may be detachably connected, so that it is convenient to install the connecting component 20 on the fixing component 30 .

[0047] See also Figure 3Optionally, in a specific embodiment, the first end of the connecting component 20 is a connecting sleeve 201, and the second end of the connecting component 20 is a connecting sheath 202; the connecting sleeve 201 includes a first connecting body 211 and a second connecting body 221, the first connecting body 211 is connected to the connecting sheath 202, the first connecting body 211 and the second connecting body 221 are semi-annular, and the first connecting body 211 and the second connecting body 221 cooperate to connect with the fixing component.

[0048] Specifically, the connecting sheath 202 may be columnar, the connecting sleeve 201 may be annular, the connecting sleeve 201 and the connecting sheath 202 may be integrally formed or assembled, and the present application does not impose any limitation on this.

[0049] Optionally, in a specific embodiment of the present application, the first connection body 211 and the second connection body 221 may be detachably connected.

[0050] Specifically, two ends of the first connecting body 211 are respectively connected to two ends of the second connecting body 221 to form a ring shape. The first connecting body 211 and the second connecting body 221 are detachably connected, so that it is convenient to install the connecting component 20 on the fixing component 30.

[0051] In a specific implementation, the connecting sleeve 201 may also be connected to the fixing assembly 30 via a bearing, which is not limited in the present application.

[0052] Optionally, in a specific embodiment of the present application, the axis center of the connecting sleeve 201 coincides with the axis center of the fixing assembly 30 .

[0053] Specifically, the connecting sleeve can be cylindrical, and the axis of the connecting sleeve refers to the line connecting the center of the upper base of the cylinder and the center of the lower base of the cylinder. In this way, when the fixed component 30 rotates with the surgical instrument, the axis of the fixed component 30 coincides with the axis of the connecting sleeve 201, and the axis of the connecting sleeve 201 coincides with the axis of the fixed component 30. The fixed component 30 can rotate independently relative to the connecting sleeve 201, that is, the fixed component 30 will not drive the connecting sleeve 201 to rotate, nor will it drive the navigation marker 10 to move, so that the navigation marker 10 is always in the sensing range of the sensor module and is not blocked by other things, thereby ensuring the accuracy of surgical navigation.

[0054] Optionally, in a specific implementation of the present application, the navigation marker 10 is rotatably connected to the second end of the connecting assembly 20 .

[0055] Specifically, during surgery, the surgical instrument generally needs to be adjusted to various angles, and the navigation marker 10 is rotatably connected to the second end of the connecting assembly 20, so that the doctor can conveniently adjust the angle of the surgical instrument during surgery. It should be noted that each time the angle of the surgical instrument is adjusted, the relative position of the navigation marker 10 and the surgical instrument needs to be recalibrated to ensure navigation accuracy.

[0056] See also Figure 4 Optionally, in a specific embodiment, at least three first markers 101 are provided on the navigation mark 10, and the first markers 101 are used to be identified by the sensor module to obtain posture data indicating the posture of the surgical instrument.

[0057] Optionally, in a specific embodiment, the first mark 101 is circular, and the circle is divided into a plurality of sectors with the center of the circle as the vertex, each sector is filled with black or white, and adjacent sectors have different colors.

[0058] Of course, the shape of the navigation mark 10 is not limited to this, and the shape and color of the first mark 101 are also not limited to this. As long as they can be sensed by the sensor module, this application does not impose any restrictions on this.

[0059] See also Figure 5 , Optionally, in a specific embodiment of the present application, the fixing assembly 30 includes: a fixing base 301, a fixing sleeve 302 and a fixing clamping portion 303;

[0060] One end of the fixed clamping part 303 is connected to the fixed base 301 , and the other end of the fixed clamping part 303 is connected to the fixed sleeve 302 . The fixed clamping part 303 is used to fix the surgical instrument when the fixed base 301 is connected to the fixed sleeve 302 .

[0061] Specifically, the connection between the fixed clamping portion 303 and the fixed sleeve 302 may be a threaded connection or a bayonet connection, which is not limited in the present application.

[0062] The fixed clamping part 303 can be a cylindrical sleeve. When the fixed base 301 is connected to the fixed sleeve 302, the fixed clamping part 303 will be subjected to a force perpendicular to the axis and directed to the center of the cylindrical sleeve, so that the radius of the fixed clamping part 303 is reduced, thereby clamping the surgical device.

[0063] The size of the fixed clamping portion 303 can be selected according to the size of the surgical instrument, so that the navigation device can be adapted to more surgical instruments.

[0064] In a specific implementation, the fixed clamping portion 303 and the fixed base 301 may also be integrally formed, and this application does not impose any limitation on this.

[0065] See also Figure 6Optionally, in a specific embodiment of the present application, a first matching structure 311 is provided on the fixed base 301, and a second matching structure 312 is provided on the fixed sleeve 302, and the fixed base 301 is connected to the fixed sleeve 302 via the first matching structure 311 and the second matching structure 312.

[0066] Specifically, the first matching structure 311 can be an internal thread, and correspondingly, the second matching structure 312 can be an external thread; of course, the first matching structure 311 can also be an external thread, and correspondingly, the second matching structure 312 can also be an internal thread; the first matching structure 311 and the second matching structure 312 can also be bayonet structures, and this application does not impose any restrictions on this.

[0067] See also Figure 7 Optionally, in a specific embodiment, the fixed clamping portion 303 includes at least one of a first clamping structure 323 and a second clamping structure 333, and a fixed clamping portion body 313; the first clamping structure 323 is arranged at one end where the fixed clamping portion body 313 is connected to the fixed sleeve 302, and the second clamping structure 333 is arranged at one end where the fixed clamping portion body 313 is connected to the fixed base 301, and at least one of the first clamping structure 323 and the second clamping structure 333 is used to clamp the surgical instrument when contracted.

[0068] Optionally, in a specific embodiment, a third clamping structure 322 is provided on the fixed sleeve 302, and the shape of the third clamping structure 322 is adapted to the shape of the first clamping structure 323, and the third clamping structure 322 is used to enable the first clamping structure 323 to clamp the surgical instrument when the fixed base 301 is connected to the fixed sleeve 302; and / or a fourth clamping structure 331 is provided on the fixed base 301, and the shape of the fourth clamping structure 331 is adapted to the shape of the second clamping structure 333, and the fourth clamping structure 331 is used to enable the second clamping structure 333 to clamp the surgical instrument when the fixed base 301 is connected to the fixed sleeve 302.

[0069] It should be noted that, when the fixed clamping portion 303 only includes the first clamping structure 323, the third clamping structure 322 is provided on the fixed sleeve 302, and the fourth clamping structure is not provided on the fixed base 301; when the fixed clamping portion 303 only includes the second clamping structure 333, the fourth clamping structure 331 is provided on the fixed base 301, and the third clamping structure 322 is not provided on the fixed sleeve 302; when the fixed clamping portion 303 includes both the first clamping structure 323 and the second clamping structure 333, the third clamping structure 322 is provided on the fixed sleeve 302, and the fourth clamping structure 331 is provided on the fixed base 301.

[0070] The included angle between the first clamping structure 323 and the outer wall of the fixed clamping part body 313 can be between 20 degrees and 70 degrees. The first clamping structure 323 can be inserted into the fixed sleeve 302 to contract and clamp the surgical instrument.

[0071] The angle between the third clamping structure 322 and the inner wall of the fixed sleeve 302 can be complementary to the angle between the first clamping structure 323 and the outer wall of the fixed clamping part body 313, so that the first clamping structure 323 can be easily connected to the third clamping structure 322. When the fixed sleeve 302 is connected to the fixed clamping part 303, the third clamping structure 322 applies pressure to the first clamping structure 323 to make the first clamping structure 323 contract and clamp the surgical instrument, thereby avoiding the random movement of the surgical instrument during the operation and improving the stability of navigation.

[0072] The included angle between the second clamping structure 333 and the outer wall of the fixed clamping part body 313 can be between 20 degrees and 70 degrees. The second clamping structure 333 can be inserted into the fixed sleeve 302 to contract and clamp the surgical instrument.

[0073] The angle between the fourth clamping structure 331 and the inner wall of the fixed base 301 can be complementary to the angle between the second clamping structure 333 and the outer wall of the fixed clamping part body 313, so that the second clamping structure 333 can be easily connected to the fourth clamping structure 331. When the fixed sleeve 302 is connected to the fixed clamping part 303, the fourth clamping structure 331 applies pressure to the second clamping structure 333 to make the second clamping structure 333 contract and clamp the surgical instrument, thereby improving the stability of navigation.

[0074] See also Figure 8 , Optionally, in a specific embodiment, the navigation device further includes a first rotation tool 40, a second rotation tool 50 and a third rotation tool 60;

[0075] The first rotating tool 40 is clamped with the fixed base 301, and the second rotating tool 50 is clamped with the fixed sleeve 302. The first rotating tool 40 and the second rotating tool 50 are used to install the fixed sleeve 302 on the fixed base 301;

[0076] A first fixing protrusion is provided on the third rotating tool 60, and the shape of the first fixing protrusion is adapted to the shape of the first fixing hole provided on the connecting component 20. The third rotating tool 60 is connected to the connecting component 20 through the first fixing protrusion and the first fixing hole, so that the fixing component 30 can rotate independently relative to the connecting component 20.

[0077] Specifically, the first rotating tool 40 and the second rotating tool 50 may be provided with protrusions, and the corresponding outer walls of the fixed base 301 and the fixed sleeve 302 may be provided with recessed holes, so that the first rotating tool 40 and the fixed base 301 are relatively fixed, and the second rotating tool 50 and the fixed sleeve 302 are relatively fixed, so that the first rotating tool 40 and the second rotating tool 50 can connect the fixed base 301 and the fixed sleeve 302 together. For example, when the fixed base 301 and the fixed sleeve 302 are connected by threads, they are tightened by the first rotating tool 40 and the second rotating tool 50.

[0078] The first fixing protrusion of the third rotating tool 60 can be inserted into the first fixing hole to fix the third rotating tool 60. In this way, it can be ensured that when the fixing component 30 rotates with the surgical instrument, the connecting component 20 is fixed by the third rotating tool 60 and will not rotate with the fixing component 30. The navigation marker 10 is always within the sensing range of the sensor module and is not blocked by other things, thereby ensuring the accuracy of navigation.

[0079] The navigation device provided in the embodiment of the present application makes the axis of the fixing component 30 coincide with the axis of the surgical instrument so that the relative posture data of the surgical instrument relative to the navigation marker 10 remains unchanged when the surgical instrument rotates, thereby reducing measurement errors and improving navigation precision and accuracy.

[0080] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A navigation device, characterized in that: include: Navigation signs, connecting components and fixed components; The fixing component is connected to the first end of the connecting component, and the fixing component is used to fix the surgical instrument, and the axis of the fixing component coincides with the axis of the surgical instrument; The navigation mark is connected to the second end of the connecting component, and the navigation mark is used to be sensed by the sensor module to obtain posture data indicating the posture of the surgical instrument, wherein the posture data includes the position data of the surgical instrument and the posture data of the surgical instrument; Wherein, after the posture data of the navigation mark relative to the surgical instrument changes, the relative posture data of the navigation mark relative to the surgical instrument needs to be calibrated, so as to obtain the posture data of the surgical instrument through the posture data of the navigation mark during the use of the navigation device; The sensor module is connected to a computer, and after obtaining the position and posture data of the navigation marker, the position and posture data can be transmitted to the computer, so that the computer can calculate the position and posture data of the surgical instrument; A limiting structure is also provided on the navigation mark and / or the connecting component so that the navigation mark is firmly connected to the connecting component; Wherein, the fixing assembly comprises: a fixing base, a fixing sleeve and a fixing clamping part; one end of the fixing clamping part is connected to the fixing base, and the other end of the fixing clamping part is connected to the fixing sleeve, and the fixing clamping part is used to fix the surgical instrument when the fixing base is connected to the fixing sleeve; The fixed clamping part is a cylindrical sleeve. When the fixed base is connected to the fixed sleeve, the fixed clamping part is subjected to a force perpendicular to the axis and directed to the center of the cylindrical sleeve, so that the radius of the fixed clamping part is reduced, thereby clamping the surgical device. The size of the fixed clamping part can be selected according to the size of the surgical instrument, so that the navigation device can be adapted to more surgical instruments; The fixed base is provided with a first matching structure, the fixed sleeve is provided with a second matching structure, and the fixed base is connected to the fixed sleeve through the first matching structure and the second matching structure; Wherein, the navigation device further comprises a first rotation tool, a second rotation tool and a third rotation tool; The first rotating tool is clamped with the fixed base, and the second rotating tool is clamped with the fixed sleeve. The first rotating tool and the second rotating tool are used to install the fixed sleeve on the fixed base; The third rotating tool is provided with a first fixing protrusion, the shape of the first fixing protrusion is adapted to the shape of the first fixing hole provided on the connecting component, and the third rotating tool is connected to the connecting component through the first fixing protrusion and the first fixing hole, so that the fixing component rotates independently relative to the connecting component; The first rotating tool and the second rotating tool are provided with protrusions, and the corresponding outer walls of the fixed base and the fixed sleeve are provided with concave holes, so that the first rotating tool is relatively fixed to the fixed base, and the second rotating tool is relatively fixed to the fixed sleeve, so that the first rotating tool and the second rotating tool are convenient for connecting the fixed base and the fixed sleeve together, and when the fixed base and the fixed sleeve are connected by threads, they are tightened by the first rotating tool and the second rotating tool; The first fixing protrusion of the third rotating tool is inserted into the first fixing hole and fixes the third rotating tool to ensure that when the fixing component rotates with the surgical instrument, the connecting component is fixed by the third rotating tool and does not rotate with the fixing component, so that the navigation mark is always within the sensing range of the sensor module; Wherein, the fixing component is further provided with a mounting structure, and the fixing component is rotatably connected to the first end of the connecting component through the mounting structure, so that the fixing component rotates independently relative to the connecting component; The fixing component is a hollow cylindrical component, the shape of the hollow part can be adapted to the surgical instrument, the hollow part is used to fix the surgical instrument, the mounting structure is an annular groove arranged on the outer wall of the cylindrical fixing component, and the shape of the first end of the connecting component is a circular ring adapted to the annular groove; The first end of the annular connecting component is sleeved in the annular groove on the outer wall of the cylindrical fixing component, so that when the fixing component rotates with the surgical instrument, the fixing component rotates independently relative to the connecting component, that is, the connecting component does not rotate with the fixing component, so that the navigation marker is always in a position that can be recognized by the sensor module and is not blocked by other things, thereby ensuring the accuracy of surgical navigation.

2. The navigation device according to claim 1, characterized in that: The fixed clamping part includes at least one of a first clamping structure and a second clamping structure, and a fixed clamping part body; the first clamping structure is arranged at one end of the fixed clamping part body connected to the fixed sleeve, and the second clamping structure is arranged at one end of the fixed clamping part body connected to the fixed base, and at least one of the first clamping structure and the second clamping structure is used to clamp the surgical instrument when contracted.

3. The navigation device according to claim 2, characterized in that: The fixing sleeve is provided with a third clamping structure, the shape of the third clamping structure is adapted to the shape of the first clamping structure, and the third clamping structure is used to enable the first clamping structure to clamp the surgical instrument when the fixing base is connected to the fixing sleeve; and / or The fixed base is provided with a fourth clamping structure, the shape of which matches the shape of the second clamping structure, and the fourth clamping structure is used to enable the second clamping structure to clamp the surgical instrument when the fixed base is connected to the fixed sleeve.

4. The navigation device according to claim 1, characterized in that: The first end of the connecting component is a connecting sleeve, and the second end of the connecting component is a connecting sheath; the connecting sleeve includes a first connecting body and a second connecting body, the first connecting body is connected to the connecting sheath, the first connecting body and the second connecting body are semi-annular, and the first connecting body and the second connecting body cooperate to be connected to the fixing component.

5. The navigation device according to claim 1, characterized in that: The navigation marker is rotatably connected to the second end of the connecting component.

6. The navigation device according to claim 1, characterized in that: At least three first marks are arranged on the navigation mark, and the first marks are used to be identified by the sensor module to obtain posture data indicating the posture of the surgical instrument.

7. The navigation device according to claim 6, characterized in that: The first mark is circular, and the circle is divided into a plurality of sectors with the center of the circle as the vertex. Each sector is filled with black or white, and adjacent sectors have different colors.

Images