Positioning markers, surgical instruments and surgical systems

Abstract

The present application discloses a positioning marker for marking a marked object in a positioning navigation system, comprising a positioning element, a bearing part and a connecting part, wherein the positioning element is used to provide a tracing signal; the bearing part is used to carry the positioning element; the connecting part is fixedly connected to the bearing part, and the connecting part is used to detachably connect the positioning marker to the marked object; wherein the preset part of the bearing part can produce deformation including plastic deformation under the action of a predetermined external force to form a lifting force part, and the preset part remains connected to the bearing part after deformation. The deformation of the preset part gives the operator a prompt that the positioning marker has been damaged, thereby avoiding the repeated use of the positioning marker.

Description

Technical Field

[0001] The present application relates to the field of positioning and navigation, and in particular to positioning markers, surgical instruments and surgical systems. Background Art

[0002] In a positioning navigation system that relies on positioning markers, the positioning markers are targets for the computer to learn the position of the marked object in the actual space. For example, in the positioning navigation process of computer-assisted surgery, positioning markers are used to mark anatomical structures, surgical tools, and robotic arms. The computer learns the situation of the surgical tools and anatomical structures in the actual space by identifying the position of the positioning markers, and further controls the surgical tools to perform the surgery accurately and orderly according to the predetermined surgical plan.

[0003] The position information of the marked object is usually represented by multiple positioning markers installed on it. In clinical use, if the doctor reuses the positioning marker for economic reasons, the following problems will occur: multiple disassembly and assembly of the positioning marker will cause wear and tear on the installation site, resulting in imperceptible loosening of the installation, and positioning errors will occur during positioning. In addition, the positioning marker is exposed to the surgical environment during the operation. If a positioning marker using a reflective sheet or reflective ball may be contaminated by body fluids or debris splashing, and the contamination itself and wiping contamination may cause positioning errors in the positioning marker, and the positioning accuracy will become lower and lower during subsequent use. In addition, the positioning marker needs to be removed from the frame for storage and preservation when not in use. The positioning marker may be scratched or damaged during storage and transportation, which will cause a decrease in the positioning accuracy of the positioning marker. Multiple transportations will also aggravate the decrease in positioning accuracy.

[0004] Therefore, if the positioning marker is reused, the positioning marker will be affected by the above-mentioned pollution, scratch damage or wear and tear, which is not easy to detect with the naked eye and will have an unexpected impact on the surgical results. Even if the positioning marker is found to be insufficient in positioning accuracy during surgery, a new reflective marker needs to be temporarily replaced, which will affect the smoothness of the surgery. Summary of the invention

[0005] The present application provides a positioning marker, a surgical instrument and a surgical system to avoid repeated use of the positioning marker.

[0006] The first aspect of the present application provides a positioning marker for marking a marked object in a positioning and navigation system, comprising a positioning element, a bearing portion and a connecting portion, wherein the positioning element is used to provide a tracing signal; the bearing portion is used to carry the positioning element; the connecting portion is fixedly connected to the bearing portion, and the connecting portion is used to detachably connect the positioning marker to the marked object; wherein a preset portion of the bearing portion can be deformed under the action of a predetermined external force to form a lifting force portion, and the preset portion remains connected to the bearing portion after deformation.

[0007] In combination with the above possible implementation manner, in a second possible implementation manner, the deformation causes at least a portion of the predetermined positioning relationship between the positioning element and the bearing portion to be changed.

[0008] In combination with the above possible implementation manners, in a third possible implementation manner, the positioning element is at least partially separated or displaced relative to the bearing portion to change the predetermined positioning relationship.

[0009] In combination with the above possible implementation modes, in a fourth possible implementation mode, the predetermined positioning relationship includes an axial positioning relationship and a radial positioning relationship.

[0010] In combination with the above possible implementations, in a fifth possible implementation, the positioning element is associated with a preset part so that deformation of the preset part causes deformation of the positioning element, and the deformation of the positioning element causes at least part of the predetermined positioning relationship between the positioning element and the bearing part to be changed.

[0011] In combination with the possible implementation modes described above, in a sixth possible implementation mode, the association is that the preset portion partially overlaps with the positioning element, and the overlap causes deformation of the preset portion to drive deformation of at least part of the positioning element.

[0012] In combination with the possible implementation modes described above, in a seventh possible implementation mode, the bearing portion is provided with a deformation guiding structure so that the preset portion is deformed under the action of a predetermined external force.

[0013] In combination with the foregoing possible implementation manners, in an eighth possible implementation manner, the deformation guiding structure is a groove or a trench.

[0014] In combination with the foregoing possible implementation manners, in a ninth possible implementation manner, the preset portion is a sheet-like unit or a strip-like unit defined by a groove or a slot.

[0015] In combination with the foregoing possible implementation manners, in a tenth possible implementation manner, at least a portion of the sheet-like unit or the strip-like unit is associated with a positioning element.

[0016] In combination with the above possible implementation modes, in an eleventh possible implementation mode, the sheet unit includes an associated portion located below and associated with the edge of the positioning element and a protrusion extending out of the edge of the positioning element, the protrusion being used to receive a predetermined external force, and the associated portion being used to cause at least a portion of the positioning element to deform when the sheet unit is deformed relative to the bearing portion.

[0017] In combination with the foregoing possible implementation manners, in a twelfth possible implementation manner, the number of the sheet units is one or more and they are distributed along the circumferential direction.

[0018] In combination with the foregoing possible implementation modes, in a thirteenth possible implementation manner, the deformation guiding structure is a hinge structure, and the movable range of the hinge structure is less than 90 degrees.

[0019] In combination with the foregoing possible implementations, in a fourteenth possible implementation manner, the positioning element is a reflective sheet.

[0020] In combination with the foregoing possible implementation manners, in a fifteenth possible implementation manner, the deformation is plastic deformation.

[0021] The second aspect of the present application proposes a surgical instrument for a surgical navigation system, comprising a positioning mark, a positioning part and a functional part, the positioning mark is used to mark the marked object, the positioning mark is the positioning mark of the first aspect; the positioning part is used to carry the positioning mark; the functional part has a predetermined positional relationship with the positioning part, and the functional part is used to perform at least part of the surgical operation.

[0022] The third aspect of the present application proposes a surgical system, including a positioning mark, a locator, a controller and an actuator, wherein the positioning mark is used to mark the marked object, and the positioning mark is a positioning mark as claimed in any one of claims 1 to 13; the locator is used to obtain the position information of the marked object according to the positioning mark; the controller is used to control the surgical system to execute a predetermined surgical plan according to the position information obtained by the locator; and the actuator is used to carry surgical tools.

[0023] The positioning mark proposed in the first aspect of the present application includes a positioning element, a bearing part and a connecting part. Among them, the preset part of the bearing part can be deformed under the action of a predetermined external force, and the deformed preset part forms a lifting force part. The overall shape of the positioning mark before use is relatively regular and coordinated. After use, the deformation of the preset part causes it to warp relative to the bearing part, and the warping makes the preset part obviously not in the same plane as the bearing part, causing the overall shape of the positioning mark to be significantly different from that before use. A prompt that the positioning mark has been obviously damaged is conveyed to the operator, so that the operator realizes that the positioning mark cannot mark the marked object again, thereby avoiding the repeated use of the positioning mark. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the first positioning mark structure of this application;

[0025] Figure 2a This is a schematic diagram of the structure of the bearing part and the connecting part of the first positioning mark of the present application;

[0026] Figure 2b This is a schematic diagram of the structure of the bearing part of the first positioning mark of the present application;

[0027] Figure 3 This is a schematic diagram of the connection structure of the connection hole and the connection part of the first positioning mark of the present application;

[0028] Figure 4 This is a schematic diagram of the structure of the marked object of the second positioning mark of this application;

[0029] Figure 5 This is a schematic diagram of the second positioning mark structure of this application;

[0030] Figure 6 This is a schematic diagram of the connection structure between the second positioning mark and the marked object of this application;

[0031] Figure 7 This is a schematic diagram of the third positioning mark structure of this application Figure 1 ;

[0032] Figure 8 This is a schematic diagram 2 of the third positioning mark structure of this application;

[0033] Fig. 9 This is a schematic diagram of the third positioning mark structure of this application Figure 3 ;

[0034] Fig.10 This is a schematic diagram of the fourth positioning mark structure of this application Figure 1 ;

[0035] Fig.11 This is a schematic diagram 2 of the fourth positioning mark structure of the present application;

[0036] Fig.12 This is a schematic diagram of the fourth positioning mark structure of this application Figure 3 ;

[0037] Fig.13 This is a schematic diagram of the fifth positioning mark structure of this application;

[0038] Fig.14 A schematic diagram of a bearing portion of a sixth positioning mark structure of the present application;

[0039] Fig.15 A schematic diagram of a bearing portion of a seventh positioning mark structure of the present application;

[0040] Fig.16 Schematic diagram of the bearing part of the eighth positioning mark structure of this application

[0041] Figure markings: 1-positioning element, 2-bearing part, 201-edge, 2011-groove, 202-guide groove, 203-limiting block, 3-connecting part, 301-pawl unit, 3011-connecting section, 3012-guide head, 31-flange, 310-upper slope, 320-lower slope, 4-connecting hole, 401-radial positioning section, 402-axial positioning section, 5-strip unit, 501-associated part, 502-protrusion, 6-accommodating groove, 601-lifting groove, 602-guide groove, 7a, 7b-main body, 8a, 8b-flip unit, 9a, 9b-hinge structure. DETAILED DESCRIPTION

[0042] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0043] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0044] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The embodiments will be described in detail below in conjunction with the accompanying drawings.

[0045] In the first aspect, the present application proposes a positioning marker for marking a marked object in a positioning and navigation system, wherein the positioning marker comprises a positioning element, a bearing portion, and a connecting portion. The positioning element provides a tracing signal for the positioning and navigation system to characterize the position information of the marked object, the bearing portion is used to carry the positioning element, and the connecting portion is fixedly connected to the bearing portion to detachably connect the positioning marker to the marked object. The positioning element has a predetermined positioning relationship relative to the bearing portion, and the positioning marker can correctly characterize the marked object when it is installed on the marked object.

[0046] When the operator applies a predetermined external force to the preset part of the bearing part to remove the positioning mark, the preset part is deformed under the action of the predetermined external force to form a lifting force part, and the lifting force part remains connected to the bearing part after deformation. Among them, the deformation of the preset part can be plastic deformation. It is easy to understand that the overall shape of the positioning mark before use is relatively regular and coordinated, and the deformation of the preset part causes it to warp relative to the bearing part, and the warping makes the preset part obviously not in the same plane as the bearing part, causing the overall shape of the positioning mark to be significantly different from that before use. A prompt that the positioning mark has been obviously damaged is conveyed to the operator, so that the operator realizes that the positioning mark cannot mark the marked object again.

[0047] Specifically, Figure 1-3 The figure shows an embodiment of the positioning mark of the present application, wherein the positioning mark comprises a positioning element 1, a bearing portion 2 for bearing the positioning element, and a connecting portion 3 connected to the bearing portion 2 for connecting the positioning mark to the marked object.

[0048] The positioning element 1 is a reflective sheet. As a passive reflective element, the reflective sheet is low in cost and is widely used in positioning and navigation systems. The reflective sheet positioning element 1 reflects the infrared emitted by the navigation system so that the system can obtain at least part of the tracing signal representing the marked object. Of course, the selection of the positioning element 1 is not limited to reflective sheets, and can also be a reflective ball or an active light-emitting diode, an electromagnetic generator, etc.

[0049] Referring to FIG. 2 , the bearing part 2 is set as a disc-shaped body, and the edge of the upper end surface of the disc-shaped body is provided with a peripheral edge 201 for embedding the positioning element 1, and the inner diameter of the peripheral edge 201 is the same as the outer diameter of the positioning element. The edge of the disc-shaped body close to the peripheral edge 201 is provided with two arc-shaped guide grooves 202 symmetrical about the center of the disc-shaped body, and the outer diameter of the guide groove 202 is smaller than the inner diameter of the peripheral edge 201, and a reinforcement section 2021 is provided in the middle of the guide groove 202. In addition, grooves 2011 are provided on the peripheral edge 201 corresponding to the two ends of the guide groove 202, and the grooves 2011 are semicircular and their depth is less than the height of the peripheral edge 201. The guide groove 202 and the groove 2011 serve as deformation guiding structures to define two arc-shaped strip units 5 on the edge of the disc-shaped body. The strip unit 5 includes an associated portion 501 located below and overlapping the edge of the positioning element 1 and a protruding portion 502 extending out of the edge of the positioning element 1. The associated portion 501 is the disc-shaped body portion between the peripheral edge 201 and the guide groove 201, and the protruding portion 502 is a part of the peripheral edge 201.

[0050] The connecting portion 3 is a hollow column, one end of which is a connecting column fixedly connected to the lower end surface of the disc-shaped body, and the other end is a connecting head. The connecting head includes a plurality of ratchet units 301, which are distributed along the circumferential direction and have gaps between each ratchet unit 301. The ratchet units 301 include a connecting section 3011 connected to the connecting column and a guide head 3012 arranged below the connecting section. The wall thickness of the connecting section 3011 is less than the wall thickness of the connecting column, and the guide head 3012 has a flange 31 with a triangular cross section based on the wall thickness of the connecting section 3011. The flange 31 has an upper inclined surface 310 and a lower inclined surface 320, and the outer diameter of the flange is greater than the outer diameter of the connecting column.

[0051] refer to Figure 3 A connecting hole 4 is provided on the marked object to cooperate with the connecting part 3. The connecting hole 4 includes a radial positioning segment 401 and an axial positioning segment 402 which are arranged in sequence. The aperture of the radial positioning segment 401 is equal to the axial diameter of the connecting column, and the aperture of the axial positioning segment 402 is greater than or equal to the outer diameter of the flange 31.

[0052] The connection and positioning element 1 is fixed to the surface of the disc body attached to the periphery 201 by gluing, and the guide groove 202 and the associated portion 501 of the strip unit are completely covered by the positioning element. In addition, the reinforcing section 2021 reinforces the strip unit 5 and the disc body, ensuring that the strip unit 5 and the disc body can be separated only under a certain force.

[0053] Specifically, the positioning mark is detachably mounted on the marked object through the cooperation of the connecting portion 3 and the connecting hole 4. During the installation process, an axial pressing force is applied to the disc-shaped body to promote the cooperation of the connecting portion 3 and the connecting hole 4. The lower inclined surface 320 of the flange 31 first contacts the entrance of the radial positioning section 401. Under the guidance of the lower inclined surface 320, the connecting section is deformed due to the small wall thickness, and the pawl unit 301 in the connector contracts radially inward and smoothly passes through the radial positioning section 401 into the axial positioning section 402. In the axial positioning section 402, each pawl unit 301 of the connector returns to its original state in the radial direction, and the upper inclined surface 310 of the flange contacts the junction 403 of the radial positioning section 401 and the axial positioning section 402 to form axial positioning, and the connecting column cooperates with the axial hole of the radial positioning section 401 to form radial positioning.

[0054] When removing the positioning mark, the operator applies a pulling force to the strip unit 5. In the initial stage of force application, due to the setting of the guide groove 202 and the groove 2011, the two ends of the strip unit 5 are plastically bent and deformed relative to the disc-shaped body to form a pulling force portion, and the pulling force portion remains connected to the disc-shaped body. In addition, when the strip unit 5 is plastically bent and deformed, the associated portion 501 drives the positioning element 1 to bend and deform. In the subsequent stage of force application, the operator continues to pull with the pulling force portion as the fulcrum, and the pulling force is further transmitted to the connecting portion 3. Under the action of the pulling force, the upper inclined surface 310 of the flange 31 generates an interaction force with the junction 403, and the guiding effect of the upper inclined surface of the flange 31 causes the pawl unit 301 to shrink inward in the radial direction and gradually enter the radial positioning section 401 from the axial positioning section 402, and finally the connecting portion 3 is completely removed from the connecting hole, thereby realizing the removal of the positioning mark.

[0055] It is easy to understand that in the process of removing the positioning mark, both the strip unit 5 and the positioning element 1 are bent and deformed, and the deformed positioning element 1 loses the predetermined axial and radial positioning relationship with the disc-shaped body, and cannot correctly characterize the position of the marked object. In addition, the overall shape of the positioning mark before use is relatively regular and coordinated. The deformation of the strip unit 5 and the positioning element 1 causes irreversible warping relative to the positioning mark body, and the warping is basically irregular deformation, or the two warpings are asymmetrical, causing its overall shape to be significantly different and very inconsistent from before use, making it easy for the operator to realize that the positioning mark is damaged and no longer consider using it, thus avoiding the reuse of the positioning mark. It should be additionally explained that the repeated use of the positioning mark will cause an imperceptible decrease in positioning accuracy due to wear of parts, contamination of the positioning element, and other reasons.

[0056] In an optional embodiment, if Figure 4As shown, in addition to the connection hole 4, the object to be marked is also provided with a receiving groove 6 for embedding the bearing part 2. The receiving groove 6 is disc-shaped as a whole, and its depth is the same as the thickness of the bearing part 2. Two lifting grooves 601 symmetrical about the center of the receiving groove 6 are provided at the edge of the receiving groove 6. The depth of the lifting groove 601 relative to the surface of the marked object is deeper than the depth of the receiving groove 6 relative to the surface of the marked object. Half of the lifting groove 601 is located within the range of the receiving groove 6, and the other part is located outside the receiving groove 6. An installation guide groove 602 is provided in the receiving groove 6 at a position 90 degrees away from the lifting groove 601. The installation guide groove 602 is arc-shaped, and the inner diameter of the guide groove 602 is smaller than the inner diameter of the lifting groove 601.

[0057] like Figure 5 As shown, a limit block 203 is arranged between the guide groove 202 on the lower end surface of the bearing part 2. The limit block 203 is arc-shaped and its inner diameter is the same as the inner diameter of the guide groove 602. The length of the limit block 203 is less than the length of the guide groove 602, and the width is less than or equal to the width of the guide groove 602.

[0058] When the positioning mark is installed on the marked object, Figure 6 As shown, the connecting portion 3 matches the connecting hole 4 , the bearing portion 2 is embedded in the receiving groove 6 , and the limiting block 203 is located in the guiding groove 602 , and the pulling groove 601 is located at the edge of the strip unit 5 .

[0059] It is understandable that, by setting the receiving groove 6 and the connecting hole 4, the positioning mark is completely embedded in the marked object when it is installed on the marked object, and the positioning element will not be hit or damaged when working in the positioning navigation environment. The setting of the lifting groove 601 enables the operator to apply a lifting force to the positioning mark through the lifting groove 601, and when the bearing part 2 is pulled by the lifting groove 601 to lift the positioning mark, due to the cooperation of the limit block 203 and the guide groove 602, the operator can only lift from the strip unit 5 when removing the positioning mark, and the strip unit 5 undergoes plastic deformation under the action of the lifting force to form a lifting force portion. In other words, the process of removing the positioning mark will inevitably cause the strip unit 5 and the positioning element 1 to deform, and the positioning element 1 will inevitably fail to correctly represent the position of the marked object. In addition, the plastic deformation of the strip unit 5 and the positioning element 1 also makes the positioning mark obviously different in shape from before use, visually reminding the operator that the positioning mark is damaged, so that the operator will no longer consider using the damaged positioning mark to mark the marked object, thereby avoiding the reuse of the positioning mark.

[0060] In an optional embodiment, if Figure 7-9As shown, the positioning element 1a and the connecting part 3a are the same as the embodiment shown in the figure. The difference lies in the arrangement of the bearing part 2a and the deformation guiding structure therein. As shown in the figure, the deformation guiding structure is a hinge structure 9a, and the hinge structure 9a is a shaft and a hole that can rotate with each other and there is a rotation damping between the shaft and the hole. The bearing part 2a includes a circular body 7a and two flip units 8a symmetrically arranged on the periphery of the body 7a. The positioning element 1a covers and is fixed on the bearing part 2a and its edge covers at least a part of the flip unit 8a. The flip unit 8a is a semi-circular shape with the same center as the main body 7a. The two ends of the flip unit 8a are connected to the body 7a through the hinge structure 9a to form a rotation connection about the connecting line of the two ends of the flip unit 8a as the rotating axis, and the rotation range is 0-90 degrees on the side where the upper end surface of the body 7a is located. Among them, any one of the shaft and the hole is arranged on the body 7a, and the other is arranged on the flip unit 8a. The upper surface of the flip unit 8a is flush with the upper end surface of the body 7a when the rotation angle is 0 degrees.

[0061] It is easy to understand that under this setting, when removing the positioning mark, the operator pulls the flip unit 8a, which is a preset part of the bearing part 2a, by a predetermined external force, to overcome the rotation damping of the hinge structure 9a and the resistance to deformation of the positioning element 1a, so that the flip unit 8a rotates relative to the bearing part 2a. The rotation of the flip unit 8a changes its predetermined positioning relationship relative to the bearing part 2a and forms a lifting force portion. When the flip unit 8a rotates and deforms relative to the main body 7a, the positioning element 1a is bent and deformed under the action of the flip unit 8a, and the bending axis is the line connecting the two ends of the flip unit 8a. Before use, the positioning element 1a is flatly attached to the bearing part 2a. After use, the two sides of the positioning element 1a are irreversibly warped relative to the bearing part 2a. The shape of the warping is irregular and the two sides of the positioning element 1a are out of the plane where it was originally located, so that the shape of the positioning element 1a is significantly different from that before use, so that the operator realizes that the positioning element 1a has been damaged and no longer considers using it, thereby avoiding the repeated use of the positioning mark.

[0062] In an optional embodiment, if Figure 10-12, the positioning element 1b and the connecting part are the same as the embodiment shown in the figure. The difference lies in the arrangement of the bearing part 2b and the deformation guiding structure therein. As shown in the figure, the deformation guiding structure is a hinge structure 9b, and the hinge structure 9a is a shaft and a hole that can rotate with each other and there is a rotation damping between the shaft and the hole. The bearing part 2b includes a circular body 7b and two flip units 8b arranged above the body 7b. At least part of the positioning element 1b is attached to each flip unit 8b and connected by gluing or the like. The flip unit 8b is in the form of a sheet and the outer diameter of the flip unit 8b is larger than the outer diameter of the body 7b. The flip unit 8b forms a rotation connection with the body 7b about an axis through the hinge structure 9b. The axis is a chord with a certain distance from the edge of the body 7b. The range of rotation of the flip unit 8b about the axis is 0-90 degrees on the side where the upper end surface of the body 7b is located. The flip unit 8b is attached to the body 7b at 0 degrees.

[0063] It is easy to understand that under this setting, when removing the positioning mark, the operator pulls up the flip unit 8b, which is a preset part of the load-bearing part 2b, through a predetermined external force, to overcome the rotation damping of the hinge structure 9a and the resistance that causes the positioning element 1b to deform, so that the flip unit 8b rotates relative to the load-bearing part 2b. The rotation of the flip unit 8b changes its predetermined positioning relationship relative to the load-bearing part 2b and forms a lifting force portion. When the flip unit 8 rotates and deforms relative to the body 7b, the positioning element 1b is bent and deformed by the flip unit 8b, and the bending axis is the axis of rotation of the flip unit 8b. Figure 7-9 Similarly to the embodiment shown, before use, the positioning element 1b is flatly attached to the bearing portion 2b. After use, both sides of the positioning element 1b are irreversibly warped relative to the bearing portion 2b. The shape of the warping is irregular and both sides of the positioning element 1b are out of their original plane, making the shape of the positioning element 1b significantly different from that before use, so that the operator realizes that the positioning element 1b has been damaged and no longer considers using it.

[0064] In an optional embodiment, if Fig.13 As shown, the bearing part 2 and the connecting part are the same as the embodiment shown in the figure, and a positioning element 1c with a diameter smaller than the inner diameter of the guide groove 202 is used, and the edge of the positioning element 1c does not overlap or intersect with the strip unit 5. In this way, when the operator lifts the bearing part 2 through the strip unit 5, the strip unit 5 is bent and plastically deformed relative to the disc to form a lifting force portion. Although the positioning element 1c is not deformed and still keeps in contact with the disc, the plastic deformation of the strip unit 5 relative to the disc also reminds the operator that the positioning mark is damaged, and the operator needs to select a new positioning mark to mark the marked object when using it again.

[0065] Based on the embodiment shown in the figure, in an optional implementation, the number of the strip unit 5, the flip unit 8a or the flip unit 8b as the preset part can be set to one. In this way, under the action of the predetermined external force, the preset part will deform relative to the bearing part and form a lifting force part. The deformation of the preset part also causes the positioning element 1 to plastically deform. The deformation of the preset part and the plastic deformation of the positioning element 1 visually remind the operator that the positioning mark is damaged, thereby avoiding the repeated use of the positioning mark.

[0066] Based on the embodiment shown in the figure, in an optional implementation manner, the guide groove 202 is not limited to an arc shape, and can be as follows: Figure 14-16 The fan-shaped guide groove 202d, rectangular guide groove 202e or triangular guide groove 202f shown in the figure is for reducing the material between the two ends of the guide groove 202 and the edge of the disc-shaped body to preliminarily form the strip-shaped unit 5. The reduction of the material weakens the connection strength between the strip-shaped unit 5 and the edge of the disc-shaped body. Combined with the groove 2011, the connection strength between the preliminarily formed strip-shaped unit 5 and the edge of the disc-shaped body is further weakened. Under the action of a predetermined external force, the strip-shaped unit 5 as a preset part can be deformed relative to the bearing part 2 to form a lifting force part. Of course, the preset part preliminarily formed by the guide groove 202 for forming the lifting force part can also be a sheet-shaped unit.

[0067] Based on the embodiment shown in the figure, in an optional embodiment, the reinforcing section 2021 is not provided in the guide groove 202. In this way, the connection between the strip unit 5 and the disc-shaped body is connected by the portion between the end of the guide groove 202 and the edge of the disc-shaped body. Although the connection strength between the strip unit and the disc-shaped body brought about by this arrangement is weaker than the connection strength in the embodiment shown in the figure, the manufacturing process is simpler. While ensuring a certain connection strength, this embodiment can still achieve the same effect as the embodiment shown in the figure, and the strip unit 5 is deformed relative to the bearing part 2 under the action of a small predetermined external force to form a lifting force portion.

[0068] Although the present application has been described in detail above with general descriptions and specific implementation schemes, it is obvious to those skilled in the art that some modifications or improvements may be made to the present application. Therefore, these modifications or improvements made without departing from the spirit of the present application all fall within the scope of protection claimed in the present application.

Claims

1. A positioning marker, used to mark an object in a positioning navigation system, characterized in that: include: A positioning element for providing a tracing signal; A bearing portion, used for carrying the positioning element; A connecting portion, fixedly connected to the bearing portion, and used to detachably connect the positioning mark to the marked object; The bearing portion is provided with a deformation guiding structure so that a preset portion of the bearing portion is deformed under a predetermined external force to form a lifting force portion, and the preset portion remains connected to the bearing portion after deformation, and the deformation of the preset portion causes it to warp relative to the bearing portion, and the warping causes the preset portion and the bearing portion to be not in the same plane; The deformation guiding structure is a groove or a slot or a hinge structure, and the preset part is a sheet unit or a strip unit.

2. The positioning mark according to claim 1, characterized in that: The deformation causes at least a portion of the predetermined positioning relationship between the positioning element and the bearing portion to be changed.

3. The positioning mark according to claim 2, characterized in that: The positioning element is at least partially separated or displaced relative to the bearing portion to change the predetermined positioning relationship.

4. The positioning mark according to claim 2, characterized in that: The predetermined positioning relationship includes an axial positioning relationship and a radial positioning relationship.

5. The positioning mark according to claim 2, characterized in that: The positioning element is associated with the preset portion so that deformation of the preset portion causes deformation of the positioning element, and the deformation of the positioning element causes at least a portion of a predetermined positioning relationship between the positioning element and the bearing portion to be changed.

6. The positioning mark according to claim 5, characterized in that: The association is that the preset portion partially overlaps with the positioning element, and the overlap causes deformation of the preset portion to drive deformation of at least part of the positioning element.

7. The positioning mark according to claim 1, characterized in that: At least part of the sheet-like unit or strip-like unit is associated with the positioning element.

8. The positioning mark according to claim 7, characterized in that: The sheet unit includes an associated portion located below and associated with the edge of the positioning element and a protruding portion extending out of the edge of the positioning element, wherein the protruding portion is used to receive the predetermined external force, and the associated portion is used to cause at least part of the positioning element to deform when the sheet unit is deformed relative to the bearing portion.

9. The positioning mark according to claim 1, characterized in that: The number of the sheet-like units is one or more and they are distributed along the circumferential direction.

10. The positioning mark according to claim 1, characterized in that: The movable range of the hinge structure is less than 90 degrees.

11. The positioning mark according to claim 1, characterized in that: The positioning element is a reflective sheet.

12. The positioning mark according to claim 1, characterized in that: The deformation is plastic deformation.

13. A surgical instrument for a surgical navigation system, characterized in that: include: A positioning mark, used to mark an object to be marked, wherein the positioning mark is the positioning mark according to any one of claims 1 to 12; A positioning part, used for carrying the positioning mark; The functional part has a predetermined positional relationship with the positioning part, and the functional part is used to perform at least part of the operation of the surgical operation.

14. A surgical system, characterized in that: include: A positioning mark, used to mark an object to be marked, wherein the positioning mark is the positioning mark according to any one of claims 1 to 12; A locator, used to obtain the position information of the marked object according to the positioning mark; A controller, configured to control a surgical system to execute a predetermined surgical plan according to the position information acquired by the locator; as well as Actuator, used to carry surgical tools.

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