Frameless positioning instrument for minimally invasive surgery of neurosurgery department

Abstract

The invention relates to the technical field of position indicators, and discloses a neurosurgery minimally invasive surgery frameless position indicator which comprises a clamping type positioning mechanism, a spherical hinge type positioning mechanism and a magnetic pole type force control mechanism. The cylindrical hollow shell and the movable shaft can drive the first limiting ring and the second limiting ring to axially move, and the first annular permanent magnet and the second annular permanent magnet can control the clamping force between the first limiting ring and the second limiting ring. The frameless positioning instrument for the minimally invasive surgery of the neurosurgery department is installed near a part needing to be operated, firstly, the position of the positioning disc can be manually and rapidly adjusted according to the operation position, then the positioning disc is fixed, the effective positioning auxiliary function is achieved through limitation of the positioning disc, and the frameless positioning instrument has the advantages of being rapid in adjustment and easy to operate.

Description

Technical Field

[0001] The invention relates to the technical field of positioning instruments, and in particular to a frameless positioning instrument for minimally invasive neurosurgery surgery. Background Art

[0002] Puncture surgery is a relatively common operation in clinical surgery. Usually, the main reason for puncture failure is the incorrect puncture position and direction. At present, when performing minimally invasive neurosurgery on patients, the positioning of the surgical path is mainly achieved by the doctor measuring the relative position of the lesion position in the patient's medical image relative to the patient's head landmark, and then performing corresponding comparison measurements on the patient's head in the real environment to determine the patient's needle entry point and direction.

[0003] To this end, the Chinese patent with the publication number "CN112545622B" announced "a frameless positioning instrument for minimally invasive neurosurgery", whose main structure includes a bed, a first station plate and a second station plate are fixedly connected to the bottom of the bed, the first station plate and the second station plate are respectively located at the front and rear sides of the bottom of the bed, a screw rod is rotatably connected between the first station plate and the second station plate through a bearing, a horizontal positioning block is sleeved on the screw rod, a threaded hole is provided on the horizontal positioning block, the horizontal positioning block is threadedly connected to the screw rod through the threaded hole, a horizontal support plate is fixedly connected to the side wall of the horizontal positioning block, and a support block is fixedly connected to the bottom of the bed. The frameless positioning instrument for minimally invasive neurosurgery can adjust the puncture angle, position and height of the cannula in advance before inserting the puncture needle into the cannula, so as to facilitate the operation of novices, prevent the phenomenon of surgical failure caused by incorrect insertion position and angle of the puncture needle, and reduce the pain of patients.

[0004] However, during the use of the above-mentioned frameless positioning instrument for minimally invasive neurosurgery, the positioning process needs to be divided into steps. First, the spherical seat needs to be moved in a horizontal plane along a first axial direction; and then the spherical seat needs to be moved in a second axial direction, wherein the first axial direction and the second axial direction are vertical. Especially during the fine-tuning process, it is necessary to continuously adjust in two directions, resulting in poor comprehensive control ability of the spherical seat, and multiple cycles of movement are required, which leads to frequent operation steps and affects work efficiency. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a frameless positioning instrument for minimally invasive neurosurgery, which is installed near the site where surgery is required. First, the position of the positioning plate can be quickly and manually adjusted according to the surgical position, and then the positioning plate is fixed. The restrictive nature of the positioning plate is used to perform an effective positioning auxiliary function. It has the characteristics of quick adjustment and simple operation, and solves the above-mentioned technical problems.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a frameless positioning instrument for minimally invasive neurosurgery, comprising an axial support rod with a No. 1 mounting plate installed at the end thereof and a No. 1 fixed sleeve arranged at one end of the axial support rod, and also comprising a clamping positioning mechanism, wherein a positioning plate capable of moving along a clamped plane and a No. 1 limiting ring and a No. 2 limiting ring are arranged inside the mechanism, and the pressure exerted by the two on the positioning plate is controlled to thereby control the clamping strength of the positioning plate; a ball-hinged positioning mechanism, wherein a spherical mounting seat fixedly mounted at the center of the positioning plate, a spherical movable body mounted at the center of the spherical mounting seat and capable of rotating, and a brake rubber ring capable of controlling the damping strength of the motion between the spherical mounting seat and the spherical movable body are arranged inside the mechanism; and a magnetic pole force control mechanism, wherein a cylindrical hollow shell and a movable shaft capable of driving the No. 1 limiting ring and the No. 2 limiting ring to move axially, and a No. 1 annular permanent magnet and a No. 2 annular permanent magnet capable of controlling the clamping strength between the No. 1 limiting ring and the No. 2 limiting ring are arranged inside the mechanism.

[0007] Preferably, the clamping positioning mechanism includes a No. 1 limiting ring, a No. 2 limiting ring and a positioning plate, and the No. 1 limiting ring and the No. 2 limiting ring are annular structures made of elastic rubber material, a component mounting port is provided at the center of the positioning plate, the No. 1 limiting ring and the No. 2 limiting ring are respectively located at two end faces of the positioning plate, the No. 1 limiting ring and the No. 2 limiting ring have outer circumferential surfaces fixedly mounted on the No. 2 fixed sleeve and the No. 3 fixed sleeve respectively, a No. 2 mounting plate integrally formed with the No. 2 fixed sleeve is provided on one side of the No. 2 fixed sleeve, a No. 3 mounting plate integrally formed with the No. 3 fixed sleeve is provided on one side of the No. 3 fixed sleeve, and a fixed shaft body integrally formed with the No. 1 fixed sleeve and fixedly mounted in the No. 1 fixed sleeve is provided on one end face of the No. 3 mounting plate.

[0008] Preferably, the positioning plate is a transparent structure made of plastic.

[0009] Preferably, the ball-hinged positioning mechanism includes a ball mounting seat, the outer circumferential surface of the ball mounting seat is provided with a disk fixing groove fixedly mounted in the component mounting port, the center of the ball mounting seat is provided with a spherical cavity with both the bottom and the top being open, the ball mounting seat is provided with a rotatable spherical movable body placed inside the spherical cavity, a brake rubber ring in a compressed state is embedded in the middle area of ​​the spherical cavity, the outer peripheries of the two planar ends of the spherical movable body are respectively provided with a No. 1 limiting ear and a No. 2 limiting ear which are integrally formed therewith, and the center of the spherical movable body is provided with a positioning hole with both ends being open.

[0010] Preferably, the structural radius of the spherical cavity matches the structural radius of the spherical movable body.

[0011] Preferably, the magnetic pole force control mechanism includes a cylindrical hollow shell, one end of the cylindrical hollow shell is provided with a fourth mounting plate which is an integral structure with the fourth mounting plate and fixedly mounted on the end face of the third mounting plate, the interior of the cylindrical hollow shell is provided with an axial component movable cavity, the other end of the cylindrical hollow shell is provided with an axial body through-hole connecting the external space and one end of the axial component movable cavity, the interior of the cylindrical hollow shell is provided with a medium flow channel connecting the external space and the other end of the axial component movable cavity, the cylindrical hollow shell is provided with a piston plate which can move axially along the axial component movable cavity arranged inside the axial component movable cavity, the cylindrical hollow shell is embedded with a first annular permanent magnet on the periphery of the medium flow channel, the piston plate is embedded with a second annular permanent magnet at the corresponding position, one end of the piston plate is fixedly installed with a through-axial body through-hole, and the bottom end is fixedly mounted on a movable shaft on the end face of the second mounting plate.

[0012] Preferably, the magnetic poles of the first annular permanent magnet and the second annular permanent magnet on corresponding end faces are opposite, and when the piston plate moves to the bottom end of the movable cavity of the axial component, the clamping force of the first limit ring and the second limit ring on the positioning plate is greater than zero.

[0013] Preferably, the structural shape of the shaft body through-hole cross section is consistent with the structural shape of the movable shaft cross section, both are polygonal structures, and the structural dimensions of the shaft body through-hole cross section match the structural dimensions of the movable shaft cross section.

[0014] Compared with the prior art, the present invention provides a frameless positioning instrument for minimally invasive neurosurgery, which has the following beneficial effects:

[0015] It is installed near the surgical site. First, the position of the positioning plate can be quickly adjusted manually according to the surgical site. Then, the positioning plate is fixed, and the restrictive nature of the positioning plate is used to provide effective positioning assistance, with the characteristics of quick adjustment and simple operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A perspective view of the present invention;

[0017] Figure 2 is a three-dimensional cross-sectional view of the present invention;

[0018] Figure 3 It is a three-dimensional cross-sectional view of the clamping type positioning mechanism of the present invention;

[0019] Figure 4 It is a three-dimensional exploded view of the clamping type positioning mechanism in the present invention;

[0020] Figure 5 It is a three-dimensional cross-sectional view of the ball-joint positioning mechanism of the present invention;

[0021] Figure 6 It is a three-dimensional cross-sectional view of the magnetic pole type force control mechanism in the present invention.

[0022] Among them: 1. Axial support rod; 2. No. 1 mounting plate; 3. No. 1 fixed sleeve; 4. Clamping positioning mechanism; 41. No. 1 limiting ring; 42. No. 2 limiting ring; 43. No. 2 fixed sleeve; 44. No. 3 fixed sleeve; 45. No. 2 mounting plate; 46. No. 3 mounting plate; 47. Fixed shaft body; 48. Positioning plate; 49. Component installation port; 5. Ball joint positioning mechanism; 51. Ball mounting seat; 52. Plate fixing groove; 53. Spherical cavity; 54. Braking rubber ring; 55. Spherical movable body; 56. No. 1 limiting ear; 57. No. 2 limiting ear; 58. Positioning hole; 6. Magnetic pole force control mechanism; 61. Cylindrical hollow shell; 62. No. 4 mounting plate; 63. Axial component movable cavity; 64. Shaft body perforation; 65. Medium flow channel; 66. Piston plate; 67. Movable shaft; 68. No. 1 annular permanent magnet; 69. No. 2 annular permanent magnet. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] See also Figure 1 and Figure 2 A frameless positioning instrument for minimally invasive neurosurgery includes an axial support rod 1 with a No. 1 mounting plate 2 installed at the end and a No. 1 fixed sleeve 3 arranged at one end of the axial support rod 1. The No. 1 mounting plate 2 is fixedly installed on the corresponding side of the examination bed head, and the spherical movable body 55 needs to be located near the puncture position at this time.

[0025] To achieve the position adjustment function in the free state, please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 , it is necessary to set up a clamping positioning mechanism 4, which is internally provided with a positioning disk 48 that can move along the clamped plane and two end surfaces clamped on the positioning disk 48, and by controlling the pressure of the two on the positioning disk 48, the clamping strength of the positioning disk 48 is controlled by the No. 1 limiting ring 41 and the No. 2 limiting ring 42. The puncture needle is inserted into the positioning hole 58, and the medical staff manually operates the puncture needle and manually moves the puncture needle to the part that needs to be punctured. At this time, the positioning disk 48 will move with the movement of the puncture needle, thereby quickly adjusting the position state. After the adjustment, the positioning disk 48 is still between the No. 1 limiting ring 41 and the No. 2 limiting ring 42.

[0026] For the specific structure of the clamping type positioning mechanism 4, please refer to Figure 3 and Figure 4 , including a No. 1 limiting ring 41, a No. 2 limiting ring 42 and a positioning disk 48. In order to have a clamping function under a certain movement stroke, it is necessary to make the No. 1 limiting ring 41 and the No. 2 limiting ring 42 annular structures made of elastic rubber material, and a component mounting port 49 is arranged at the center of the positioning disk 48. The No. 1 limiting ring 41 and the No. 2 limiting ring 42 are respectively located at the two end surfaces of the positioning disk 48, and the outer circumferential surfaces of the No. 1 limiting ring 41 and the No. 2 limiting ring 42 are respectively fixedly mounted on the No. 2 fixed shaft sleeve 43 and the No. 3 fixed shaft sleeve 44, and a No. 2 mounting plate 45 with an integral structure therewith is arranged on one side of the No. 2 fixed shaft sleeve 43, and a No. 3 mounting plate 46 with an integral structure therewith is arranged on one side of the No. 3 fixed shaft sleeve 44, and a fixed shaft body 47 with an integral structure therewith and fixedly mounted in the No. 1 fixed shaft sleeve 3 is arranged on one end surface of the No. 3 mounting plate 46, and a fixed shaft body 47 with an integral structure therewith and fixedly mounted in the No. 1 fixed shaft sleeve 3 is arranged on one end surface of the No. 3 mounting plate 46, and the positioning disk 48 is a transparent structure made of plastic.

[0027] To adjust the puncture angle, please refer to Figure 1 , Figure 2 and Figure 5 , it is necessary to set up a ball-jointed positioning mechanism 5, which is internally provided with a ball mounting seat 51 fixedly mounted on the center of the positioning disk 48, a spherical movable body 55 mounted on the center of the ball mounting seat 51 and capable of rotation, and a braking rubber ring 54 capable of controlling the motion damping strength between the ball mounting seat 51 and the spherical movable body 55. After the puncture needle moves to the puncture area, the puncture needle can be manually rotated. At this time, the angle of the spherical movable body 55 will change accordingly until the angle of the puncture needle meets the puncture angle, and the angle adjustment action is stopped. Under the friction resistance of the braking rubber ring 54, the spherical movable body 55 can be kept in a fixed state, thereby realizing the adjustment function of the puncture angle.

[0028] For the specific structure of the ball-joint positioning mechanism 5, please refer to Figure 5, including a spherical mounting seat 51, the outer circumferential surface of which is provided with a disc fixing groove 52 fixedly mounted in the component mounting port 49, the center of the spherical mounting seat 51 is provided with a spherical cavity 53 with both the bottom and the top being open, the spherical mounting seat 51 is provided with a rotatable spherical movable body 55 inside the spherical cavity 53, the middle area of ​​the spherical cavity 53 is embedded with a brake rubber ring 54 in a compressed state, the outer peripheries of the two planar ends of the spherical movable body 55 are respectively provided with a first limiting ear 56 and a second limiting ear 57 of an integral structure therewith, the center of the spherical movable body 55 is provided with a positioning hole 58 with both ends being open, and the structural radius of the spherical cavity 53 matches the structural radius of the spherical movable body 55.

[0029] To achieve the control function of the positioning plate 48, please refer to Figure 1 , Figure 2 and Figure 6 , it is necessary to set up a magnetic pole force control mechanism 6, which is provided with a cylindrical hollow shell 61 and a movable shaft 67 capable of driving the No. 1 limit ring 41 and the No. 2 limit ring 42 to move axially, and a No. 1 annular permanent magnet 68 and a No. 2 annular permanent magnet 69 capable of controlling the clamping force between the No. 1 limit ring 41 and the No. 2 limit ring 42. Before working, the medium flow channel 65 is connected to a hydraulic pump capable of controlling the liquid output and the liquid circuit. When position adjustment is required, the hydraulic pump is started to allow the liquid to enter the medium flow channel 65 and the axial Inside the component active cavity 63, at this time, the liquid will cause the piston plate 66 to move, so that the clamping force of the No. 1 limit ring 41 and the No. 2 limit ring 42 on the positioning disk 48 is reduced, thereby facilitating the movement of the positioning disk 48. When the adjustment is completed, the liquid flows back into the hydraulic pump. Under the action of the magnetic pole, the piston plate 66 is reset, and the clamping force of the No. 1 limit ring 41 and the No. 2 limit ring 42 on the positioning disk 48 reaches the maximum. At this time, it can be ensured that the positioning disk 48 is in a stable state during operation, thereby realizing the control function of the positioning disk 48.

[0030] For the specific structure of the magnetic pole force control mechanism 6, please refer to Figure 6, comprising a cylindrical hollow shell 61, one end of which is provided with a fourth mounting plate 62 which is an integral structure with the fourth mounting plate 62 and fixedly mounted on the end surface of the third mounting plate 46, an axial component movable chamber 63 is provided inside the cylindrical hollow shell 61, and an axial body through hole 64 which connects the external space with one end of the axial component movable chamber 63 is provided at the other end of the cylindrical hollow shell 61, and a medium flow channel 65 which connects the external space with the other end of the axial component movable chamber 63 is provided inside the cylindrical hollow shell 61, a piston plate 66 which can move axially along the axial component movable chamber 63 is arranged inside the cylindrical hollow shell 61 located in the axial component movable chamber 63, and the cylindrical hollow shell 61 is provided outside the medium flow channel 65. A No. 1 annular permanent magnet 68 is embedded around it, and a No. 2 annular permanent magnet 69 is embedded in the corresponding position of the piston plate 66. One end of the piston plate 66 is fixedly mounted with a through-shaft through-hole 64, and the bottom end is fixedly mounted on a movable shaft 67 on the end face of the No. 2 mounting plate 45. The magnetic poles of the No. 1 annular permanent magnet 68 and the No. 2 annular permanent magnet 69 on the corresponding end faces are opposite, and when the piston plate 66 moves to the bottom end of the axial component active cavity 63, the clamping force of the No. 1 limiting ring 41 and the No. 2 limiting ring 42 on the positioning plate 48 is greater than zero, the structural shape of the cross section of the shaft through-hole 64 is consistent with the structural shape of the cross section of the movable shaft 67, both are polygonal structures, and the structural dimensions of the cross section of the shaft through-hole 64 match the structural dimensions of the cross section of the movable shaft 67.

[0031] When in use, the No. 1 mounting plate 2 is fixedly installed on the corresponding side of the examination bedside, and the spherical movable body 55 needs to be located near the puncture position at this time. The patient lies on the surface of the bed, and the medium flow channel 65 is connected to a hydraulic pump that can control the liquid output and the liquid circuit. The hydraulic pump is started to allow the liquid to enter the medium flow channel 65 and the interior of the axial component movable cavity 63. At this time, the liquid will cause the piston plate 66 to move, so that the clamping force of the No. 1 limiting ring 41 and the No. 2 limiting ring 42 on the positioning disk 48 is reduced, and the puncture needle is inserted into the positioning hole 58. The medical staff manually operates the puncture needle and manually moves the puncture needle to the part that needs to be punctured. At this time, the positioning disk 48 will move with the movement of the puncture needle. At the same time, the puncture needle is manually rotated. At this time, the angle of the spherical movable body 55 will change accordingly until the angle of the puncture needle meets the puncture angle, and the angle adjustment action is stopped. Under the friction resistance of the brake rubber ring 54, the spherical movable body 55 can be kept in a fixed state, so that the liquid can flow back into the hydraulic pump. Under the action of the magnetic pole, the piston plate 66 is reset, and the clamping force of the No. 1 limiting ring 41 and the No. 2 limiting ring 42 on the positioning disk 48 reaches the maximum. At this time, it can be ensured that the positioning disk 48 is in a stable state during operation, so that the puncture needle can perform puncture along the direction of the positioning hole 58.

[0032] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A frameless positioning instrument for minimally invasive neurosurgery, comprising an axial support rod (1) with a first mounting plate (2) mounted on the end thereof and a first fixed sleeve (3) arranged at one end of the axial support rod (1), characterized in that: Also includes, A clamping type positioning mechanism (4) is provided with a positioning plate (48) capable of moving along a clamped plane, and a first limiting ring (41) and a second limiting ring (42) clamped on two end surfaces of the positioning plate (48) and controlling the pressure exerted by the two on the positioning plate (48) to thereby control the clamping strength of the positioning plate (48); A ball-joint positioning mechanism (5) is provided with a ball mounting seat (51) fixedly mounted on the center of the positioning plate (48), a spherical movable body (55) mounted on the center of the ball mounting seat (51) and capable of rotating, and a braking rubber ring (54) capable of controlling the motion damping strength between the ball mounting seat (51) and the spherical movable body (55); and a magnetic pole force control mechanism (6), which is provided with a cylindrical hollow shell (61) and a movable shaft (67) capable of driving a first limiting ring (41) and a second limiting ring (42) to move axially, and a first annular permanent magnet (68) and a second annular permanent magnet (69) capable of controlling the clamping force between the first limiting ring (41) and the second limiting ring (42).

2. A frameless positioning instrument for minimally invasive neurosurgery according to claim 1, characterized in that: The clamping type positioning mechanism (4) comprises a first limiting ring (41), a second limiting ring (42) and a positioning plate (48), wherein the first limiting ring (41) and the second limiting ring (42) are annular structures made of elastic rubber material, a component installation opening (49) is arranged at the center of the positioning plate (48), the first limiting ring (41) and the second limiting ring (42) are respectively located on two end surfaces of the positioning plate (48), and the first limiting ring (41) and the second limiting ring (42) are respectively arranged on two end surfaces of the positioning plate (48). The outer circumferential surface of the shaft sleeve (42) is fixedly mounted on a No. 2 fixed shaft sleeve (43) and a No. 3 fixed shaft sleeve (44), respectively; a No. 2 mounting plate (45) having an integral structure with the No. 2 fixed shaft sleeve (43) is disposed on one side; a No. 3 mounting plate (46) having an integral structure with the No. 3 fixed shaft sleeve (44) is disposed on one side; and a fixed shaft body (47) having an integral structure with the No. 3 mounting plate (46) and fixedly mounted in the No. 1 fixed shaft sleeve (3) is disposed on one end face of the No. 3 mounting plate (46).

3. A frameless positioning instrument for minimally invasive neurosurgery according to claim 2, characterized in that: The positioning plate (48) is a transparent structure made of plastic.

4. A frameless positioning instrument for minimally invasive neurosurgery according to claim 3, characterized in that: The ball-joint positioning mechanism (5) comprises a ball mounting seat (51), the outer circumferential surface of the ball mounting seat (51) is provided with a disc fixing groove (52) fixedly mounted in the component mounting opening (49), the center of the ball mounting seat (51) is provided with a spherical cavity (53) with both the bottom and the top being in an open state, the ball mounting seat (51) is provided with a rotatable spherical movable body (55) inside the spherical cavity (53), the middle area of ​​the spherical cavity (53) is embedded with a brake rubber ring (54) in a compressed state, the outer peripheries of the two planar ends of the spherical movable body (55) are respectively provided with a first limiting ear (56) and a second limiting ear (57) which are integrally structured therewith, and the center of the spherical movable body (55) is provided with a positioning hole (58) with both ends being in an open state.

5. A frameless positioning instrument for minimally invasive neurosurgery according to claim 4, characterized in that: The structural radius of the spherical cavity (53) matches the structural radius of the spherical movable body (55).

6. A frameless positioning instrument for minimally invasive neurosurgery according to claim 5, characterized in that: The magnetic pole force control mechanism (6) comprises a cylindrical hollow shell (61), one end of the cylindrical hollow shell (61) is provided with a fourth mounting plate (62) which is integrally structured with the cylindrical hollow shell (61) and fixedly mounted on the end surface of the third mounting plate (46), an axial component movable cavity (63) is provided inside the cylindrical hollow shell (61), the other end of the cylindrical hollow shell (61) is provided with an axial body through hole (64) which communicates with the external space and one end of the axial component movable cavity (63), and the inside of the cylindrical hollow shell (61) is provided with an intermediary hole (64) which communicates with the external space and the other end of the axial component movable cavity (63). The medium flow channel (65) is provided with a piston plate (66) which can move axially along the axial component movable cavity (63) and is disposed inside the cylindrical hollow shell (61) located in the movable cavity (63) of the axial component. The cylindrical hollow shell (61) is embedded with a first annular permanent magnet (68) at the periphery of the medium flow channel (65). The piston plate (66) is embedded with a second annular permanent magnet (69) at a corresponding position. One end of the piston plate (66) is fixedly mounted with a through-shaft through-hole (64), and the bottom end is fixedly mounted with a movable shaft (67) on the end face of the second mounting plate (45).

7. A frameless positioning instrument for minimally invasive neurosurgery according to claim 6, characterized in that: The magnetic poles of the first annular permanent magnet (68) and the second annular permanent magnet (69) on the corresponding end faces are opposite, and when the piston plate (66) moves to the bottom end of the axial component movable cavity (63), the clamping force of the first limiting ring (41) and the second limiting ring (42) on the positioning plate (48) is greater than zero.

8. A frameless positioning instrument for minimally invasive neurosurgery according to claim 7, characterized in that: The structural shape of the cross section of the shaft body through hole (64) is consistent with the structural shape of the cross section of the movable shaft (67), both of which are polygonal structures, and the structural dimensions of the cross section of the shaft body through hole (64) match the structural dimensions of the cross section of the movable shaft (67).

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