Rod-shaped tracer

Abstract

The invention discloses a rod-shaped tracer, which comprises a working rod provided with a marking unit and an emitter connected with the working rod, and is characterized in that the emitter can emit working light for an optical positioning system to identify, and the working light can only enter the outside at the marking unit; the marking unit comprises a first marking area, a second marking area and a third marking area which are arranged at intervals in the axial direction of the working rod, and the first marking area and the second marking area are of an annular structure and are arranged around the axis of the working rod; the third marking area comprises a plurality of third point positions arranged on the side wall of the working rod, the projections of the third point positions on the axis of the working rod are arranged at intervals, and the projections of the third point positions on the cross section of the working rod are arranged around the axis of the working rod in an array mode.

Description

Technical Field

[0001] This application belongs to the technical field of medical devices, and specifically relates to a rod-shaped tracer. Background Art

[0002] An optical positioning surgical navigation system is a high-precision medical auxiliary device based on optical tracking technology, mainly used for real-time positioning of anatomical structures, surgical instruments, and lesion positions during surgery, helping doctors accurately plan the surgical path and reduce operation errors, significantly improving surgical safety and success rate.

[0003] The optical balls of traditional tracers can reflect infrared light or emit visible light. The optical tracker determines and tracks the spatial coordinates of the optical balls based on optical data, thereby determining the spatial pose and rotation angle of the instrument connected to the tracer, and determining the position of the patient or surgical instrument.

[0004] Traditional optical balls need a certain diameter to effectively reflect infrared light. Optical balls that can emit visible light require a power supply module and a circuit, resulting in difficulty in reducing the volume of the tracer. And in order to obtain the pose change and angle change of the tracer, generally at least three optical balls at different positions need to be set on the tracer, further increasing the occupied space of the tracer.

[0005] The placement position of the single-plane asymmetric tracer is required to be as close as possible to the surgical site. However, due to its large volume and large area, it will affect surgical operations. And the fixation of the single-plane asymmetric tracer requires firm fixation with two bone pins or spinous process clamps. This fixation method causes too much damage to bone tissue and has a large fixation range, affecting the patient's later rehabilitation effect. Summary of the Invention

[0006] In order to reduce the occupied space of the tracer, improve the miniaturization degree of the tracer, avoid the tracer from affecting surgical operations, and reduce the damage to bone tissue when the tracer is fixed to bone tissue, this application provides a rod-shaped tracer and an optical positioning method for a surgical navigation system.

[0007] A rod-shaped tracer includes a working rod provided with a marking unit and an emitter connected to the working rod. The emitter can emit working light for the optical positioning system to identify, and the working light can only enter the outside at the marking unit. The marking unit includes a first marking area, a second marking area, and a third marking area that are arranged at intervals along the axial direction of the working rod. The first marking area and the second marking area are annular structures and are arranged around the axis of the working rod. The third marking area includes a plurality of third points arranged on the side wall of the working rod. The projections of the plurality of third points on the axis of the working rod are arranged at intervals, and the projections of the plurality of third points on the cross-section of the working rod are arranged in an array around the axis of the working rod.

[0008] The rod-shaped tracer can be disposed at positions such as the patient's surgical site and surgical instruments. The optical tracker can obtain the coordinates of the first marking area, the second marking area, and the third marking area according to the working light conditions at the first marking area, the second marking area, and the third marking area. The processor of the optical positioning surgical navigation system receives the optical information captured by the camera. Since the first marking area and the second marking area are annular structures, when the rod-shaped tracer appears in the shooting area of the optical tracker, regardless of the angle of the rod-shaped tracer, the spatial coordinates of the first marking area and the second marking area can be obtained. According to the spatial coordinates of the first marking area and the second marking area, as well as the dimension data of the working rod, the spatial position and spatial attitude of the working rod are determined, and then the position of the patient's surgical site connected to the rod-shaped tracer, or the spatial position and spatial attitude of the surgical instrument are determined; according to the coordinate change of the third point in the third marking area, the rotation angle of the working rod around the axis of the working rod is obtained, and then the change in the rotation angle of the surgical instrument is calculated. The rod-shaped tracer can actively emit working light. Even if the volume of the rod-shaped tracer is small, the optical tracker can receive strong working light to accurately track the rod-shaped tracer. Through the setting of the emitter and the marking unit in this application, it is beneficial to realize the miniaturization of the tracer.

[0009] In an embodiment of the present application, the emitter has a first light-emitting state and a second light-emitting state; when the emitter is in the first light-emitting state, it can emit infrared light, and at this time the working light is infrared light; when the emitter is in the second light-emitting state, it can emit visible light, and at this time the working light is visible light.

[0010] In an embodiment of the present application, four third points are provided in the third marking area.

[0011] In an embodiment of the present application, the third marking area is disposed between the first marking area and the second marking area.

[0012] In an embodiment of the present application, the projections of multiple third points on the cross-section of the working rod form an annular structure.

[0013] When the working rod rotates around itself, by the way that the projections of multiple third points on the cross-section of the working rod form an annular structure, it is ensured that the camera can always capture at least one third point, and according to the position of the third point relative to the first marking area and the second marking area, and the light intensity at the third point, the rotation angle of the working rod around its own axis is determined.

[0014] In an embodiment of the present application, the working rod is provided with a working cavity, and an emitter is disposed in the working cavity. The marking unit is connected to the working cavity, and the working light emitted by the emitter can enter the outside through the marking unit.

[0015] Since the rod-shaped tracer is conducive to the miniaturization of the tracer, but the smaller rod-shaped tracer increases the assembly difficulty of the rod-shaped tracer. By setting up a working cavity and an emitter, the first marking area, the second marking area, and the third marking area can help the optical tracker determine the coordinates of the marking unit only by using the working light generated by one emitter, simplifying the assembly process.

[0016] In an embodiment of the present application, polarizers are provided at each of the third positions, and the working light enters the outside through the polarizers.

[0017] The polarizer can change the propagation direction of the light, thereby avoiding the mutual interference of the working light in the marking unit and affecting the optical tracker to determine the spatial coordinates of the first marking area, the second marking area, and the third position.

[0018] In an embodiment of the present application, the third marking area includes at least three third positions; along the direction from the first marking area to the second marking area, the arrangement order of the projections of the at least three third positions on the working rod axis is the first order; the projections of the at least three third positions on the cross-section of the working rod are arranged in sequence around the working rod axis according to the sequence in the first order.

[0019] In an embodiment of the present application, the emitter can only emit infrared light, and the infrared light is the working light.

[0020] An optical positioning method for a surgical navigation system, which is applied to any of the above rod-shaped tracers, includes: obtaining the coordinates of the first marking area, the second marking area, and the third marking area in the coordinate system of the optical tracker through the optical tracker; obtaining the pose information of the working rod according to the coordinate information of the first marking area and the second marking area; obtaining the rotation angle of the working rod around the working rod axis according to the coordinate change of the third position in the third marking area.

[0021] The beneficial effects of the present application at least include:

[0022] 1. The rod-shaped tracer can be arranged at positions such as the patient's surgical site and surgical instruments. The optical tracker can obtain the coordinates of the first marking area, the second marking area, and the third marking area according to the working light conditions at the first marking area, the second marking area, and the third marking area. The processor of the optical positioning surgical navigation system receives the optical information captured by the camera. Since the first marking area and the second marking area are annular structures, when the rod-shaped tracer appears in the shooting area of the optical tracker, regardless of the angle of the rod-shaped tracer, the spatial coordinates of the first marking area and the second marking area can be obtained. According to the spatial coordinates of the first marking area and the second marking area, as well as the dimensional data of the working rod, the spatial position and spatial attitude of the working rod are determined, and then the position of the patient's surgical site connected to the rod-shaped tracer, or the spatial position and spatial attitude of the surgical instrument are determined; according to the coordinate change of the third point position in the third marking area, the rotation angle of the working rod around the axis of the working rod is obtained, and then the change in the rotation angle of the surgical instrument is calculated. The rod-shaped tracer can actively emit working light. Even if the volume of the rod-shaped tracer is small, the optical tracker can receive strong working light to accurately track the rod-shaped tracer. Through the setting of the emitter and the marking unit in this application, it is beneficial to realize the miniaturization of the tracer.

[0023] 2. When the working rod rotates around itself, by the way that a ring structure is formed by the projections of multiple third point positions on the cross-section of the working rod, it is ensured that the camera can always capture at least one third point position, and according to the position of the third point position relative to the first marking area and the second marking area, the coordinates of the third point position, and the light intensity at the third point position, the rotation angle of the working rod around its own axis is determined. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic structural diagram of an exemplary embodiment of the present application;

[0025] Figure 2 is a schematic structural diagram of an exemplary embodiment of the emitter in the present application;

[0026] Figure 3 is a front view of an exemplary embodiment of the working rod;

[0027] Figure 4 is a right view of an exemplary embodiment of the working rod;

[0028] Figure 5 is a rear view of an exemplary embodiment of the working rod;

[0029] Figure 6 is a left view of an exemplary embodiment of the working rod;

[0030] Figure 7 is a top view of an exemplary embodiment of the third marking area;

[0031] Figure 8 It is a schematic structural diagram of another illustrative embodiment of the third marking area;

[0032] Figure 9 It is a schematic structural diagram of an illustrative embodiment when the rod-shaped tracer is connected to the surgical instrument;

[0033] Figure 10 It is a schematic diagram when the rod-shaped tracer rotates around its own axis.

[0034] In the figure:

[0035] 100, working rod; 101, first end; 102, second end; 103, emitter;

[0036] 201, first marking area; 202, second marking area; 203, third marking area; 204, point A; 205, point B; 206, point C; 207, point D; 208, light ray P; 209, light ray Q;

[0037] 301, optical tracker. Specific embodiments

[0038] For a clearer understanding of the technical features, objectives, and effects of the present application, the specific embodiments of the present application are now described with reference to the accompanying drawings. In the figures, the same reference numerals denote components having the same or similar structures but the same functions.

[0039] In this document, "schematic" means "serving as an example, instance, or illustration", and any illustration or embodiment described as "schematic" in this document should not be construed as a more preferred or more advantageous technical solution.

[0040] To simplify the drawings, only the parts related to the present application are schematically shown in each figure, and they do not represent their actual structures as products. Additionally, for the sake of simplicity and ease of understanding of the drawings, in some figures, components having the same structure or function are only schematically illustrated for one of them, or only one of them is labeled.

[0041] Please refer to Figures 1 to 10 to understand the present application.

[0042] The rod-shaped tracer can be disposed at positions such as the patient's surgical site, surgical instrument, robotic arm, etc. Refer to Figure 1 , the rod-shaped tracer includes a working rod 100 provided with a marking unit and an emitter 103 connected to the working rod 100. The emitter 103 can emit working light for identification by the optical positioning system, and the working light can only enter the outside at the marking unit. Refer to Figure 2, in an embodiment of the present application, the working rod 100 is provided with a working cavity, and an emitter 103 is arranged in the working cavity. The marking unit is connected to the working cavity. The marking unit can be formed by a hole opened on the side wall of the working rod 100 or a light-transmitting member provided on the working rod 100, so that the light emitted by the emitter 103 located inside the working cavity can only enter the outside through the marking unit and cannot enter the outside through the rest of the working rod 100. In an embodiment of the present application, the working light is infrared light, and the emitter 103 can emit infrared light to the outside. Preferably, the emitter 103 can emit near-infrared light.

[0043] See Figure 1 、 Figures 3 to 6 , the marking unit includes a first marking area 201, a second marking area 202, and a third marking area 203 that are arranged at intervals along the axial direction of the working rod 100.

[0044] The first marking area 201 and the second marking area 202 are annular structures and are arranged around the axis of the working rod 100. See Figure 1 , in an embodiment of the present application, the first marking area 201 is located at the first end 101 of the working rod 100, and the second marking area 202 is located at the second end 102 of the working rod 100. By setting the shapes of the first marking area 201 and the second marking area 202, or setting the wavelengths of the working light existing at the first marking area 201 and the second marking area 202, etc., the optical tracker 301 can be assisted to distinguish the first marking area 201 and the second marking area 202. When the rod-shaped tracer appears in the shooting area of the optical tracker 301, see Figure 9 , since the first marking area 201 and the second marking area 202 are annular structures, no matter what angle the rod-shaped tracer is in, the spatial coordinates of the first marking area 201 and the second marking area 202 can be obtained, so as to determine the relative position relationship between the first end 101 and the second end 102, determine the spatial pose of the working rod 100, determine the spatial pose of the surgical instrument, the relative position relationship between the surgical site and the surgical instrument, and other parameters.

[0045] The third marking area 203 includes a plurality of third points arranged on the side wall of the working rod 100. The projections of the plurality of third points on the axis of the working rod 100 are arranged at intervals, and the projections of the plurality of third points on the cross-section of the working rod 100 are arranged in an array around the axis of the working rod 100. See Figure 1 、 Figures 3 to 6, the third marking area 203 is provided with four third points. For better description of this application, the four third points are respectively named point A, point B, point C, and point D herein. Point A 204, point B 205, point C 206, and point D 207 are arranged at intervals in the projection on the axis of the working rod 100, and the projections on the cross-section of the working rod 100 are arranged in an array around the axis of the working rod 100. At least one third point can appear within the shooting range of the optical tracker 301. It is possible to distinguish whether it is point A 204, point B 205, point C 206, or point D 207 that appears within the shooting range of the optical tracker 301 according to the relative positions of the third point with respect to the first marking area 201 and the second marking area 202. At the same time, record the coordinate information of the third point that appears within the shooting range of the optical tracker 301. When the working rod 100 rotates around its own axis, determine the rotation angle of the working rod 100 around its own axis according to the identity change and coordinate change of the third point, so as to determine the rotation angle of the part connected to the rod-shaped tracer such as the surgical instrument. See Figure 10 , light ray P is emitted to the outside at point A 204, and light ray Q is emitted to the outside at point B 205. As the rod-shaped tracer rotates around its own axis along the Figure 10 rotation direction shown in, the light intensity of light ray P 208 decreases in the optical tracker 301, and the light intensity of light ray Q 209 increases in the optical tracker 301. At the same time, the projection positions of point A 204 and point B 205 on the axis of the working rod 100 are different. The optical tracker 301 can calculate the coordinate change of the third point according to information such as light intensity change, and obtain the rotation angle of the working rod 100 around its own axis.

[0046] Of course, the number of third points set in the third marking area 203 can also be other numbers. The optical tracker can determine the rotation angle of the working rod 100 around its own axis according to the optical information such as the position and light intensity of the third points in the third marking area 203.

[0047] The optical tracker can obtain the coordinates of the first marker area 201, the second marker area 202, and the third marker area 203 based on the working light conditions at the first marker area 201, the second marker area 202, and the third marker area 203. The processor of the optical positioning surgical navigation system receives the optical information captured by the camera and determines the spatial position and spatial attitude of the working rod 100 based on the spatial coordinates of the first marker area 201 and the second marker area 202, as well as the dimensional data of the working rod 100, and then determines the spatial position and spatial attitude of the patient's surgical site or surgical instrument connected to the rod-shaped tracer; according to the coordinate change of the third point position in the third marker area 203, the rotation angle of the working rod 100 around the axis of the working rod 100 is obtained, and then the rotation angle of the surgical instrument is calculated. The rod-shaped tracer can actively emit working light, and the intensity of the working light is stable. Even if the volume of the rod-shaped tracer is small, the optical tracker 301 can receive stronger working light to accurately track the rod-shaped tracer. Through the setting of the emitter 103 and the marking unit in this application, it is beneficial to realize the miniaturization of the tracer.

[0048] Due to the shape setting of the rod-shaped tracer, without a special connector, the rod-shaped tracer can be directly fixed to the bone tissue corresponding to the surgery through a bone pin, with less damage. Moreover, the rod-shaped tracer occupies less space, has a simple shape, occupies less surgical space, and has less impact on surgical operations.

[0049] Although the rod-shaped tracer is beneficial to realize the miniaturization of the tracer, the smaller rod-shaped tracer increases the assembly difficulty. By setting the working cavity and an emitter 103, the first marker area 201, the second marker area 202, and the third marker area 203 can use only the working light generated by one emitter 103 to help the optical tracker 301 determine the coordinates of the marking unit, simplifying the assembly process.

[0050] Those skilled in the art to which this application belongs can understand that the number and position settings of the emitter 103 in this application are not limited to the above-mentioned methods, and there can be other methods, such as setting emitters 103 at the first marker area 201, the second marker area 202, and multiple third point positions respectively, and setting the emitter 103 outside the working rod 100. The optical tracker 301 can also determine the spatial pose and rotation angle of the working rod 100 based on the optical information of the marking unit. The first marker area 201 and the second marker area 202 can be a complete circular ring structure or an annular structure formed by multiple light-emitting points surrounding the axis of the working rod 100, which will not be elaborated here.

[0051] See Figure 1, in an embodiment of the present application, the third marking area 203 is provided between the first marking area 201 and the second marking area 202, which facilitates the optical tracker 301 to distinguish between the first marking area 201 and the second marking area 202.

[0052] In an embodiment of the present application, the third marking area 203 includes at least three third points; along the direction from the first marking area 201 to the second marking area 202, the arrangement order of the projections of at least three third points on the axis of the working rod 100 is the first order; the projections of at least three third points on the cross-section of the working rod 100 are arranged in sequence around the axis of the working rod 100 according to the order in the first order. Refer to Figures 3 to 7 , in Figure 3 the top-down direction in Figure 7 , the point A204, the point B205, the point C206, and the point D207 are arranged from top to bottom, and the point A204, the point B205, the point C206, and the point D207 form the first order. Refer to

[0053] Of course, the position setting method of the third point can also have other methods, such as the point C206 is located above the point B205, which will not be elaborated here.

[0054] In an embodiment of the present application, the projections of multiple third points on the cross-section of the working rod 100 form an annular structure. Refer to Figure 7 , the point A204, the point B205, the point C206, and the point D207 are attached to the side wall of the working rod 100. The working rod 100 is a cylinder, and the projections of the point A204, the point B205, the point C206, and the point D207 on the cross-section of the working rod 100 form an annular structure, ensuring that there is always a third point within the shooting range of the optical tracker 301, and ensuring that when the working rod 100 rotates around its own axis, the optical tracker 301 can obtain an accurate rotation angle.

[0055] When the working rod 100 rotates around itself, by means of the projections of multiple third points on the cross-section of the working rod 100 forming an annular structure, it is ensured that the camera can always capture at least one third point, and according to the position of the third point relative to the first marking area 201 and the second marking area 202, and the light intensity at the third point, the rotation angle of the working rod 100 around its own axis is determined.

[0056] Those skilled in the art to which the present application pertains can understand that the setting method of multiple third points in the present application can also be other methods, which can be referred toFigure 8 , multiple third positions are not in contact with the side wall of the working rod 100.

[0057] In an embodiment of the present application, polarizers are provided at each of the third positions, and the working light enters the outside through the polarizers. The polarizer can change the propagation direction of the light, so that the light propagates along a straight line direction, thereby avoiding the mutual interference of the working lights in the marking unit and affecting the optical tracker 301 to determine the spatial coordinates of the first marking area 201, the second marking area 202, and the third position.

[0058] Those skilled in the art to which the present application pertains can understand that the light-emitting state of the emitter 103 in the present application is not limited to the emitter 103 being only capable of emitting infrared light, but can also have other light-emitting states. For example, in an embodiment of the present application, the emitter 103 has a first light-emitting state and a second light-emitting state; when the emitter 103 is in the first light-emitting state, it can emit infrared light, and at this time the working light is infrared light; when the emitter 103 is in the second light-emitting state, it can emit visible light, and at this time the working light is visible light. The emitter 103 is a functional unit capable of emitting infrared light or visible light. Since the optical tracker 301 can identify specific infrared light or visible light to track the tracer, to adapt to different optical trackers 301, the emitter 103 of the rod-shaped tracer has two light-emitting states. The first light-emitting state is that the emitter 103 can only emit infrared light, preferably, only near-infrared light; the second light-emitting state is that the emitter 103 only emits visible light.

[0059] There are multiple methods to achieve the two light-emitting states of the emitter 103. For example, in the first method, two independent light sources, a visible light LED and an infrared light LED, are combined and arranged to form the emitter 103, and the working states of the visible light LED and the infrared light LED are controlled by an integrated circuit to enable one of the groups of light sources, the visible light LED or the infrared light LED, to work, so that the emitter 103 can only emit visible light or infrared light; the second method is to use a broadband light source capable of emitting infrared light and visible light, and a liquid crystal tunable filter (LCTF) to form the emitter 103. The integrated circuit controls the type of working light emitted by the broadband light source to the outside through the liquid crystal tunable filter. Or use the third method, the integrated circuit excites the fluorescent material with different lasers to generate visible light or infrared light. Of course, there are other ways to enable the emitter 103 to have two light-emitting states, so that the rod-shaped tracer can emit infrared light or visible light according to the type of the optical tracker 301 to be recognized by the optical tracker 301, which will not be elaborated here.

[0060] In an implementation manner of the present application, the working rod 100 is connected to a battery, and the battery can supply power to the circuit in the rod-shaped tracer so that electrical components such as the emitter 103 and the integrated circuit can work.

[0061] An optical positioning method for a surgical navigation system, which is applied to any of the above rod-shaped tracers, and includes: obtaining the coordinates of the first marking area 201, the second marking area 202, and the third marking area 203 in the coordinate system of the optical tracker through the optical tracker, and obtaining the pose information of the working rod 100 according to the coordinate information of the first marking area 201 and the second marking area 202.

[0062] See Figure 1 , Figures 3 to 6 , the projection intervals of the point positions A204, point positions B205, point positions C206, and point positions D207 on the axis of the working rod 100 are set, and the projections on the cross-section of the working rod 100 are arranged in an array around the axis of the working rod 100. At least one third point position can appear within the shooting range of the optical tracker 301. It is possible to distinguish whether it is the point position A204, the point position B205, the point position C206, or the point position D207 that appears within the shooting range of the optical tracker 301 according to the relative positions of the third point position relative to the first marking area 201 and the second marking area 202. At the same time, record the coordinate information of the third point position that appears within the shooting range of the optical tracker 301. When the working rod 100 rotates around its own axis, determine the rotation angle of the working rod 100 around its own axis according to the identity change of the third point position and the coordinate change of the third point position. Thus, according to the coordinate change situation of the third point position in the third marking area 203, obtain the rotation angle of the working rod 100 around the axis of the working rod 100. Of course, the optical tracker 301 can also calculate the rotation angle of the working rod 100 around the working rod axis according to the light intensity change situation at the point positions A204, point positions B205, point positions C206, and point positions D207, in cooperation with the coordinate situation of the point positions A204, point positions B205, point positions C206, and point positions D207.

[0063] It should be understood that although this specification is described according to various implementation manners, not every implementation manner only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other implementation manners that can be understood by those skilled in the art.

[0064] The series of detailed descriptions listed above are only specific descriptions of the feasible embodiments of the present application, and they are not used to limit the protection scope of the present application. Any equivalent implementation or change made without departing from the technical spirit of the present application, such as the combination, division, or repetition of features, should be included in the protection scope of the present application.

Claims

1. A rod-shaped tracer, characterized in that: It comprises a working rod provided with a marking unit and an emitter connected to the working rod, wherein the emitter can emit working light for identification by an optical positioning system, and the working light can enter the outside world only at the marking unit; The marking unit comprises a first marking area, a second marking area, and a third marking area which are arranged at intervals along the axial direction of the working rod, wherein the first marking area and the second marking area are annular structures and are arranged around the axis of the working rod; The third marking area includes a plurality of third points arranged on the side wall of the working rod, the plurality of third points are arranged at intervals on the projection of the axis of the working rod, and the projections of the plurality of third points on the cross section of the working rod are arranged in an array around the axis of the working rod.

2. A rod-shaped tracer according to claim 1, characterized in that: The emitter has a first light emitting state and a second light emitting state; When the emitter is in the first light-emitting state, it can emit infrared light, and at this time, the working light is infrared light; When the emitter is in the second light-emitting state, it can emit visible light, and at this time the working light is visible light.

3. A rod-shaped tracer according to claim 1, characterized in that: The third marking area is provided with four third points.

4. A rod-shaped tracer according to claim 1, characterized in that: The third marking area is disposed between the first marking area and the second marking area.

5. A rod-shaped tracer according to claim 1, characterized in that: The projections of the plurality of third points on the cross section of the working rod form an annular structure.

6. A rod-shaped tracer according to claim 1, characterized in that: The working rod is provided with a working cavity, in which the emitter is provided, and the marking unit is connected with the working cavity. The working light emitted by the emitter can enter the outside through the marking unit.

7. A rod-shaped tracer according to claim 1, characterized in that: A polarizing plate is provided at each of the third points, and the working light enters the outside through the polarizing plate.

8. A rod-shaped tracer according to claim 1, characterized in that: The third marking area includes at least three third points; Along the direction from the first marking area to the second marking area, the projections of at least three third points on the axis of the working rod are arranged in a first order; The projections of at least three third points on the cross section of the working rod are arranged in sequence around the axis of the working rod according to the order of precedence in the first sequence.

9. A rod-shaped tracer according to claim 1, characterized in that: The emitter can only emit infrared light, and the infrared light is the working light.

10. An optical positioning method for a surgical navigation system, applied to any rod-shaped tracer according to claim 1 to claim 9, characterized in that: include: Obtaining coordinates of the first marking area, the second marking area, and the third marking area in the optical tracker coordinate system through the optical tracker; Acquire the position and posture information of the working rod according to the coordinate information of the first marking area and the second marking area; According to the coordinate change of the third point in the third marking area, the rotation angle of the working rod around the working rod axis is obtained.

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