A rod-shaped tracer

Abstract

The application discloses a rod-shaped tracer, which comprises a working rod provided with a marking unit and a projectile connected with the working rod, the projectile is capable of emitting working light for an optical positioning system to identify, the working light can only enter the outside world 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, 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 comprises a plurality of third point positions arranged on the side wall of the working rod, the projections of the plurality of third point positions on the axis of the working rod are arranged at intervals, and the projections of the plurality of third point positions on the cross section of the working rod are arranged in an array around the axis of the working rod; the application with the above structure is beneficial to miniaturization of the tracer.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of medical devices, in particular to a rod-shaped tracer. BACKGROUND

[0002] The 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 in surgical operations, helping surgeons to accurately plan the operation path and reduce operation errors, and significantly improving the safety and success rate of operations.

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

[0004] The traditional optical ball needs a certain diameter to effectively reflect infrared light, and the optical ball capable of emitting visible light needs a power module and a circuit, which makes it difficult to reduce the size of the tracer. In order to obtain the pose change and angle change of the tracer, the tracer generally needs to be provided with at least three optical balls at different positions, thereby further increasing the occupied space of the tracer.

[0005] The placement position of the single-plane asymmetric tracer requires to be as close to the surgical site as possible, but due to its large size and large area, it will affect the operation, and the fixation of the single-plane asymmetric tracer requires two bone pins or spinous process clamps to be fixed firmly, which causes great damage to the bone tissue and a large fixed range, affecting the rehabilitation effect of the patient in the later stage. SUMMARY

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

[0007] A rod-shaped tracer comprises a working rod provided with a marking unit and an emitter connected with the working rod, the emitter being capable of emitting working light for identification by an optical positioning system, the working light being able to 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 arranged at intervals along the axial direction of the working rod, the first marking area and the second marking area being annular structures and being arranged around the axis of the working rod; the third marking area comprises a plurality of third point positions provided on the side wall of the working rod, the projections of the plurality of third point positions on the axis of the working rod being arranged at intervals, and the projections of the plurality of third point positions on the cross section of the working rod being arranged in an array around the axis of the working rod.

[0008] The rod-shaped tracer can be arranged at a patient's operation site, a surgical instrument or the like, and the optical tracer can obtain coordinates of the first mark area, the second mark area and the third mark area according to working light at the first mark area, the second mark area and the third mark area. The processor of the optical positioning surgical navigation system receives optical information captured by the camera. Since the first mark area and the second mark area are annular structures, when the rod-shaped tracer appears in the shooting area of the optical tracer, the spatial coordinates of the first mark area and the second mark area can be obtained regardless of the angle of the rod-shaped tracer. According to the spatial coordinates of the first mark area and the second mark area and the size data of the working rod, the spatial position and the spatial posture of the working rod are determined, and then the position of the patient's operation site connected with the rod-shaped tracer or the spatial position and the spatial posture of the surgical instrument are determined. According to the coordinate change of the third point in the third mark area, the rotation angle of the working rod around the working rod axis is obtained, and then the rotation angle change of the surgical instrument is calculated. The rod-shaped tracer can actively emit working light, and even if the volume of the rod-shaped tracer is small, the optical tracer can also receive strong working light to accurately track the rod-shaped tracer. Through the arrangement of the emitter and the mark unit, miniaturization of the tracer is facilitated.

[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, the third mark area is provided with four third points.

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

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

[0013] When the working rod rotates around itself, the projections of the plurality of third points on the cross section of the working rod form an annular structure, so that the camera can always capture at least one third point, and the rotation angle of the working rod around the axis thereof is determined according to the position of the third point relative to the first mark area and the second mark area and the light intensity at the third point.

[0014] In an embodiment of the present application, the working rod is provided with a working cavity, one emitter is arranged in the working cavity, the mark unit is connected with the working cavity, and the working light emitted by the emitter can enter the outside world through the mark unit.

[0015] Since the rod-shaped tracer is conducive to miniaturization of the tracer, but the smaller rod-shaped tracer leads to an increase in the difficulty of assembly of the rod-shaped tracer, by setting the working cavity and the emitter, the first mark area, the second mark area and the third mark area can only generate working light by using the emitter, so as to help the optical tracker to determine the coordinates of the mark unit, and the assembly process is simplified.

[0016] In an embodiment of the present application, the third point is provided with a polarizer, and the working light enters the outside world through the polarizer.

[0017] The polarizer can change the propagation direction of the light, so as to avoid mutual interference of the working light in the mark unit, and affect the optical tracker to determine the spatial coordinates of the first mark area, the second mark area and the third point.

[0018] In an embodiment of the present application, the third mark area includes at least three third points; along the direction in which the first mark area points to the second mark area, the arrangement order of the projections of the at least three third points on the working rod axis is a first order; the projections of the at least three third points on the working rod cross section are arranged in turn around the working rod axis according to the order 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 of a surgical navigation system, applied to any one of the above rod-shaped tracers, includes: obtaining the coordinates of the first mark area, the second mark area and the third mark area in the optical tracker coordinate system by the optical tracker; obtaining the pose information of the working rod according to the coordinate information of the first mark area and the second mark area; and obtaining the rotation angle of the working rod around the working rod axis according to the coordinate change of the third point in the third mark area.

[0021] The present application has at least the following beneficial effects:

[0022] 1. The rod-shaped tracer can be arranged at the patient's operation site, surgical instruments and other positions. The optical tracker can obtain the coordinates of the first, second and third marking areas according to the working light conditions at the first, second and third marking areas. The processor of the optical positioning surgical navigation system receives the optical information captured by the camera. Since the first and second marking areas are annular structures, when the rod-shaped tracer appears in the shooting area of the optical tracker, the spatial coordinates of the first and second marking areas can be obtained regardless of the angle of the rod-shaped tracer. According to the spatial coordinates of the first and second marking areas and the size data of the working rod, the spatial position and attitude of the working rod are determined, and then the position of the patient's operation site connected with the rod-shaped tracer or the spatial position and 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 working rod axis is obtained, and then the rotation angle change 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 also receive strong working light to accurately track the rod-shaped tracer. The present application is beneficial to realize the miniaturization of the tracer through the setting of the emitter and the marking unit.

[0023] 2. When the working rod rotates around itself, the camera can always capture at least one third point by forming an annular structure with the projections of multiple third points on the working rod cross section, and determine the rotation angle of the working rod around its axis according to the position of the third point relative to the first and second marking areas, the coordinates of the third point and the light intensity at the third point. BRIEF DESCRIPTION OF DRAWINGS

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

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

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

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

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

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

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

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

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

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

[0034] In the drawings:

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

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

[0037] 301, optical tracer. DETAILED DESCRIPTION

[0038] In order to have a clearer understanding of the technical features, objectives and effects of the present application, the specific embodiments of the present application will be described with reference to the drawings, in which the same reference numerals represent the same or similar parts having the same function.

[0039] In this document, "illustrative" means "serving as an example, instance, or illustration," and should not necessarily be construed as "preferred" or "advantageous" over other examples, instances, or illustrations.

[0040] In order to make the drawings simple, only the parts related to the present application are schematically shown in the drawings, which do not represent the actual structure of the product. In addition, in order to make the drawings simple and easy to understand, in some drawings, only one of the parts having the same structure or function is schematically shown, or only one of them is marked.

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

[0042] The rod-shaped tracer can be arranged at a patient's surgical site, a surgical instrument, a mechanical arm, etc. Please refer to Figure 1 , the rod-shaped tracer includes a working rod 100 provided with a marker unit and an emitter 103 connected to the working rod 100, the emitter 103 can emit working light for recognition by an optical positioning system, and the working light can only enter the outside world at the marker unit. Please refer to Figure 2In an embodiment of the present application, the working rod 100 is provided with a working cavity, and a transmitter 103 is arranged in the working cavity. The marking unit is connected to the working cavity. The marking unit can be a hole arranged in the side wall of the working rod 100 or a light-transmitting component arranged on the working rod 100. In this way, the light emitted by the transmitter 103 in the working cavity can only enter the outside world through the marking unit and cannot enter the outside world through the remaining area of the working rod 100. In an embodiment of the present application, the working light is infrared light, and the transmitter 103 can emit infrared light to the outside world. Preferably, the transmitter 103 can emit near-infrared light.

[0043] Referring to 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 arranged 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. Referring to 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. The shape of the first marking area 201 and the second marking area 202 or the wavelength of the working light present at the first marking area 201 and the second marking area 202 can be used to assist the optical tracker 301 in distinguishing 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, referring to Figure 9 Since the first marking area 201 and the second marking area 202 are annular structures, the spatial coordinates of the first marking area 201 and the second marking area 202 can be obtained regardless of the angle of the rod-shaped tracer. Thus, the relative positional relationship between the first end 101 and the second end 102 can be determined, the spatial pose of the working rod 100 can be determined, and the spatial pose of the surgical instrument, the relative positional relationship between the surgical site and the surgical instrument, and other parameters can be determined.

[0045] The third marking area 203 includes a plurality of third point positions arranged on the side wall of the working rod 100. The projections of the plurality of third point positions on the axis of the working rod 100 are arranged at intervals. The projections of the plurality of third point positions on the cross section of the working rod 100 are arranged in an array around the axis of the working rod 100. Referring to Figure 1 , Figures 3 to 6, the third marking area 203 is provided with four third point positions. In order to better describe the present application, the four third point positions are named as point position A, point position B, point position C and point position D. The projections of the point position A 204, the point position B 205, the point position C 206 and the point position D 207 on the axis of the working rod 100 are arranged at intervals. The projections of 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 in the shooting range of the optical tracker 301. According to the relative positions of the third point positions relative to the first marking area 201 and the second marking area 202, it can be determined whether the point position A 204, the point position B 205, the point position C 206 or the point position D 207 appears in the shooting range of the optical tracker 301. At the same time, the coordinate information of the third point position appearing in the shooting range of the optical tracker 301 is recorded. When the working rod 100 rotates around its own axis, according to the identity change of the third point position and the coordinate change of the third point position, the rotation angle of the working rod 100 around its own axis is determined, so that the rotation angle of the part connected with the rod-shaped tracer of the surgical instrument is determined. Referring to Figure 10 , the point position A 204 emits light P to the outside world, and the point position B 205 emits light Q to the outside world. As the rod-shaped tracer rotates around its own axis in the rotation direction shown in Figure 10 , the light intensity of the light P 208 in the optical tracker 301 decreases, and the light intensity of the light Q 209 in the optical tracker 301 increases. At the same time, the projection positions of the point position A 204 and the point position 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 position according to the light intensity change and other information, and obtain the rotation angle of the working rod 100 around its own axis.

[0046] Of course, the number of third point positions provided by 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 positions of the third point positions in the third marking area 203, the light intensity and other optical information.

[0047] The optical tracker can obtain the coordinates of the first mark area 201, the second mark area 202 and the third mark area 203 according to the working light at the first mark area 201, the second mark area 202 and the third mark area 203. The processor of the optical positioning surgery navigation system receives the optical information captured by the camera, determines the spatial position and spatial pose of the working rod 100 according to the spatial coordinates of the first mark area 201 and the second mark area 202 and the size data of the working rod 100, and further determines the spatial position and spatial pose of the surgical site or surgical instrument connected with the rod-shaped tracer. According to the coordinate change of the third point in the third mark area 203, the rotation angle of the working rod 100 around the axis of the working rod 100 is obtained, and 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 also receive strong working light to accurately track the rod-shaped tracer. Through the setting of the emitter 103 and the mark unit, the miniaturization of the tracer is facilitated.

[0048] Due to the shape of the rod-shaped tracer, a special connector is not required, and the rod-shaped tracer can be directly fixed to the corresponding bone tissue of the surgery through a bone needle, with less damage. Moreover, the rod-shaped tracer occupies less space, has a simple shape, and occupies less surgical space, thereby having less impact on the surgical operation.

[0049] Due to the shape of the rod-shaped tracer, a special connector is not required, and the rod-shaped tracer can be directly fixed to the corresponding bone tissue of the surgery through a bone needle, with less damage. Moreover, the rod-shaped tracer occupies less space, has a simple shape, and occupies less surgical space, thereby having less impact on the surgical operation.

[0050] Those skilled in the art to which the present application pertains can understand that the number and position of the emitters 103 in the present application are not limited to the above-mentioned manner, but can also have other manners, such as arranging the emitters 103 at the first mark area 201, the second mark area 202 and the plurality of third point positions, and arranging the emitters 103 outside the working rod 100. The optical tracker 301 can also determine the spatial pose and rotation angle of the working rod 100 according to the optical information of the mark unit. The first mark area 201 and the second mark area 202 can be a complete circular ring structure or a ring structure formed by a plurality of light emitting points around the axis of the working rod 100, which will not be described here.

[0051] Referring to Figure 1In an embodiment of the present application, the third marking area 203 is arranged between the first marking area 201 and the second marking area 202, so as to facilitate the optical tracker 301 to distinguish the first marking area 201 and the second marking area 202.

[0052] In an embodiment of the present application, the third marking area 203 comprises at least three third point positions; along the direction in which the first marking area 201 points to the second marking area 202, the arrangement order of the projections of the at least three third point positions on the axis of the working rod 100 is a first order; the projections of the at least three third point positions on the cross section of the working rod 100 are arranged in turn around the axis of the working rod 100 according to the order in the first order. See Figures 3 to 7 In an embodiment of the present application, the third marking area 203 comprises at least three third point positions; along the direction in which the first marking area 201 points to the second marking area 202, the arrangement order of the projections of the at least three third point positions on the axis of the working rod 100 is a first order; the projections of the at least three third point positions on the cross section of the working rod 100 are arranged in turn around the axis of the working rod 100 according to the order in the first order. See Figure 3 In an embodiment of the present application, the third marking area 203 comprises at least three third point positions; along the direction in which the first marking area 201 points to the second marking area 202, the arrangement order of the projections of the at least three third point positions on the axis of the working rod 100 is a first order; the projections of the at least three third point positions on the cross section of the working rod 100 are arranged in turn around the axis of the working rod 100 according to the order in the first order. See Figure 7 In an embodiment of the present application, the third marking area 203 comprises at least three third point positions; along the direction in which the first marking area 201 points to the second marking area 202, the arrangement order of the projections of the at least three third point positions on the axis of the working rod 100 is a first order; the projections of the at least three third point positions on the cross section of the working rod 100 are arranged in turn around the axis of the working rod 100 according to the order in the first order. See

[0053] In an embodiment of the present application, the third marking area 203 comprises at least three third point positions; along the direction in which the first marking area 201 points to the second marking area 202, the arrangement order of the projections of the at least three third point positions on the axis of the working rod 100 is a first order; the projections of the at least three third point positions on the cross section of the working rod 100 are arranged in turn around the axis of the working rod 100 according to the order in the first order. See

[0054] In an embodiment of the present application, the third marking area 203 comprises at least three third point positions; along the direction in which the first marking area 201 points to the second marking area 202, the arrangement order of the projections of the at least three third point positions on the axis of the working rod 100 is a first order; the projections of the at least three third point positions on the cross section of the working rod 100 are arranged in turn around the axis of the working rod 100 according to the order in the first order. See Figure 7 In an embodiment of the present application, the third marking area 203 comprises at least three third point positions; along the direction in which the first marking area 201 points to the second marking area 202, the arrangement order of the projections of the at least three third point positions on the axis of the working rod 100 is a first order; the projections of the at least three third point positions on the cross section of the working rod 100 are arranged in turn around the axis of the working rod 100 according to the order in the first order. See

[0055] In an embodiment of the present application, the third marking area 203 comprises at least three third point positions; along the direction in which the first marking area 201 points to the second marking area 202, the arrangement order of the projections of the at least three third point positions on the axis of the working rod 100 is a first order; the projections of the at least three third point positions on the cross section of the working rod 100 are arranged in turn around the axis of the working rod 100 according to the order in the first order. See

[0056] In an embodiment of the present application, the third marking area 203 comprises at least three third point positions; along the direction in which the first marking area 201 points to the second marking area 202, the arrangement order of the projections of the at least three third point positions on the axis of the working rod 100 is a first order; the projections of the at least three third point positions on the cross section of the working rod 100 are arranged in turn around the axis of the working rod 100 according to the order in the first order. SeeFigure 8 The plurality of third point positions are not attached to the sidewall of the working rod 100.

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

[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 that the emitter 103 can only emit 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, because the optical tracker 301 can identify specific infrared light or visible light, thereby tracking the tracker. In order to adapt to different optical trackers 301, the emitter 103 of the rod-shaped tracker has two light emitting states. The first light emitting state is that the emitter 103 can only emit infrared light, and preferably, can only emit near-infrared light. The second light emitting state is that the emitter 103 only emits visible light.

[0059] There are various methods to realize the two light emitting states of the emitter 103. For example, in a first method, two independent light sources of visible light LED and infrared light LED are combined and arranged to form the emitter 103, and the working state of the visible light LED and the infrared light LED is controlled by an integrated circuit, so that one group of light sources in the visible light LED or the infrared light LED works, thereby the emitter 103 can only emit visible light or infrared light. In a second method, a wide-spectrum light source capable of emitting infrared light and visible light is used, and a liquid crystal tunable filter (LCTF) is used to form the emitter 103. The integrated circuit controls the type of working light emitted to the outside by the wide-spectrum light source through the liquid crystal tunable filter. In a third method, the integrated circuit excites a fluorescent material by different lasers to generate visible light or infrared light. Of course, there are other ways to realize that the emitter 103 can have two light emitting states, so that the rod-shaped tracker can emit infrared light or visible light according to the type of the optical tracker 301, so as to be identified by the optical tracker 301. Here, no further description is given.

[0060] In one embodiment of the present application, the working rod 100 is connected with a battery, which can supply power to the circuit in the rod-shaped tracer, so that the power-consuming components such as the projectile 103 and the integrated circuit can work.

[0061] An optical positioning method of a surgical navigation system, which is applied to any one of the rod-shaped tracers described above, comprises: obtaining the coordinates of the first marking area 201, the second marking area 202 and the third marking area 203 in the optical tracker coordinate system 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] Referring to Figure 1 , Figures 3 to 6 The projections of the point positions A 204, B 205, C 206 and D 207 on the axis of the working rod 100 are arranged at intervals, and the projections of the cross sections 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 in 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, it can be determined whether the point position A 204, the point position B 205, the point position C 206 or the point position D 207 appears in the shooting range of the optical tracker 301. Meanwhile, the coordinate information of the third point position appearing in the shooting range of the optical tracker 301 is recorded. When the working rod 100 rotates around its axis, the rotation angle of the working rod 100 around its axis is determined according to the identity change of the third point position and the coordinate change of the third point position. Thus, the rotation angle of the working rod 100 around the axis of the working rod 100 is obtained according to the coordinate change of the third point position in the third marking area 203. Of course, the optical tracker 301 can also calculate the rotation angle of the working rod 100 around the axis of the working rod according to the light intensity change at the point positions A 204, B 205, C 206 and D 207, in combination with the coordinate information of the point positions A 204, B 205, C 206 and D 207.

[0063] It should be understood that although the present specification is described in terms of various embodiments, not every embodiment contains only one independent technical solution, and the specification is described in this way only for the sake of clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that those skilled in the art can understand.

[0064] The series of detailed descriptions listed above are only specific descriptions of the feasible embodiments of the present application, and are not intended to limit the protection scope of the present application. Any equivalent implementation or modification made without departing from the spirit of the present application, such as 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 includes 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 the optical positioning system, and the working light can only enter the outside world at the marking unit; The marking unit includes a first marking area, a second marking area, and a third marking area spaced apart 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 provided on the side wall of the working rod, the plurality of third points being 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 being arranged in an array around the axis of the working rod; 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 of the third points on the axis of the working rod are arranged in a first order; The projections of at least three of the 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 in the first sequence; A polarizer is provided at each of the third points, and the working light enters the outside world through the polarizer.

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

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

5. The 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 a ring structure.

6. The 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. 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.

7. The 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.

8. An optical positioning method for a surgical navigation system, applied to a rod-shaped tracer according to any one of claims 1 to 7, characterized in that: include: Obtaining coordinates of the first marking area, the second marking area, and the third marking area in an optical tracker coordinate system through an optical tracker; Acquire the position information of the working rod according to the coordinate information of the first marking area and the second marking area; According to the change in the coordinates 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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