Positioning tool and operation positioning system

Abstract

The invention discloses a positioning tool and an operation positioning system, the positioning tool comprises a positioning part, a tracing part and a main rod, and the positioning part comprises a collection end used for being in contact with a target point location; the tracing part comprises a positioning element with a variable position and a driving mechanism for driving the positioning element to move, the positioning element is used for feeding back position information, the driving mechanism comprises a lead screw nut structure, a push rod and a first sliding groove, and the lead screw nut structure is configured to drive a lead screw to axially move through rotation of a nut; one end of the push rod is connected with one end of the screw rod and the other end is connected with the positioning element; the push rod can move under the action of the screw rod to enable the positioning element to move along the first chute; one end of the main rod is connected with the tracing part, and the other end is detachably connected with the positioning part. According to the positioning tool, the position of the positioning element used for representing the positioning tool in the positioning tool can be changed according to needs, the position relation between the positioning element and the positioning part can be adjusted, the use requirements of different operation scenes are met, and selection and management are convenient.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and particularly to a positioning tool and a surgical positioning system. Background Art

[0002] During a surgical procedure assisted by a navigation system, it is necessary to obtain the position information of certain points in the surgical space to carry out subsequent surgical plans, such as feature points on patient tissues or bones, position verification points on tools, etc. To accurately obtain the position information of these target points, a positioning tool is required for assistance. However, different surgical robots, different surgeries, and even different steps in the same surgery often require different positioning tools to collect the information of target points, resulting in a large number and variety of positioning tools, which is not conducive to the selection and management of medical staff. Therefore, there is an urgent need to propose a positioning tool and its positioning system that can flexibly adapt to various surgical scenarios. Summary of the Invention

[0003] The present disclosure provides a positioning tool and a surgical positioning system, which solve the problems in the prior art that the number and types of positioning tools are numerous, and they cannot be flexibly applied to different scenarios, which is not conducive to selection and management.

[0004] The present disclosure provides a positioning tool for determining the position information of a target point during a surgery, including a positioning part, a tracing part, and a main rod. The positioning part includes a collection end for contacting the target point; the tracing part includes a positioning element with a variable position and a driving mechanism for driving the positioning element to move. The positioning element is used to feedback the position information. The driving mechanism includes a screw-nut structure, a push rod, and a first chute. The screw-nut structure is configured such that the nut rotates to drive the screw to axially move. One end of the push rod is connected to one end of the screw, and the other end is connected to the positioning element. The push rod can move under the action of the screw to enable the positioning element to move along the first chute; one end of the main rod is connected to the tracing part, and the other end is detachably connected to the positioning part.

[0005] According to the foregoing embodiment, in a first alternative implementation manner, the driving mechanism further includes a connecting rod. One end of the connecting rod is hinged to the push rod, and the other end is provided with a positioning element. The tracing part is provided with a second chute, and the positioning element on the connecting rod can slide along the second chute.

[0006] According to the foregoing embodiment, in a second alternative implementation manner, the tracing part is provided with a housing. The first chute and the second chute are through slots penetrating the wall surface of the housing. The push rod and the connecting rod are provided with guiding parts at the connection positions with the positioning element, which match the width of the through slots.

[0007] According to the foregoing embodiment, in a third alternative implementation manner, the main rod is provided with a cavity for accommodating at least part of the screw. The side wall of the main rod is provided with an opening communicating with the cavity, and the opening is used to accommodate the nut. The nut is threadedly connected to the screw and axially limited within the opening.

[0008] According to the foregoing embodiments, in a fourth alternative implementation, a sliding cover is provided at the opening. The sliding cover is axially slidable relative to the main rod, and the sliding of the sliding cover can shield or expose at least a part of the nut within the opening.

[0009] According to the foregoing embodiments, in a fifth alternative implementation, the positioning portion is threadedly connected to the main rod, and the acquisition end can be one of a pointed head, a blunt head, a spherical head, and a flat plate.

[0010] According to the foregoing embodiments, in a sixth alternative implementation, a bearing is provided between the push rod and the lead screw. The inner ring of the bearing is connected to the lead screw, and the outer ring of the bearing is connected to the push rod.

[0011] According to the foregoing embodiments, in a seventh alternative implementation, the positioning tool further includes a registration device. The registration device is used to assist in determining the positional relationship between the positioning element and the acquisition end on the positioning tool. The registration device includes a frame, a clamping portion, a registration table, and a plurality of positioning elements provided on the frame. The clamping portion is circumferentially provided with radially expandable clamping members.

[0012] According to the foregoing embodiments, in an eighth alternative implementation, the main rod includes at least one inclined wall surface. The distance between the inclined wall surface and the central axis of the main rod gradually increases in a first direction. The first direction is the direction in which the tracing portion points to the positioning portion. When the acquisition end contacts the registration table, the plurality of clamping members clamp the inclined wall surface.

[0013] A surgical positioning system includes a positioning tool and a navigation system. The positioning tool is the positioning tool as described above; the navigation system includes a signal receiver, and the signal receiver is used to obtain the position information of the target point collected by the positioning tool.

[0014] The positioning tool proposed by the present disclosure includes a positioning portion, a tracing portion, and a main rod. By means of the position-variable positioning elements provided on the tracing portion and the driving mechanism for driving the movement of the positioning elements, the position of the positioning element used to represent the positioning tool in the positioning tool can be changed as needed. In the case of only one positioning tool, the positional relationship between the positioning element and the positioning portion can be adjusted, meeting the usage requirements of different surgical scenarios and facilitating selection and management. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic structural diagram of the positioning tool according to an embodiment of the present disclosure;

[0016] Figure 2 is a schematic structural diagram of the positioning tool after the positioning element is adjusted according to an embodiment of the present disclosure;

[0017] Figure 3 is a schematic structural diagram of the driving mechanism according to an embodiment of the present disclosure;

[0018] Figure 4 Structural sectional view of the positioning tool according to an embodiment of the present disclosure;

[0019] Figure 5 is Figure 4 Schematic diagram of enlarged partial structure in

[0020] Figure 6 Schematic diagram of the back structure of the positioning tool according to an embodiment of the present disclosure;

[0021] Figure 7 Schematic diagram of the open state of the sliding cover at the opening according to an embodiment of the present disclosure;

[0022] Figure 8 Schematic diagram of the closed state of the sliding cover at the opening according to an embodiment of the present disclosure;

[0023] Figure 9 Schematic diagram of the positioning part with different acquisition ends according to an embodiment of the present disclosure;

[0024] Figure 10 Schematic diagram of the registration device structure according to an embodiment of the present disclosure;

[0025] Figure 11 Schematic diagram of the combined structure of the registration device and the positioning tool according to an embodiment of the present disclosure;

[0026] Figure 12 Schematic diagram of the registration state of the positioning tool according to an embodiment of the present disclosure;

[0027] Figure 13 Schematic diagram of the structure of the positioning tool with one variable-position positioning element according to an embodiment of the present disclosure;

[0028] Figure 14 Schematic diagram of the structure of the positioning tool with two variable-position positioning elements according to an embodiment of the present disclosure;

[0029] Figure 15 Schematic diagram of the positioning system according to an embodiment of the present disclosure.

[0030] Reference numerals: 100 - positioning tool, 1 - positioning part, 11 - acquisition end, 12 - operation part, 2 - tracing part, 21 - positioning element, 22 - lead screw, 220 - bearing, 23 - nut, 24 - push rod, 240 - hinge end, 241 - rectangular frame, 242 - rotating shaft, 25 - first chute, 26 - connecting rod, 27 - second chute, 28 - outer shell, 29 - guiding part, 3 - main rod, 31 - cavity, 32 - opening, 33 - axial positioning section, 34 - sliding cover, 341 - protruding part, 35 - inclined wall surface, 4 - registration device, 41 - frame, 42 - clamping part, 421 - clamping member, 43 - registration table, 200 - navigation system, 201 - signal receiver, 300 - robotic arm system. Detailed Implementation Manner

[0031] The features and exemplary embodiments of each aspect of the present disclosure will be described in detail below. To make the objectives, technical solutions, and advantages of the present disclosure clearer, the present disclosure will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present disclosure and not to limit the present disclosure. For those skilled in the art, the present disclosure can be implemented without some of these specific details. The following description of the embodiments is only intended to provide a better understanding of the present disclosure by showing examples of the present disclosure.

[0032] It should be noted that in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0033] During a surgical procedure assisted by a navigation system, it is necessary to obtain the position information of certain points in the surgical space for subsequent execution of the surgical plan, such as feature points on patient tissues or bones, position verification points on tools, etc. To accurately obtain the position information of these target points, a positioning tool (probe) needs to be used for assistance. One end of the positioning tool is a collection end for contacting the target point, and the other end has a positioning element for characterizing the position of the positioning tool. The positioning element has a certain positional relationship with the collection end. In this way, with the assistance of the navigation system, the position information of the target point can be determined by identifying the positioning element. However, in reality, different surgical robots, different surgeries, or even different steps in the same surgery often require different positioning tools to collect the information of the target points, resulting in a large number and variety of positioning tools, which is not conducive to the selection and management of medical staff.

[0034] Such as Figures 1 - 8As shown in the figure, in this embodiment, a positioning tool 100 is proposed, which is used to determine the position information of the target point during the operation. It includes a positioning part 1, a tracing part 2 and a main rod 3. The positioning part 1 includes a collection end 11 for contacting the target point; the tracing part 2 includes a positioning element 21 with variable position and a driving mechanism for driving the movement of the positioning element. The positioning element 21 is used to feedback the position information. The driving mechanism includes a structure composed of a lead screw 22 and a nut 23, a push rod 24 and a first chute 25. The lead screw 22-nut 23 structure is configured such that the rotation of the nut 23 drives the axial movement of the lead screw 22. One end of the push rod 24 is connected to one end of the lead screw 22 and the other end is connected to the positioning element 21. The push rod 24 can move linearly under the action of the lead screw 22 to make the positioning element 21 move along the first chute 25; one end of the main rod 3 is connected to the tracing part 2 and the other end is detachably connected to the positioning part 1. In this way, the position of the positioning element 21 used to represent the positioning tool 100 in the positioning tool 100 can be changed as needed, where Figure 1 is a layout state of a positioning element arrangement, Figure 2 is a schematic structural diagram of the positioning tool after the positioning element is adjusted. In the case of only one positioning tool 100, the positional relationship between the positioning element 21 and the positioning part 1 can be adjusted, meeting the usage requirements of different surgical scenarios and facilitating selection and management.

[0035] Among them, since the navigation system includes various types such as infrared navigation, electromagnetic navigation, and ultrasonic navigation, the positioning element 21 can be set to different types corresponding to different navigation systems. In this embodiment, taking infrared navigation as an example, the positioning element 21 is set as a reflective sheet. Of course, the positioning element can also be a reflective ball or an element that can actively emit infrared light.

[0036] The driving mechanism further includes a connecting rod 26. One end of the connecting rod 26 is hinged to the push rod 24 and the other end is provided with the positioning element 21. The tracing part 2 is provided with a second chute 27. The positioning element 21 on the connecting rod 26 can slide along the second chute 27. The tracing part 2 is provided with a housing 28. The first chute 25 and the second chute 27 are through grooves penetrating the wall surface of the housing 28. The push rod 24 and the connecting rod 26 are provided with a guiding part 29 at the connection with the positioning element 21, which matches the width of the through groove.

[0037] Specifically, as Figure 2 and Figure 3 shown, the driving mechanism is composed of a lead screw 22, a nut 23, a push rod 24, a connecting rod 26, and a first chute 25 and a second chute 27. The nut 23 is sleeved on the lead screw 22 and is threadedly connected to the lead screw 22. Rotating the nut 23 can make the lead screw 22 move axially. One end of the push rod 24 is connected to the positioning element 21 through a columnar guiding part 29, and the other end is a hinged end 240. The hinged end 240 includes a rectangular frame 241 and a rotating shaft 242 penetrating the rectangular frame 241. The hinged end 240 is rotatably connected to two connecting rods 26.

[0038] One end of the connecting rod 26 is connected to the positioning element 21 through the columnar guiding part 29, and the other end is connected to the hinged end 240. The axial direction of the columnar guiding part 29 is perpendicular to the extending direction of the connecting rod 26 or the push rod 24. The hinged intersections of the two connecting rods 26 and the rotating shaft 242 are arranged staggeredly to ensure that the two connecting rods 26 and the push rod 24 are in the same plane. Moreover, the heights of the columnar guiding parts 29 on the connecting rod 26 and the push rod 24 are the same, ensuring that the positioning elements 21 on the connecting rod 26 and the positioning elements 21 on the push rod 24 are in the same plane. Of course, in some alternative embodiments, the connecting rod 26 and the push rod 24 do not have to be in the same plane, but the positioning elements 21 on the connecting rod 26 and the positioning elements 21 on the push rod 24 are ensured to be in the same plane by the different lengths of the columnar guiding parts 29. Among them, the positioning elements 21 being in the same plane is beneficial for the navigation system to accurately determine the position of the positioning tool 100. And, the housing 28 where the tracing part 2 is arranged is used to accommodate at least part of the driving mechanism. On the housing 28, the widths of the first sliding groove 25 and the second sliding groove 27 match the diameter of the columnar guiding part 29.

[0039] A cavity 31 is arranged inside the main rod 3 of the positioning tool 100, and the cavity 31 is used to accommodate at least part of the lead screw 22. An opening 32 communicating with the cavity 31 is arranged on the side wall of the main rod 3, and the opening 32 is used to accommodate the nut 23. The nut 23 is threadedly connected to the lead screw 22 and axially limited within the opening 32. The opening 32 is arranged on the side of the main rod 3 opposite to the positioning element 21 on the tracing part 2.

[0040] Specifically, as Figure 2 shown, another independent positioning element 21 is also arranged on the main rod 3, and this positioning element 21 is used to accurately determine the position of the positioning tool 100 in combination with the positioning elements 21 on the push rod 24 and the two connecting rods 26. Of course, in some alternative embodiments, this independent positioning element 21 may not be provided. As Figures 3 - 5 shown, the cavity 31 inside the main rod 3 communicates with the internal space of the housing 28, and at least part of the lead screw 22 is accommodated in the cavity 31. The nut 23 is embedded in the opening 32 formed on the side wall of the main rod 3, with a part of the outer peripheral surface exposed. The outer peripheral surface of the nut 23 is provided with patterns for increasing friction to facilitate the rotation of the nut 23. The upper and lower surfaces of the nut 23 fit with the opening 32, so that the nut 23 is axially positioned within the opening 32. An axial positioning section 33 is arranged in the cavity 31, and this axial positioning section 33 has a certain axial length and is provided with threads matching the lead screw 22. In this way, the lead screw 22 can ensure the accuracy of the axial movement direction within the cavity 31 through the axial positioning section 33, avoiding shaking or deviation during movement.

[0041] In addition, as Figures 6 - 8As shown, a sliding cover 34 is provided at the opening 32. The sliding cover 34 is a curved surface that mates with the side wall of the main rod 3. The sliding cover 34 can slide axially relative to the main rod 3. The sliding of the sliding cover 34 can shield or expose at least part of the nut 23 within the opening 32. No easy-to-push protrusion 341 is provided on the sliding cover. The protrusion 341 protrudes from the sliding cover 34 in the radial direction relative to the axis of the main rod 3. It is easy to understand that during the operation with the handheld positioning tool 100 during the surgery, the position of the positioning element 21 on the positioning tool 100 should remain unchanged so that the navigation system can continuously and stably identify the position of the working station tool during the surgery. The setting of the sliding cover 34 enables the nut 23 to be exposed when adjusted to the position of the positioning element 21, and the sliding cover 34 is closed during the use in the surgery to prevent accidental touch. At the same time, due to the self-locking effect of the threaded nut 23, the lead screw 22 and the push rod 24 and the link 26 driven by the lead screw 22 will not move without external force drive, ensuring the positioning requirement of the positioning element 21 at a fixed position.

[0042] As Figure 2 and Figure 4 shown, one end of the positioning part 1 is the acquisition end 11, and the other end is threadedly connected to the main rod 3, and an operation part 12 is provided at this end. The diameter of the operation part 12 protrudes from other parts. On the one hand, it provides axial positioning for connecting the positioning part 1 to the main rod 3, and on the other hand, it is convenient to receive external force to rotatably connect the positioning part 1 to the main rod 3. Of course, in some alternative embodiments, the connection between the positioning part 1 and the main rod 3 is not limited to threaded connection. For example, snap-fit, clamping and other connection methods can be adopted.

[0043] As Figure 9 shown, the acquisition end 11 of the positioning part 1 can be one of a pointed head, a blunt head, a spherical head, and a flat plate. The detachable and replaceable positioning part 1 provides higher flexibility for the surgery. Positioning parts 1 with different acquisition ends 11 can be adopted in different surgical scenarios. For example, a pointed acquisition end 11 can be adopted when it is necessary to pierce the cartilage to achieve bone feature point acquisition, and a spherical acquisition end 11 can be adopted when it is necessary to acquire the installation position of the acetabular cup. In this way, after each replacement of the acquisition end 11, the positioning element 21 with a changed position can form a positioning tool 100 with mutual distinction, which will not cause misidentification by the navigation system.

[0044] Continuing to refer to Figure 3 , a bearing 220 is provided between the push rod 24 and the lead screw 22. The inner ring of the bearing 220 is connected to the lead screw 22, and the outer ring of the bearing 220 is connected to the push rod 24. Through such a setting, when the lead screw 22 axially moves driven by the nut 23, it can smoothly push the push rod 24 to move, and then drive the link 26 to move through the push rod 24, finally realizing the change of the position of the positioning element 21.

[0045] Different from the settings of the above three positionable positioning elements 21, such as Figure 14 shown, in some alternative embodiments, the number of variable-position positioning elements 21 can be two, and this solution can be achieved by reducing one push rod 24 or link 26 and the positioning elements 21 thereon. Similarly, as Figure 13 shown, in some alternative embodiments, the number of variable-position positioning elements 21 can be one. In this way, it is also possible to enable the positioning tool 100 to have different recognized forms, that is, the navigation system can determine the type of the positioning tool 100 according to the positional relationship of the positioning elements 21 in the positioning tool 100.

[0046] Based on the foregoing embodiments, in an alternative implementation, the positioning tool 100 further includes a registration device 4. The registration device 4 is used to assist in determining the positional relationship between the positioning element 21 on the positioning tool 100 and the acquisition end 11. The registration device 4 includes a frame 41, a clamping portion 42, a registration table 43, and a plurality of positioning elements 21 provided on the frame 41. The clamping portion 42 is circumferentially provided with radially expandable clamping members 421. The main rod 3 includes at least one inclined wall surface 35, and the distance between the inclined wall surface 35 and the central axis of the main rod 3 gradually increases in the first direction, and the first direction is the direction in which the tracing portion 2 points to the positioning portion 1. When the acquisition end 11 contacts the registration table 43, a plurality of clamping members 421 clamp the inclined wall surface 35.

[0047] Specifically, as Figure 10 shown, the registration device 4 includes a U-shaped frame 41. The top opening 32 and the middle part of the frame 41 are respectively provided with a first clamping portion 42 and a second clamping portion 42. The registration table 43 is a circular plane and is provided at the bottom of the U-shaped frame 41. A plurality of positioning elements 21 are provided on the frame 41 and have a predetermined positional relationship with the registration table 43. The first clamping portion 42 and the second clamping portion 42 are concentric rings, and a plurality of clamping members 421 are circumferentially provided on the inner circles of the first clamping portion 42 and the second clamping portion 42. In this embodiment, the clamping member 421 is a ball head plunger.

[0048] The positioning tool 100 can be used in different surgical scenarios by adjusting the positions of the positioning elements 21 and replacing different positioning portions 1. After the positioning elements 21 on the tracing portion 2 are adjusted and arranged and combined with the positioning portion 1 having different acquisition ends 11, in order to ensure that the navigation system needs to be able to recognize the positioning tool 100 in this state during the operation, it is necessary to register the positioning tool 100 before use to determine the positional relationship of the positioning elements 21 on the tracing portion 2 and determine the positional relationship between these positioning elements 21 and the end of the acquisition end 11. As Figure 11As shown in the figure, during registration, the acquisition end 11 of the positioning tool 100 axially passes through the first clamping portion 42 and the second clamping portion 42 in sequence and then contacts the registration table 43. The clamping member 421 provided on the inner ring of the first clamping portion 42 clamps the inclined wall surface 35, and the clamping member 421 provided on the inner ring of the second clamping portion 42 clamps the positioning portion 1. In this way, the clamping of the two clamping portions 42 axially positions the positioning tool 100 relative to the registration device 4, and the axial direction of the positioning tool 100 can be determined by the registration device 4. Moreover, it is easy to understand that the clamping member 421 is a ball head plunger. When the ball head plunger contacts the inclined wall surface 35, it can generate an axial thrust to push the positioning tool 100 to move axially. The direction of this axial movement prompts the acquisition end 11 to approach the registration table 43, ensuring a relatively stable positional relationship between the positioning tool 100 and the registration device 4, and enabling a more accurate positional relationship between the acquisition end 11 and the positioning element 21 on the tracing portion 2 to be obtained.

[0049] The registration principle of the registration device 4 for the positioning tool 100 is as Figure 12 shown. After the acquisition end 11 of the positioning tool 100 contacts the registration table 43 and the positioning tool 100 is clamped by the clamping portion, the navigation system 200 identifies the position information of the positioning element 21 on the registration device 4 and the position information of the positioning element 21 on the positioning tool 100, and determines the positional relationship between the end and the axis of the acquisition end 11 and the positioning element 21 on the tracing portion 2 according to the predetermined positional relationship between the positioning element 21 on the registration device 4 and the registration table 43, thereby realizing the registration of the positioning tool 100.

[0050] A surgical positioning system includes a positioning tool 100 and a navigation system. The positioning tool 100 is the positioning tool 100 as described above; the navigation system 200 includes a signal receiver 201, and the signal receiver 201 is used to obtain the position information of the target point collected by the positioning tool 100.

[0051] Specifically, as Figure 15 shown, it is a surgical robot device including a positioning tool 100, a navigation system 200, and a robotic arm system 300. During the operation, the navigation system 200 and the positioning tool 100 obtain the position information of the target points in the surgical space, and the robotic arm system carries surgical tools (such as a saw, a burr, a drill, etc.) to perform the operation according to a predetermined surgical plan. Of course, in some alternative embodiments, the robotic arm system 300 may not be provided, and the doctor holds the surgical tool to perform the operation with the assistance of the navigation system 200 and the positioning tool 100. The structures and usage principles of the positioning tool 100 and the navigation system 200 have been introduced in the foregoing embodiments and will not be elaborated here.

[0052] Although the present disclosure has been described in detail above with general descriptions and specific embodiments, based on the present application, some modifications or improvements can be made to it, which are obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present disclosure all fall within the scope of protection required by the present disclosure.

Claims

1. A positioning tool for determining the position information of a target point during surgery, characterized in that: include: A positioning part, including a collection end for contacting with a target point; The tracing part includes a position-variable positioning element and a driving mechanism for driving the positioning element to move, wherein the positioning element is used to feedback position information, and the driving mechanism includes a screw-nut structure, a push rod and a first slide groove, wherein the screw-nut structure is configured such that the nut rotates to drive the screw rod to move axially, one end of the push rod is connected to one end of the screw rod and the other end is connected to the positioning element, and the push rod can move under the action of the screw rod to make the positioning element move along the first slide groove; A main rod, one end of which is connected to the tracing part, and the other end of which is detachably connected to the positioning part.

2. The positioning tool according to claim 1, characterized in that: The driving mechanism also includes a connecting rod, one end of which is hinged to the push rod, and the other end is provided with a positioning element. The tracer part is provided with a second sliding groove, and the positioning element on the connecting rod can slide along the second sliding groove.

3. The positioning tool according to claim 2, characterized in that: The tracing part is provided with a shell, the first slide groove and the second slide groove are through grooves penetrating the wall of the shell, and the connection between the push rod and the connecting rod and the positioning element is provided with a guide part matching the width of the through groove.

4. The positioning tool according to claim 1, characterized in that: The main rod is provided with a cavity, and the cavity is used to accommodate at least part of the screw rod. The side wall of the main rod is provided with an opening connected to the cavity, and the opening is used to accommodate the nut. The nut is threadedly connected to the screw rod and is axially confined in the opening.

5. The positioning tool according to claim 1, characterized in that: A sliding cover is provided at the opening, and the sliding cover can slide axially relative to the main rod. The sliding of the sliding cover can cover or expose at least part of the nut in the opening.

6. The positioning tool according to claim 1, characterized in that: The positioning portion is threadedly connected to the main rod, and the collecting end can be one of a pointed head, a blunt head, a ball head, and a flat plate.

7. The positioning tool according to claim 1, characterized in that: A bearing is arranged between the push rod and the screw rod, the inner ring of the bearing is connected to the screw rod, and the outer ring of the bearing is connected to the push rod.

8. The positioning tool according to claim 1, characterized in that: The positioning tool also includes a registration device, which is used to assist in determining the positional relationship between the positioning element on the positioning tool and the collection end. The registration device includes a frame, a clamping portion, a registration platform, and a plurality of positioning elements arranged on the frame. The clamping portion is circumferentially provided with a plurality of radially retractable clamping members.

9. The positioning tool according to claim 8, characterized in that: The main rod includes at least one inclined wall surface, and the distance between the inclined wall surface and the central axis of the main rod gradually increases along a first direction. The first direction is the direction in which the tracing part points to the positioning part. When the collection end contacts the registration table, the plurality of clamping members clamp the inclined wall surface.

10. A surgical positioning system, characterized in that: include: A positioning tool, wherein the positioning tool is a positioning tool as claimed in any one of claims 1 to 9; The navigation system includes a signal receiver, wherein the signal receiver is used to obtain the position information of the target point collected by the positioning tool.

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