Positioning tool and surgical positioning system

Abstract

This disclosure presents a positioning tool and surgical positioning system, including a positioning unit, a tracer unit, and a main rod. The positioning unit includes a data acquisition end for contacting a target point. The tracer unit includes a position-variable positioning element and a drive mechanism for moving the positioning element. The positioning element provides position information feedback. The drive mechanism includes a lead screw and nut structure, a push rod, and a first sliding groove. The lead screw and nut structure is configured such that rotation of the nut drives axial movement of the lead screw. One end of the push rod is connected to one end of the lead screw, and the other end is connected to the positioning element. The push rod can move under the action of the lead screw to move the positioning element along the first sliding groove. One end of the main rod is connected to the tracer unit, and the other end is detachably connected to the positioning unit. This allows the position of the positioning element, which characterizes the positioning tool, to be changed as needed, enabling adjustable positional relationships between the positioning element and the positioning unit. This meets the needs of different surgical scenarios and facilitates selection and management.

Description

Technical Field

[0001] This application relates to the field of medical device technology, specifically to positioning tools and surgical positioning systems. Background Technology

[0002] In navigation-assisted surgery, it is necessary to acquire the positional information of certain points in the surgical space to execute subsequent surgical plans. These include feature points on patient tissues or bones, and position verification points on tools. To accurately obtain the positional information of these target points, positioning tools are required. However, different positioning tools are often needed to collect information on target points between different surgical robots, different surgeries, and even different steps within the same surgery. This results in a large number and variety of positioning tools, which is inconvenient for medical personnel in terms of selection and management. Therefore, there is an urgent need to propose a positioning tool and system that can flexibly adapt to various surgical scenarios. Summary of the Invention

[0003] This disclosure provides a positioning tool and a surgical positioning system, which solves the problems of existing positioning tools being numerous and varied, unable to be flexibly applied to different scenarios, and not conducive to selection and management.

[0004] This disclosure provides a positioning tool for determining the location information of a target point during surgery. The tool includes a positioning unit, a tracer unit, and a main rod. The positioning unit includes a data acquisition end for contacting the target point. The tracer unit includes a position-variable positioning element and a drive mechanism for moving the positioning element. The positioning element provides feedback position information. The drive mechanism includes a lead screw and nut structure, a push rod, and a first sliding groove. The lead screw and nut structure is configured such that rotation of the nut drives axial movement of the lead screw. One end of the push rod is connected to one end of the lead screw, and the other end is connected to the positioning element. The push rod can move under the action of the lead screw to move the positioning element along the first sliding groove. One end of the main rod is connected to the tracer unit, and the other end is detachably connected to the positioning unit.

[0005] According to the aforementioned embodiments, in a first optional implementation, the drive mechanism further 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.

[0006] According to the aforementioned embodiment, in the second optional implementation, the tracer is provided with a housing, the first and second slides are through grooves penetrating the wall of the housing, and the connection between the push rod and the connecting rod and the positioning element is provided with a guide part that matches the width of the through groove.

[0007] According to the aforementioned embodiments, in the third optional implementation, the main rod is provided with a cavity for accommodating at least a portion of the lead screw, and the side wall of the main rod is provided with an opening communicating with the cavity for accommodating a nut, the nut being threadedly connected to the lead screw and axially confined within the opening.

[0008] According to the aforementioned embodiments, in a fourth optional implementation, a sliding cover is provided at the opening, which can slide relative to the main rod axially, and the sliding cover can cover or expose at least part of the nut in the opening.

[0009] According to the aforementioned implementation method, in the fifth optional implementation method, the positioning part is threadedly connected to the main rod, and the collection end can be one of the following: pointed, blunt, ball-shaped, or flat.

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

[0011] According to the aforementioned embodiments, in the seventh optional 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 on the positioning tool and the acquisition end. The registration device includes a frame, a clamping part, a registration platform, and a plurality of positioning elements disposed on the frame. The clamping part is circumferentially provided with a radially extendable clamping member.

[0012] According to the aforementioned embodiments, in the eighth optional 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 along a first direction, which is the direction from the tracer to the positioning part. When the acquisition end contacts the registration station, multiple clamping members clamp the inclined wall surface.

[0013] A surgical positioning system includes a positioning tool and a navigation system. The positioning tool is as described above. The navigation system includes a signal receiver for acquiring the location information of the target point collected by the positioning tool.

[0014] The positioning tool proposed in this disclosure includes a positioning unit, a tracer unit, and a main rod. Through the position-variable positioning element set in the tracer unit and the drive mechanism that drives the positioning element to move, the position of the positioning element used to characterize 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 unit can be adjusted to meet the usage needs of different surgical scenarios and facilitate selection and management. Attached Figure Description

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

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

[0017] Figure 3 This is a schematic diagram of the drive mechanism structure according to an embodiment of the present disclosure;

[0018] Figure 4 This is a cross-sectional view of the positioning tool structure according to an embodiment of the present disclosure;

[0019] Figure 5 for Figure 4 Enlarged schematic diagram of the middle section structure;

[0020] Figure 6 This is a schematic diagram of the rear structure of the positioning tool according to an embodiment of the present disclosure;

[0021] Figure 7 This is a schematic diagram of the sliding cover at the opening in an embodiment of this disclosure.

[0022] Figure 8 This is a schematic diagram of the sliding cover in the closed state at the opening of an embodiment of this disclosure;

[0023] Figure 9 This is a schematic diagram of a positioning unit with different acquisition ends according to an embodiment of the present disclosure;

[0024] Figure 10 This is a schematic diagram of the registration device structure according to an embodiment of the present disclosure;

[0025] Figure 11 This is a schematic diagram of the combination of the registration device and the positioning tool according to an embodiment of the present disclosure;

[0026] Figure 12 This is a schematic diagram illustrating the registration status of the positioning tool according to an embodiment of the present disclosure;

[0027] Figure 13 This is a schematic diagram of a positioning tool structure with a variable position positioning element according to an embodiment of the present disclosure;

[0028] Figure 14 This is a schematic diagram of a positioning tool structure with two variable position positioning elements according to an embodiment of the present disclosure;

[0029] Figure 15 This is a schematic diagram of a positioning system according to an embodiment of the present disclosure.

[0030] Reference numerals: 100-Positioning tool, 1-Positioning part, 11-Acquisition end, 12-Operating part, 2-Tracer 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 slide groove, 26-Connecting rod, 27-Second slide groove, 28-Outer shell, 29-Guide part, 3-Main rod, 31-Cavity, 32-Opening, 33-Axial positioning section, 34-Sliding cover, 341-Protrusion, 35-Inclined wall surface, 4-Registration device, 41-Frame, 42-Clamping part, 421-Clamping element, 43-Registration platform, 200-Navigation system, 201-Signal receiver, 300-Robotic arm system. Detailed Implementation

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

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

[0033] In navigation-assisted surgery, it is necessary to acquire the positional information of certain points in the surgical space to execute subsequent surgical plans. These include feature points on patient tissues or bones, and position verification points on tools. To accurately acquire the positional information of these target points, positioning tools (probes) are required. One end of the positioning tool is a data acquisition end, used to contact the target point, while the other end has a positioning element used to characterize the tool's position. The positioning element and the data acquisition end have a specific positional relationship. Thus, with the assistance of the navigation system, the positional information of the target point can be determined by identifying the positioning element. However, in reality, different positioning tools are often required to acquire target point information between different surgical robots, different surgeries, and even different steps within the same surgery. This results in a large number and variety of positioning tools, which is inconvenient for medical personnel in terms of selection and management.

[0034] like Figures 1-8As shown, this embodiment proposes a positioning tool 100 for determining the location information of a target point during surgery. It includes a positioning unit 1, a tracking unit 2, and a main rod 3. The positioning unit 1 includes a data acquisition end 11 for contacting the target point. The tracking unit 2 includes a position-variable positioning element 21 and a drive mechanism for moving the positioning element. The positioning element 21 is used to provide feedback position information. The drive mechanism includes a structure consisting of a lead screw 22 and a nut 23, a push rod 24, and a first slide groove 25. The lead screw 22 and nut 23 structure is configured such that the rotation of the nut 23 drives the lead screw 22 to move axially. 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 move the positioning element 21 along the first slide groove 25. One end of the main rod 3 is connected to the tracking unit 2, and the other end is detachably connected to the positioning unit 1. This allows the position of the positioning element 21, which characterizes the positioning tool 100, to be changed as needed. Figure 1 This refers to a layout configuration of positioning elements. Figure 2 This is a schematic diagram of the positioning tool structure after the positioning element is adjusted. With only one positioning tool 100, the positional relationship between the positioning element 21 and the positioning part 1 can be adjusted to meet the needs of different surgical scenarios and facilitate selection and management.

[0035] Since navigation systems include various types such as infrared navigation, electromagnetic navigation, and ultrasonic navigation, the positioning element 21 can be configured with different types to correspond to different navigation systems. In this embodiment, infrared navigation is used as an example, and the positioning element 21 is set as a reflector. Of course, the positioning element can also be a reflective ball or an element that can actively emit infrared light.

[0036] The drive mechanism also includes a connecting rod 26, one end of which is hinged to the push rod 24, and the other end is provided with a positioning element 21. The tracer part 2 is provided with a second slide groove 27, and the positioning element 21 on the connecting rod 26 can slide along the second slide groove 27. The tracer part 2 is provided with a housing 28, and the first slide groove 25 and the second slide groove 27 are through grooves that penetrate the wall of the housing 28. The connection points between the push rod 24 and the connecting rod 26 and the positioning element 21 are provided with guide parts 29 that match the width of the through grooves.

[0037] Specifically, such as Figure 2 and Figure 3 As shown, the drive mechanism consists of a lead screw 22, a nut 23, a push rod 24, a connecting rod 26, and a first sliding groove 25 and a second sliding groove 27. The nut 23 is fitted onto the lead screw 22 and threadedly connected to it. Rotating the nut 23 allows the lead screw 22 to move axially. One end of the push rod 24 is connected to the positioning element 21 via a columnar guide 29, and the other end is a hinge end 240. The hinge end 240 includes a rectangular frame 241 and a rotating shaft 242 passing through the rectangular frame 241. The hinge end 240 is rotatably connected to the two connecting rods 26.

[0038] One end of the connecting rod 26 is connected to the positioning element 21 via a columnar guide portion 29, and the other end is connected to the hinge end 240. The axial direction of the columnar guide portion 29 is perpendicular to the extension direction of the connecting rod 26 or the push rod 24. The hinges of the two connecting rods 26 and the rotating shaft 242 are staggered to ensure that the two connecting rods 26 and the push rod 24 are in the same plane, and the columnar guide portions 29 on the connecting rods 26 and the push rod 24 are at the same height, ensuring that the positioning element 21 on the connecting rod 26 and the positioning element 21 on the push rod 24 are in the same plane. Of course, in some optional embodiments, the connecting rods 26 and the push rod 24 do not necessarily need to be in the same plane, but the different lengths of the columnar guide portions 29 are used to ensure that the positioning element 21 on the connecting rod 26 and the positioning element 21 on the push rod 24 are in the same plane. Where the positioning elements 21 are in the same plane, it is beneficial for the navigation system to accurately determine the position of the positioning tool 100. Furthermore, the housing 28 provided with the tracer 2 is used to accommodate at least part of the drive mechanism. On the housing 28, the widths of the first groove 25 and the second groove 27 match the diameter of the columnar guide portion 29.

[0039] The main rod 3 of the positioning tool 100 has a cavity 31 for accommodating at least part of the lead screw 22. The side wall of the main rod 3 has an opening 32 that communicates with the cavity 31. The opening 32 is used to accommodate a nut 23. The nut 23 is threadedly connected to the lead screw 22 and is axially confined within the opening 32. The opening 32 is located on the main rod 3 on the side opposite to the positioning element 21 on the tracer part 2.

[0040] Specifically, such as Figure 2 As shown, the main rod 3 is also equipped with another independent positioning element 21. This positioning element 21 is used in conjunction with the positioning elements 21 on the push rod 24 and the two connecting rods 26 to accurately determine the position of the positioning tool 100. Of course, in some optional embodiments, this independent positioning element 21 may not be provided. Figures 3-5 As shown, the cavity 31 inside the main rod 3 communicates with the internal space of the outer shell 28, and the cavity 31 accommodates at least a portion of the lead screw 22. A nut 23 is embedded in an opening 32 on the side wall of the main rod 3, with a portion of its outer circumferential surface exposed. The outer circumferential surface of the nut 23 is provided with patterns to increase friction, facilitating rotation of the nut 23. The upper and lower surfaces of the nut 23 fit into the opening 32, allowing the nut 23 to be axially positioned within the opening 32. An axial positioning section 33 is provided within the cavity 31. This axial positioning section 33 has a certain axial length and is threaded to match the lead screw 22. Thus, the lead screw 22, through the axial positioning section 33, ensures the accuracy of its axial movement within the cavity 31, preventing wobbling or deviation during movement.

[0041] In addition, such 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 cover 34 can cover or expose at least part of the nut 23 in the opening 32. The sliding cover does not have a protrusion 341 that is easy to push. 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 of the handheld positioning tool 100, 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 tool during the operation. The sliding cover 34 is provided so that the nut 23 can be exposed when adjusted to the position of the positioning element 21, and the sliding cover 34 can be closed during the operation to prevent accidental contact. At the same time, since the threaded nut 23 has a certain self-locking effect, the lead screw 22 and the push rod 24 and connecting rod 26 driven by the lead screw 22 will not move when there is no external driving force, ensuring the positioning requirement of the positioning element 21 in a fixed position.

[0042] like Figure 2 and Figure 4 As 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. This end is also provided with an operating part 12, which protrudes beyond the other parts. This operating part 12 provides axial positioning for connecting the positioning part 1 to the main rod 3 and facilitates receiving external force to rotate the positioning part 1 to the main rod 3. Of course, in some optional embodiments, the connection between the positioning part 1 and the main rod 3 is not limited to a threaded connection; for example, it can employ a snap-fit ​​or clamping connection method.

[0043] like Figure 9 As shown, the acquisition end 11 of the positioning unit 1 can be one of a pointed tip, a blunt tip, a ball tip, or a flat plate. The detachable and replaceable positioning unit 1 provides greater flexibility for surgery, allowing the use of different acquisition ends 11 in different surgical scenarios. For example, a pointed acquisition end 11 can be used when it is necessary to puncture cartilage to acquire bone feature points, while a ball tip acquisition end 11 can be used when it is necessary to acquire the position of the acetabular cup. Thus, after each replacement of the acquisition end 11, the positioning elements 21, which can be repositioned, form mutually distinguishable positioning tools 100, preventing erroneous identification by the navigation system.

[0044] Continue 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. With this arrangement, the lead screw 22 can smoothly push the push rod 24 to move during the axial movement driven by the nut 23, and then drive the connecting rod 26 to move through the push rod 24, ultimately changing the position of the positioning element 21.

[0045] Unlike the above-mentioned three repositionable positioning elements 21, such as Figure 14 As shown, in some alternative embodiments, the number of variable-position positioning elements 21 can be two, which can be achieved by reducing one push rod 24 or connecting rod 26 and its positioning element 21. Similarly, as Figure 13 As shown, in some optional embodiments, the number of variable-position positioning elements 21 can be one. In this way, the positioning tool 100 can also be made to have different identification forms, that is, the navigation system can determine the type of positioning tool 100 based on the positional relationship of the positioning elements 21 in the identified positioning tool 100.

[0046] Based on the foregoing embodiments, in an optional 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 part 42, a registration platform 43, and a plurality of positioning elements 21 disposed on the frame 41. The clamping part 42 is circumferentially provided with radially extendable clamping members 421. The main rod 3 includes at least one inclined wall surface 35. The distance between the inclined wall surface 35 and the central axis of the main rod 3 gradually increases along a first direction, which is the direction from the tracer 2 to the positioning part 1. When the acquisition end 11 contacts the registration platform 43, the plurality of clamping members 421 clamp the inclined wall surface 35.

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

[0048] The positioning tool 100 can be used in different surgical scenarios by adjusting the position of the positioning element 21 and replacing different positioning parts 1. After the positioning element 21 on the tracer 2 is adjusted and combined with the positioning part 1 having different acquisition ends 11, in order to ensure that the navigation system can recognize the positioning tool 100 in this state during surgery, the positioning tool 100 needs to be registered before use to determine the positional relationship of the positioning elements 21 on the tracer 2 and the positional relationship between these positioning elements 21 and the end of the acquisition end 11. For example... Figure 11As shown, during registration, the acquisition end 11 of the positioning tool 100 passes axially through the first clamping part 42 and the second clamping part 42 in sequence and then contacts the registration table 43. The clamping member 421 arranged in the inner ring of the first clamping part 42 clamps the inclined wall surface 35, and the clamping member 421 arranged in the inner ring of the second clamping part 42 clamps the positioning part 1. In this way, the clamping of the two clamping parts 42 makes the positioning tool 100 axially positioned relative to the registration device 4, and the axial direction of the positioning tool 100 can be determined by the registration device 4. Furthermore, 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, pushing the positioning tool 100 to move axially. The direction of this axial movement causes the acquisition end 11 to come closer to the registration table 43, ensuring that the positioning tool 100 and the registration device 4 have a relatively stable positional relationship, and a more accurate positional relationship between the acquisition end 11 and the positioning element 21 on the tracer part 2 can be obtained.

[0049] The registration principle of the registration device 4 for the positioning tool 100 is as follows: Figure 12 As shown, after the positioning tool 100's acquisition end 11 contacts the registration table 43 and the positioning tool 100 is clamped by the clamping part, 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. Based on the predetermined positional relationship between the positioning element 21 on the registration device 4 and the registration table 43, the system determines the positional relationship between the end of the acquisition end 11 and the axis of the acquisition end 11 and the positioning element 21 on the tracer part 2, 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 as described above. The navigation system 200 includes a signal receiver 201, which is used to acquire the location information of the target point collected by the positioning tool 100.

[0051] Specifically, such as Figure 15 The diagram shows a surgical robot device including a positioning tool 100, a navigation system 200, and a robotic arm system 300. During surgery, the navigation system 200 and the positioning tool 100 acquire the positional information of target points within the surgical space, while the robotic arm system, carrying surgical tools (such as a oscillating saw, file, drill, etc.), performs the surgery according to the predetermined surgical plan. Of course, in some optional embodiments, the robotic arm system 300 may not be included, and the surgeon may perform the surgery by holding the surgical tools with the assistance of the navigation system 200 and the positioning tool 100. The structure and operating principles of the positioning tool 100 and the navigation system 200 have been described in the preceding embodiments and will not be repeated here.

[0052] Although this disclosure has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, such modifications or improvements made without departing from the spirit of this disclosure are all within the scope of protection claimed by this disclosure.

Claims

1. A positioning tool for determining the location information of a target point during surgery, characterized in that, include: The positioning unit includes a data acquisition end for contacting the target point; The tracking unit includes a position-variable positioning element and a drive mechanism for moving the positioning element. The positioning element is used to provide position information. The drive mechanism includes a lead screw and nut structure, a push rod, and a first slide groove. The lead screw and nut structure is configured such that the rotation of the nut drives the lead screw to move axially. One end of the push rod is connected to one end of the lead screw, and the other end is connected to the positioning element. The push rod can move under the action of the lead screw to make the positioning element move along the first slide groove. The main rod has one end connected to the tracer and the other end detachably connected to the positioning part. The drive 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. The tracer is provided with a housing, and the first and second slide grooves are through grooves that penetrate the wall of the housing. The connection between the push rod and the connecting rod and the positioning element is provided with a guide part that matches the width of the through groove.

2. The positioning tool according to claim 1, characterized in that, The main rod is provided with a cavity for accommodating at least a portion of the lead screw. The side wall of the main rod is provided with an opening communicating with the cavity for accommodating the nut. The nut is threadedly connected to the lead screw and axially confined within the opening.

3. The positioning tool according to claim 2, characterized in that, A sliding cover is provided at the opening, which can slide axially relative to the main rod. The sliding cover can cover or expose at least part of the nut in the opening.

4. The positioning tool according to claim 1, characterized in that, The positioning part is threadedly connected to the main rod, and the collection end is one of the following: pointed, blunt, ball-shaped, or flat.

5. The positioning tool according to claim 1, characterized in that, 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.

6. The positioning tool according to claim 1, characterized in that, The positioning tool further includes a registration device, which is used to assist in determining the positional relationship between the positioning element on the positioning tool and the acquisition end. The registration device includes a frame, a clamping part, a registration platform, and several positioning elements disposed on the frame. The clamping part is circumferentially provided with a plurality of radially retractable clamping members.

7. The positioning tool according to claim 6, characterized in that, 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 along a first direction, which is the direction from the tracer to the positioning part. When the acquisition end contacts the registration station, multiple clamping members clamp the inclined wall surface.

8. A surgical positioning system, characterized in that, include: A positioning tool, wherein the positioning tool is the positioning tool as described in any one of claims 1-7; The navigation system includes a signal receiver, which is used to acquire the location information of a target point collected by a positioning tool.

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