Surgical instrument guiding system and clamping device

Abstract

This invention discloses a surgical instrument guidance system, comprising a robotic arm, a clamping device, and a navigation marker assembly. The clamping device includes a body, a receiving portion, a sleeve, a first pressing member, and a multi-link mechanism. The receiving portion has a receiving hole. The sleeve is detachably disposed in the receiving hole. The sleeve has a through hole for inserting a surgical instrument. One side of the sleeve has a notch along the axial direction of the through hole, the notch communicating with the through hole. The sleeve also has a limiting portion at the edge of the notch. The first pressing member is disposed in the body. The multi-link mechanism is disposed in the body and the receiving portion, and connected to the first pressing member and the sleeve. The first pressing member is pressed, causing the multi-link mechanism to push against the limiting portion to reduce the notch, causing the sleeve to deform and clamp the surgical instrument. The surgical instrument guidance system provided by this invention allows the robotic arm and surgical instrument to share a single navigation marker assembly, simplifying the robotic arm calibration process and reducing time.

Description

Technical Field

[0001] This invention relates to a surgical instrument guiding system and clamping device, and more particularly to a surgical instrument guiding system and clamping device that can simplify the operation process and securely clamp surgical instruments. Background Technology

[0002] Minimally invasive spinal fusion surgery begins by making a tiny incision on the skin surface. Instruments such as trocars or bone drills are then inserted into the patient's body, and a guide wire is inserted after drilling a hole in the pedicle. The hollow pedicle screw is then inserted into the pedicle along the guide wire to complete the implantation and fixation of the pedicle screw.

[0003] In existing technologies, pedicle screw implantation is performed using a robotic arm in conjunction with surgical instruments. This involves cumbersome surgical procedures and multiple instrument changes, requiring repeated loosening and tightening of bolts to ensure the instruments are in the correct position. However, current robotic arm designs can only accommodate a limited number of different sized surgical instruments, cannot guarantee stable gripping of instruments of varying sizes, and cannot properly adjust the gripping force to allow for free movement of the instruments. Furthermore, in existing technologies, both the robotic arm and surgical instruments are typically equipped with multiple navigation marker components. However, during surgery, some of these navigation marker components can be obstructed by the surgeon, interfering with the operation of the surgical instrument guidance system. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a surgical instrument guiding system and clamping device that can simplify the operation process and securely hold surgical instruments, in order to overcome the shortcomings of the prior art.

[0005] To solve the aforementioned technical problems, one technical solution adopted by the present invention is to provide a clamping device, which includes a body, a receiving part, a sleeve, a first pressing member, and a multi-link mechanism. One end of the body is connected to a robotic arm. The receiving part is connected to the other end of the body. The receiving part has a receiving hole. The sleeve is detachably disposed in the receiving hole. The sleeve has a through hole for inserting a surgical instrument. A notch is provided on one side of the sleeve along the axial direction of the through hole, and the notch communicates with the through hole. A limiting part is also provided at the edge of the notch of the sleeve. The first pressing member is disposed in the body. The multi-link mechanism is disposed in the body and the receiving part, and is connected to the first pressing member and the sleeve. The first pressing member is used to be pressed to drive the multi-link mechanism to push against the limiting part to reduce the notch, thereby causing the sleeve to deform and clamp the surgical instrument.

[0006] To address the aforementioned technical problems, another technical solution adopted by the present invention is to provide a surgical instrument guidance system, which includes a robotic arm, a gripping device, and a navigation marker assembly. The gripping device is connected to the robotic arm and is used to grip surgical instruments. The navigation marker assembly is disposed on the surgical instruments.

[0007] One of the beneficial effects of this invention is that the clamping device provided by this invention allows the sleeve to deform under force through the notch design of the sleeve. When the sleeve is placed on the robotic arm, the mechanism design of the robotic arm can be used to compress the sleeve, causing it to deform and thus clamping the surgical instrument. Furthermore, the clamping device provided by this invention can control the force used to clamp surgical instruments of different sizes by changing the deformation of the sleeve, which can both firmly clamp the surgical instrument and appropriately loosen it to allow the surgical instrument to move freely. In addition, the surgical instrument guidance system provided by this invention allows the robotic arm and the surgical instrument to share a navigation mark component, which can simplify the calibration process and time of the robotic arm.

[0008] To further understand the features and technical content of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are for reference and illustration only and are not intended to limit the present invention. Attached Figure Description

[0009] Figure 1 This is a schematic diagram of the clamping device for clamping surgical instruments according to an embodiment of the present invention.

[0010] Figure 2 This is a schematic diagram of the clamping device according to an embodiment of the present invention.

[0011] Figure 3 This is a schematic diagram of the clamping device according to an embodiment of the present invention.

[0012] Figure 4 This is a top view of the sleeve component according to an embodiment of the present invention.

[0013] Figure 5 This is a side view of the cover body according to an embodiment of the present invention.

[0014] Figure 6 This is a schematic diagram of the first pressing member, the second pressing member, the multi-link mechanism, the outer ring, and the sleeve member according to an embodiment of the present invention.

[0015] Figure 7 This is a schematic diagram of the third pressing member, outer ring, and sleeve member according to an embodiment of the present invention.

[0016] Figure 8 This is a cross-sectional schematic diagram of the clamping device in the unlocked state according to an embodiment of the present invention.

[0017] Figure 9This is a cross-sectional schematic diagram of the clamping device in the locked state according to an embodiment of the present invention.

[0018] Figure 10 This is a schematic diagram of a surgical instrument guidance system according to an embodiment of the present invention.

[0019] Figure 11 This is an exploded view of the surgical instruments, sleeve, and clamping device according to an embodiment of the present invention.

[0020] Figure 12 This is a schematic diagram of a guide wire passing through a surgical instrument fixed to a clamping device in an embodiment of the present invention.

[0021] Figure 13 This is a schematic diagram of the guide wire remaining in the clamping device in an embodiment of the present invention.

[0022] Figure 14 This is a schematic diagram of another surgical instrument inserted into the clamping device along the guide wire in an embodiment of the present invention.

[0023] Figure 15 This is a schematic diagram of the guide wire being removed from the clamping device in an embodiment of the present invention. Detailed Implementation

[0024] The following specific embodiments illustrate the implementation of the "surgical instrument guiding system and clamping device" disclosed in this invention. Those skilled in the art can understand the advantages and effects of this invention from the content disclosed in this specification. This invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of this invention. Furthermore, the accompanying drawings of this invention are for simple illustrative purposes only and are not depictions of actual dimensions; this is stated beforehand. The following embodiments will further describe the relevant technical content of this invention in detail, but the disclosed content is not intended to limit the scope of protection of this invention.

[0025] It should be understood that while terms such as "first," "second," and "third" may be used in this document to describe various components, these components should not be limited by these terms. These terms are primarily used to distinguish one component from another. Furthermore, the term "or" as used herein should, as appropriate, include any combination of one or more related listed items.

[0026] Example

[0027] See Figures 1 to 3 As shown, the present invention provides a clamping device D for clamping a surgical instrument F1. The clamping device D includes a body 1, a receiving part 2, a sleeve part 3, a first pressing member 4, a multi-link mechanism 5, and a second pressing member 6.

[0028] The main body 1 is connected to the robotic arm R, and its left and right ends are respectively connected to the receiving parts 2 (only the receiving part connected to the upper right end is shown in the figure). The receiving part 2 has a receiving hole 20, and the sleeve 3 has a through hole 30. The sleeve 3 is detachably disposed in the receiving hole 20, and the surgical instrument F1 can pass through the through hole 30 of the sleeve 3 and be fixed in the sleeve 3. The first pressing member 4 and the second pressing member 6 extend outward from the main body 1. The first pressing member 4 and the second pressing member 6 are mainly used to control the clamping force of the sleeve 3 on the surgical instrument F1. Specifically, most of the structure of the first pressing member 4 and the second pressing member 6 is located inside the main body 1, and only the pressing part 43 of the first pressing member 4 and the pressing part 62 of the second pressing member 6 are exposed outside the main body 1. The multi-link mechanism 5 is disposed between the main body 1 and the receiving part 2, and connects the first pressing member 4 and the sleeve 3.

[0029] See Figures 3 to 5 As shown, the sleeve 3 has a notch 31 on one side, which extends along the axial direction (Z-axis direction) of the through hole 30. The notch 31 further extends along the Y-axis direction and communicates with the through hole 30. In addition, the sleeve 3 has two limiting portions 32 on each side edge of the notch 31, and two limiting protrusions 341 on opposite sides of the notch 31. Furthermore, the sleeve 3 is cylindrical, comprising a head 33 and a body 34. The diameter of the head 33 is larger than the diameter of the body 34. The through hole 30 and the notch 31 extend from the head 33 to the body 34 along the axial direction of the through hole 30, while the limiting portions 32 and the limiting protrusions 341 are located on opposite sides of the body 34.

[0030] like Figure 3 As shown, the receiving portion 2 includes a cover 21 and an outer ring portion 22. The cover 21 has a first cut 211 and two opposing limiting slots 212 at the edge of the receiving hole 20. The outer ring portion 22 has a second cut 221 at the edge of the receiving hole 20, and the outer ring portion 22 also has a groove 223 on the inner side corresponding to the second cut 221. In addition, the clamping device D also includes a housing 7, which constitutes the body portion 1 and connects to the receiving portion 2. The sleeve 3, the first pressing member 4, the multi-link mechanism 5, and the second pressing member 6 are all disposed inside the housing 7. In addition, the housing 7 has a third cut 71. Furthermore, the cover 21 is fixed to the housing 7, while the outer ring portion 22 is movably disposed inside the housing 7 and located below the cover 21.

[0031] In this invention, the sleeve 3 is a replaceable consumable; for example, the sleeve 3 is a deformable plastic cup. The dimensions of the through-hole 30 of different sleeves 3 can be adapted to different surgical instruments. The sleeve 3 must not only be able to be assembled into the receiving part 2, but also be able to be detached from the receiving part 2. See also... Figure 2 , Figure 3 and Figure 6 As shown, when the sleeve 3 is assembled into the receiving part 2, the limiting part 32 and the limiting protrusion 341 are respectively aligned and pass through the two limiting slots 212, so that the limiting part 32 is set in the groove 223, and the notch 31 is aligned with the second cut 221 (see Figure 3 In other words, before the sleeve 3 is installed in the receiving part 2, the second cut 221 is aligned with one of the two limiting slots 212.

[0032] After the sleeve 3 is installed in the receiving part 2, the sleeve 3 can be rotated, and the sleeve 3 drives the outer ring part 22 to rotate relative to the cover 21 in the first direction J1 (see Figure 6 For clarity, Figure 6 The receiving portion 2 (without the cover 21) aligns the notch 31 and the second cut 221 with the first cut 211 and the third cut 71. At this time, the limiting portion 32 and the limiting protrusion 341 are no longer aligned with the two limiting slots 212, but are misaligned with them, thereby restricting the axial (Z-axis) movement of the sleeve 3. Therefore, the sleeve 3 cannot be pulled out of the receiving hole 20 because the limiting portion 32 is blocked by the cover 21. In other words, the sleeve 3 is fixed in the receiving portion 2 and will not fall out.

[0033] It should also be noted that the channel formed by aligning the notch 31, the first cut 211, and the second cut 221 with each other allows for the placement of objects within the sleeve 3, such as the guide wire W mentioned later (see previous section). Figure 14 It can be taken out through this channel.

[0034] See Figure 3 , Figure 6 and Figure 7 As shown, the clamping device D also includes a third pressing member 8. For clarity, Figure 7 The first pressing member 4 and the second pressing member 6 are omitted. The third pressing member 8 includes a rod-shaped structure 81 and a pressing part 82. The rod-shaped structure 81 is disposed inside the body part 1, and the pressing part 82 is exposed outside the body part 1. When the sleeve member 3 is fixed in the receiving hole 20, a protruding part 811 of the third pressing member 8 extends to the receiving part 2 and is engaged in a notch 224 of the outer ring part 22 (see Figure 7 This restricts the rotation of the outer ring 22.

[0035] On the other hand, to remove the sleeve 3 from the receiving portion 2, the third pressing member 8 can be pressed to move the rod-shaped structure 81 downward and disengage the protrusion 811 from the notch 224, thereby releasing the rotation restriction on the outer ring portion 22. Next, the sleeve 3 is rotated again, causing the outer ring portion 22 to rotate relative to the cover 21 along the second direction J2 (the second direction J2 is opposite to the first direction J1), so that the notch 31 and the second cut 221 are aligned again with one of the limiting slots 212. In this way, the sleeve 3 can be removed from the receiving portion 2.

[0036] Continue reading Figure 6 , Figure 7 As shown, the multi-link mechanism 5 includes a connecting rod 51 and a slider 52 connected to each other. The connecting rod 51 is disposed in the body portion 1, and the slider 52 is disposed in the receiving portion 2. The outer ring portion 22 also has a groove 222 in which the slider 52 is movably disposed. The first pressing member 4 has a protrusion 41 and at least one locking groove 42. The protrusion 41 abuts against the connecting rod 51, and the slider 52 abuts against the limiting portion 32. The second pressing member 6 includes at least one locking portion 61.

[0037] By operating the first pressing member 4 and the second pressing member 6, the sleeve member 3 can be switched between an unlocked state and a locked state. (See reference...) Figure 6 , Figure 8 and Figure 9 As shown, Figure 8 This describes the state of sleeve 3 in the unlocked state. Figure 9 This is the state when the sleeve 3 is locked. When the first pressing member 4 is pressed (see also...). Figure 6 and Figure 9 The protruding post 41 pushes forward against the connecting rod 51, causing the slider 52 to push one of the limiting parts 32 closer to the other limiting part 32. This reduces the gap 31 between the two limiting parts 32, causing the sleeve 3 to deform and generate a clamping force to clamp the surgical instrument F1. Furthermore, the first pressing member 4, when pressed, moves closer to the second pressing member 6, causing at least one locking part 61 to engage in at least one locking groove 42.

[0038] It should be noted that when the first pressing member 4 is pressed, it abuts against a spring member (not shown in the figure). If the first pressing member 4 is released, the elastic restoring force of the spring member will cause the first pressing member 4 to return to its original position. Therefore, by designing at least one locking part 61 to be engaged with at least one locking groove 42, the first pressing member 4 can be restricted and maintained in the pressed position.

[0039] On the other hand, when the second pressing member 6 is pressed, it causes at least one locking part 61 to disengage from at least one locking groove 42. Without the restraint of at least one locking part 61, the first pressing member 4 is... Figure 9 The pressed position is reset to Figure 8 The unpressed position (due to the action of the spring). The multi-link mechanism 5 is reset by the first pressing member 4 and no longer operates; that is, the protrusion 41 retracts and no longer pushes the connecting rod 51, and therefore the connecting rod 51 no longer pushes the slider 52 to press the limiting part 32 of the sleeve 3. As a result, the gap (notch 31) between the two limiting parts 32 returns to its original size, the sleeve 3 returns to its deformation and releases its grip on the surgical instrument F1. In this way, the surgical instrument F1 can be adjusted in position or orientation, or can be directly removed from the sleeve 3.

[0040] See Figure 10 As shown, the clamping device D provided by this invention can be applied to a surgical instrument guidance system. Specifically, the guidance system includes a robotic arm R, a clamping device D connected to the robotic arm R, and multiple navigation marker components N. The clamping device D clamps a surgical instrument F1, and the multiple navigation marker components N are distributed on the surgical instrument F1 and near the surgical site S of the patient B. For example, the surgical site S is the spinal region. The navigation marker components N include a dynamic reference frame (DRF) and multiple optical components disposed on the dynamic reference frame. The optical components may be, for example, reflective spheres or marker components capable of generating perceptible signals.

[0041] Furthermore, the guidance system includes a processing unit E1, a display device E2, and an optical tracker E3. The optical tracker E3 and the display device E2 are electrically connected to the processing unit E1. Multiple navigation marker components N can serve as spatial positioning markers to establish a spatial coordinate system, while the optical tracker E3 can sense, detect, and record the coordinate positions of multiple optical components on the navigation marker components N, and transmit this information to the processing unit E1 for appropriate calculation and storage. Thus, the processing unit E1 acquires images near the surgical site S and integrates them with pre-acquired medical images, such as computed tomography (CT) or magnetic resonance imaging (MRI), to create a three-dimensional virtual model of the area near the surgical site S. The constructed three-dimensional virtual model can be displayed on a navigation interface of the display device E2.

[0042] It should be noted that in this invention, the robotic arm R does not have a navigation marker component N; instead, it shares a single navigation marker component N with the surgical instrument F1. In the prior art, robotic arms and surgical instruments typically have multiple navigation marker components. During surgery, too many navigation marker components can easily be obstructed by the surgeon, causing the optical tracker E3 to fail to detect the position of the surgical instrument F1, thus easily interfering with the operation of the guidance system. Furthermore, if the navigation marker components on the robotic arm are obstructed during surgery, it will prevent the robotic arm from displaying the correct position on the navigation interface. In addition, due to sensing errors, the navigation marker components on the robotic arm and the surgical instrument can easily cause a phenomenon where, even if the surgical instrument and the robotic arm are coaxial in mechanism, they appear to be out of axis on the navigation interface.

[0043] Therefore, this invention uses a single navigation marker component N shared by the robotic arm R and the surgical instrument F1, and corrects their alignment through adjustments to the mechanism parameters. Since the robotic arm R does not have additional navigation marker components, the problem of excessive navigation marker components being obscured, common in existing technologies, is avoided. Furthermore, sharing a single navigation marker component N between the robotic arm R and the surgical instrument F1 simplifies the calibration process and reduces time, and resolves the issue of sensing errors causing the positions of the robotic arm and surgical instrument to be incorrectly displayed on the navigation interface.

[0044] See also Figures 10 to 15 As shown, for example, surgical instrument F1 can be a trocar. Surgical instrument F1 is disposed in the gripping device D of the robotic arm R, and pressing the first pressing member 4 causes the gripping device D to clamp and fix surgical instrument F1 (see...). Figure 10 and Figure 11 Through the navigation interface generated by the guidance system, the surgical instrument F1 creates the correct surgical path (not shown) at the surgical site S, allowing the user to insert the drill into the trocar to drill a hole at the surgical site S. Additionally, the sleeve 3 is selected to fit the size of the surgical instrument F1.

[0045] Then, a lead wire W is inserted through the inside of the surgical instrument F1 into the drilled hole (see...). Figure 12 Next, press the second pressing member 6 to release the clamping device D from the surgical instrument F1, and remove the surgical instrument F1, leaving only the lead wire W in the receiving part 2 (see...). Figure 13Next, press the third pressing member 8 to release the fixation of the sleeve member 3, remove the sleeve member 3, and then select another sleeve member 3' of a different size to install in the receiving part 2. Next, install another surgical instrument F2, such as a stapler with a hollow pedicle screw, in the sleeve member 3' located in the receiving part 2 (the sleeve member 3' is selected to fit the size of the surgical instrument F2), and press the first pressing member 4 again to clamp the surgical instrument F2, so that the surgical instrument F2 can move up and down. After the surgical instrument F2 is installed in the sleeve member 3', the hollow pedicle screw can be rotated to lock into the surgical site S (i.e., the spinal part) along the guide wire W (see Figure 14 This allows for the implantation of the hollow pedicle screw.

[0046] Subsequently, the robotic arm R is operated to remove the surgical site S (simultaneously removing the surgical instrument F2 and the suture W). Next, pressing the second presser 6 again releases the clamping device D from the surgical instrument F2, allowing F2 to be removed, while the suture W can be taken out through the third incision 71 (see...). Figure 15 ).

[0047] Beneficial effects of the embodiments

[0048] The clamping device D provided by this invention allows the sleeves 3 and 3' to have a certain deformation through the notch 31 design. The size of the through hole 30 of different sleeves 3 can be adapted to different surgical instruments F1 and F2. When the sleeves 3 and 3' are set on the robotic arm, the mechanism design of the clamping device D can be used to squeeze the sleeves 3 and 3' to deform them, thereby clamping the surgical instruments F1 and F2. Furthermore, the clamping device D provided by this invention can control the force of clamping surgical instruments F1 and F2 of different sizes by squeezing the sleeves 3 and 3', which can not only firmly clamp the surgical instruments F1 and F2, but also appropriately loosen them to allow the user to remove the surgical instruments F1 and F2.

[0049] Furthermore, in existing technologies, robotic arms and surgical instruments are generally equipped with multiple navigation marker components. During surgery, too many navigation marker components can be obscured by the surgeon, easily interfering with the operation of the guidance system. More specifically, if the navigation marker components on the robotic arm are obscured during surgery, the robotic arm will not be displayed on the navigation interface. Additionally, the navigation marker components on the robotic arm and the surgical instruments are prone to displaying as different axes on the navigation interface due to sensing errors, even if the surgical instruments and robotic arm are coaxial in the mechanism. This invention uses a single navigation marker component N shared by the robotic arm R and the surgical instrument F1, and corrects the alignment by adjusting the mechanism parameters. Since the robotic arm R does not have additional navigation marker components, the problem of excessive navigation marker components being obscured in existing technologies is avoided. Furthermore, sharing a single navigation marker component N between the robotic arm R and the surgical instrument F1 simplifies the calibration process and reduces time for the robotic arm R, and solves the problem of sensing errors causing the positions of the robotic arm and surgical instruments to not be correctly displayed on the navigation interface.

[0050] The content disclosed above is only a preferred and feasible embodiment of the present invention, and is not intended to limit the scope of protection of the claims of the present invention. Therefore, all equivalent technical changes made based on the content of the present invention specification and drawings are included within the scope of protection of the claims of the present invention.

Claims

1. A clamping device, characterized in that, The clamping device includes: A main body, one end of which is connected to a robotic arm; A receiving portion is connected to the other end of the main body portion, and the receiving portion has a receiving hole; A sleeve is detachably disposed in the receiving hole. The sleeve has a through hole for inserting a surgical instrument. A notch is provided on one side of the sleeve along the axial direction of the through hole. The notch communicates with the through hole. A limiting part is also provided at the edge of the notch. A first pressing element is disposed on the main body; and A multi-link mechanism is disposed in the main body and the receiving part, and connected to the first pressing member and the sleeve member; The first pressing member is used to be pressed to drive the multi-link mechanism to push against the limiting part to reduce the notch, thereby causing the sleeve to deform and clamp the surgical instrument.

2. The clamping device according to claim 1, characterized in that, The multi-link mechanism includes a connecting rod and a slider that are connected to each other. The connecting rod is disposed in the main body and the slider is disposed in the receiving part. The first pressing member has a protrusion that abuts against the connecting rod and the slider abuts against the limiting part.

3. The clamping device according to claim 2, characterized in that, The clamping device further includes a second pressing member disposed on the main body. The second pressing member includes at least one locking portion, and the first pressing member further includes at least one locking groove. When the first pressing member is pressed, the at least one locking portion engages with the at least one locking groove to restrict the first pressing member, while the protrusion pushes forward against the connecting rod and drives the slider to push the limiting portion, so as to deform the sleeve and clamp the surgical instrument.

4. The clamping device according to claim 3, characterized in that, When the second pressing member is pressed, the at least one locking part disengages from the at least one locking groove, thereby resetting the first pressing member. The multi-link mechanism is released from the compression of the sleeve by the reset linkage of the first pressing member, so that the sleeve restores its deformation and loosens its grip on the surgical instrument.

5. The clamping device according to claim 2, characterized in that, The accommodating portion includes a cover and an outer ring portion. The outer ring portion is movably disposed below the cover. The cover has a first cut at the edge of the accommodating hole and two opposing limiting slots. The outer ring portion has a second cut at the edge of the accommodating hole.

6. The clamping device according to claim 5, characterized in that, The outer ring portion has a groove, the slider is movably disposed in the groove and located at the edge of the second cut, and the outer ring portion also has a groove inside the position of the second cut; wherein, when the sleeve is disposed in the receiving hole, the limiting portion is correspondingly disposed in the groove.

7. The clamping device according to claim 5, characterized in that, The sleeve is cylindrical and includes a head and a body. The diameter of the head is larger than the diameter of the body. The limiting part is disposed on the body. The notch extends from the head to the body along the axial direction of the through hole. The body has a limiting protrusion on the opposite side of the notch.

8. The clamping device according to claim 7, characterized in that, When the sleeve is disposed in the receiving hole, the limiting part and the limiting protrusion are respectively aligned and pass through the two limiting slots, and the notch is aligned with the second cut; wherein, after the sleeve is disposed in the receiving hole, the sleeve is used to be rotated to drive the outer ring part to rotate relative to the cover body in a first direction, so that the notch and the second cut are aligned with the first cut, and the limiting part and the limiting protrusion are misaligned with the two limiting slots, thereby restricting the movement of the sleeve in the axial direction.

9. The clamping device according to claim 8, characterized in that, The clamping device further includes a housing that covers the outer ring portion and has a third cut that aligns with the first cut and the second cut.

10. The clamping device according to claim 8, characterized in that, The clamping device further includes a third pressing member disposed on the body portion; wherein, when the sleeve is fixed in the receiving hole, a protruding portion of the third pressing member extends to the receiving portion and engages with a recess in the outer ring portion to restrict the rotation of the outer ring portion.

11. The clamping device according to claim 10, characterized in that, The third pressing member is used to be pressed to disengage the protruding part from the notch, and the sleeve member is used to be rotated to drive the outer ring part to rotate relative to the cover body in a second direction, so that the limiting part and the limiting protrusion are respectively aligned with the two limiting slots, thereby releasing the sleeve member from the axial limiting position; wherein, the second direction is opposite to the first direction.

12. A surgical instrument guidance system, characterized in that, The surgical instrument guidance system includes: A robotic arm; The clamping device according to any one of claims 1 to 11 is connected to the robotic arm; and A navigation marker component is installed on the surgical instrument.

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