Guidance device, surgical navigation system and mixed reality surgical navigation system

Abstract

This application relates to guiding devices, surgical navigation systems, and mixed reality surgical navigation systems. One guiding device includes: an end effector having an instrument channel for mounting surgical instruments; a first moving mechanism connected to the end effector and used to drive the end effector to move along a first direction, the first direction being perpendicular to the axial direction of the instrument channel; a first rotating mechanism connected to the first moving mechanism and used to drive the first moving mechanism to rotate about a second direction, the second direction being perpendicular to the first direction and the axial direction; and a second rotating mechanism connected to the first rotating mechanism and used to drive the first rotating mechanism to rotate about the first direction. The structure of the above guiding device is relatively simple, and the position of the instrument channel is easy to adjust.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to guidance devices, surgical navigation systems, and mixed reality surgical navigation systems. Background Technology

[0002] Surgical navigation is a visual image-guided surgical technology developed using medical images as the basic data and leveraging computer image processing. It allows for real-time tracking of surgical instruments through three-dimensional digitization of patient lesions, enabling visualization and automation of surgical procedures. This assists surgeons or robots in performing surgeries more quickly, accurately, and safely. Before surgery, a surgical path is typically pre-set, and surgical instruments need to be adjusted to the preset positions to facilitate the procedure along this path. To adjust the instruments to the preset positions, guide devices are usually used, featuring instrument channels for guiding and limiting the instruments. Simply adjust the position of the instrument channels and then place the surgical instruments within them. However, in related technologies, the structures of such guide devices are often quite complex, and adjusting the position of the instrument channels is inconvenient. Summary of the Invention

[0003] Therefore, it is necessary to provide a guiding device, a surgical navigation system, and a mixed reality surgical navigation system, wherein the guiding device has a relatively simple structure and the position of the instrument channel is easy to adjust.

[0004] A guiding device, the guiding device comprising:

[0005] A first moving mechanism is used to connect the end mechanism, the end mechanism having an instrument channel for guiding surgical instruments, and the first moving mechanism is used to drive the end mechanism to move along a first direction, the first direction being perpendicular to the axial direction of the instrument channel;

[0006] A first rotating mechanism is connected to the first moving mechanism and is used to drive the first moving mechanism to rotate about a second direction, the second direction being perpendicular to the first direction and the axial direction;

[0007] The second rotating mechanism is connected to the first rotating mechanism and is used to drive the first rotating mechanism to rotate around the first direction.

[0008] In some embodiments, the first rotating mechanism includes a first toothed component connected to the second rotating mechanism and a second toothed component connected to the first moving mechanism. The first toothed component and the second toothed component engage with each other. The first toothed component is configured to rotate about a third direction to drive the second toothed component to rotate about the second direction, wherein the third direction is the axial direction of the instrument channel.

[0009] In some embodiments, the second rotating mechanism includes a third toothed component and a fourth toothed component connected to the first rotating mechanism. The third toothed component and the fourth toothed component engage with each other. The third toothed component is configured to rotate about a third direction to drive the fourth toothed component to rotate about the first direction. The third direction is the axial direction of the instrument channel.

[0010] In some embodiments, the first moving mechanism includes a threaded first lead screw and a first nut, the first lead screw extending along the first direction, one of the first lead screw and the first nut being configured to rotate about the first direction to drive the other of the first lead screw and the first nut to move along the first direction, wherein the other of the first lead screw and the first nut is used to connect to the end mechanism.

[0011] In some embodiments, the first moving mechanism further includes a backlash-eliminating locking member, the first nut having a first threaded segment and a second threaded segment spaced apart along the first direction, the first threaded segment and the second threaded segment being threadedly connected to different regions of the first lead screw, and the backlash-eliminating locking member being connected to the first threaded segment and the second threaded segment.

[0012] In some embodiments, the guiding device further includes a second moving mechanism for connecting the end mechanism, wherein the first moving mechanism is capable of driving the end mechanism and the second moving mechanism to move synchronously along the first direction, and the second moving mechanism is capable of driving the end mechanism and the first moving mechanism to move synchronously along the second direction.

[0013] In some embodiments, the first moving mechanism is slidably engaged with the first rotating mechanism along the second direction, and the second moving mechanism is slidably engaged with the first rotating mechanism along the first direction;

[0014] The first moving mechanism includes a threaded first lead screw and a first nut, the first lead screw extending along the first direction and used to connect to the end mechanism, and the first nut being configured to rotate about the first direction to drive the first lead screw to move along the first direction;

[0015] The second moving mechanism includes a threaded second lead screw and a second nut, the second lead screw extending along the second direction and used to connect to the end mechanism, and the second nut being configured to rotate about the second direction to drive the second lead screw to move along the second direction.

[0016] In some embodiments, the guiding device further includes a third rotating mechanism, through which the first rotating mechanism and the first moving mechanism are connected. The third rotating mechanism is used to drive the first moving mechanism to rotate about a third direction, which is the axial direction of the instrument channel.

[0017] In some embodiments, the third rotating mechanism includes a fifth tooth connected to the first rotating mechanism and a sixth tooth connected to the first moving mechanism. The fifth tooth and the sixth tooth engage with each other. The fifth tooth is configured to rotate about the second direction to drive the sixth tooth to rotate about the third direction.

[0018] In some embodiments, the guiding device further includes a coarse adjustment module connected to the second rotating mechanism, the coarse adjustment module being used to drive the second rotating mechanism to rotate and / or move.

[0019] A guiding device includes a fine-tuning module for connecting to an end effector having an instrument channel for guiding surgical instruments. The fine-tuning module includes an angle adjustment structure and a position adjustment structure, wherein the angle adjustment structure is used to adjust the angle of the instrument channel, and the position adjustment structure is used to adjust the position of the instrument channel.

[0020] In some embodiments, the fine-tuning module has two rotational degrees of freedom and two translational degrees of freedom, wherein the rotational axes corresponding to the two rotational degrees of freedom are perpendicular to any two of the axial directions of the instrument channel, and the translational directions corresponding to the two translational degrees of freedom are perpendicular to any two of the axial directions of the instrument channel.

[0021] In some embodiments, the fine-tuning module has three rotational degrees of freedom and one translational degree of freedom, wherein the rotational axes corresponding to the three rotational degrees of freedom are perpendicular to each other, and one of the rotational axes is oriented along the axis of the instrument channel, and the translational direction corresponding to the one translational degree of freedom is perpendicular to the axis of the instrument channel.

[0022] In some embodiments, the guiding device further includes a coarse adjustment module connected to the fine adjustment module, the coarse adjustment module being used to drive the fine adjustment module to rotate and / or move.

[0023] A surgical navigation system, the surgical navigation system including a guiding device, the guiding device comprising:

[0024] A position adjustment structure for connecting an end effector, the position adjustment structure including a first moving mechanism, and further including a second moving mechanism or a third rotating mechanism, wherein the first moving mechanism drives the end effector to move along a first direction, the second moving mechanism drives the end effector to move along a second direction, and the third rotating mechanism drives the end effector to rotate about a third direction, wherein the third direction is the axial direction of the instrument channel of the end effector, and any two of the first direction, the second direction, and the third direction are perpendicular; and

[0025] An angle adjustment structure includes a first rotating mechanism connected to the position adjustment structure and a second rotating mechanism connected to the first rotating mechanism. The first rotating mechanism is used to drive the end mechanism to rotate around the second direction, and the second rotating mechanism is used to drive the end mechanism to rotate around the first direction.

[0026] In some embodiments, the angle adjustment structure is used to drive the end mechanism to move through the first rotating mechanism and the second rotating mechanism, so that the instrument channel is parallel to a preset path;

[0027] The position adjustment structure is used to drive the end effector to move through the first moving mechanism and the second moving mechanism or the third rotating mechanism, so that the instrument channel coincides with the preset path, based on the instrument channel being parallel to the preset path;

[0028] Alternatively, the position adjustment structure is used to drive the end effector to move through the first moving mechanism and the second moving mechanism or the third rotating mechanism, so that the instrument channel intersects with the preset path; the angle adjustment structure is used to drive the end effector to move through the first rotating mechanism and the second rotating mechanism, based on the instrument channel intersecting with the preset path, so that the instrument channel coincides with the preset path.

[0029] In some embodiments, the surgical navigation system further includes a coarse adjustment module connected to the second rotating mechanism, the coarse adjustment module being used to drive the end effector to rotate and / or move so that the instrument channel is close to the preset path.

[0030] A mixed reality surgical navigation system includes a mixed reality device, surgical instruments, and a guidance device;

[0031] The mixed reality device is used to provide adjustment and guidance for the guiding device;

[0032] The guiding device includes a fine-tuning module, which comprises an angle adjustment structure and a position adjustment structure; wherein:

[0033] The angle adjustment structure is configured to be operablely adjustable such that the axial direction of the instrument channel in the end mechanism is parallel to the preset path of the surgical instrument; the position adjustment structure is configured to be operablely adjustable such that, based on the instrument channel being parallel to the preset path, the instrument channel coincides with the preset path.

[0034] Alternatively, the position adjustment structure is configured to be operablely adjustable such that the axis of the instrument channel in the end effector intersects with a preset path; the angle adjustment structure is configured to be operablely adjustable such that, based on the instrument channel intersecting with the preset path, the instrument channel coincides with the preset path.

[0035] In the aforementioned guiding device, the first moving mechanism drives the end effector to move along a first direction, thereby allowing the instrument channel to move along the first direction; the first rotating mechanism drives the first moving mechanism to rotate around a second direction, thereby indirectly driving the end effector connected to the first moving mechanism to rotate around the second direction, thereby allowing the instrument channel to rotate around the second direction; the second rotating mechanism drives the first rotating mechanism to rotate around the first direction, thereby indirectly driving the end effector connected to it to rotate around the first direction, thereby allowing the instrument channel to rotate around the first direction. Therefore, the instrument channel can rotate around a first direction and a second direction perpendicular to its axis, and can also move along the first direction. This allows for flexible and convenient adjustment of the instrument channel's position and orientation, and the above adjustment can be achieved with only two sets of rotating mechanisms and one set of moving mechanisms, resulting in a relatively simple overall structure. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of a guide device in one embodiment of this application.

[0037] Figure 2 This is a top view of the fine-tuning module in one embodiment of this application.

[0038] Figure 3 for Figure 2 Sectional view at point AA.

[0039] Figure 4 for Figure 2 Sectional view at point BB.

[0040] Figure 5 This is a schematic diagram of the third tooth in one embodiment of this application.

[0041] Figure 6 This is a schematic diagram of the first and fourth toothed components in one embodiment of this application.

[0042] Figure 7 This is a schematic diagram of the first and second moving mechanisms in one embodiment of this application.

[0043] Figure 8 This is a schematic diagram of the first lead screw, the second lead screw, and the end mechanism in one embodiment of this application.

[0044] Figure 9 This is a top view of the fine-tuning module in another embodiment of this application.

[0045] Figure 10 for Figure 9 A cross-sectional view of the structure shown.

[0046] Figure 11 This is a schematic diagram of the second and fifth toothed components in another embodiment of this application.

[0047] Figure 12 This is a schematic diagram of the sixth tooth in another embodiment of this application.

[0048] Figure 13 This is an exploded view of the first lead screw in another embodiment of this application.

[0049] Figure 14 This is a schematic diagram of the end mechanism and the first nut in another embodiment of this application.

[0050] Figure label:

[0051] 10. Coarse adjustment module; 20. Fine adjustment module;

[0052] 100. End mechanism;

[0053] 200. First moving mechanism; 210. First lead screw; 211. First smooth rod section; 212. Second smooth rod section; 213. Threaded section; 214. Handwheel; 220. First nut component; 221. Threaded hole; 2211. First threaded segment; 2212. Second threaded segment; 222. Clearance groove; 223. Connecting hole; 230. Top plate; 240. Clearance-eliminating locking component; 250. Washer; 251. Irregular hole; 260. Fixing component; 270. First base; 271. Upper frame; 272. Lower frame; 273. First groove; 274. Second groove; 275. Mounting ring; 2751. Third mounting hole;

[0054] 300, First rotating mechanism; 310, First toothed component; 311, First knob; 320, Second toothed component; 330, First rotating shaft;

[0055] 400, Second rotating mechanism; 410, Third toothed component; 411, Second knob; 420, Fourth toothed component; 430, Second rotating shaft; 440, Second base; 441, First mounting hole;

[0056] 500. Second moving mechanism; 510. Second lead screw; 520. Second nut component;

[0057] 600. Third rotating mechanism; 610. Fifth toothed component; 611. Third knob; 620. Sixth toothed component; 630. Connector; 640. Fourth base; 641. First through hole; 642. Second through hole;

[0058] 700, Third base; 710, Second mounting hole;

[0059] 800. Translation support. Detailed Implementation

[0060] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0061] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0062] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0063] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0064] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0065] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0066] See Figure 1 , Figure 2 and Figure 9 An embodiment of this application provides a guiding device including a first moving mechanism 200, a first rotating mechanism 300, and a second rotating mechanism 400. The first moving mechanism 200 is connected to an end-effector 100, which has an instrument channel for guiding surgical instruments. The first moving mechanism 200 drives the end-effector 100 to move along a first direction, which is perpendicular to the axial direction of the instrument channel. The first rotating mechanism 300 is connected to the first moving mechanism 200 and drives the first moving mechanism 200 to rotate about a second direction, which is perpendicular to the first direction and the axial direction of the instrument channel. The second rotating mechanism 400 is connected to the first rotating mechanism 300 and drives the first rotating mechanism 300 to rotate about the first direction.

[0067] In the guiding device described in the above embodiments, the first moving mechanism 200 can drive the end-effector 100 to move along a first direction, thereby allowing the instrument channel to move along the first direction; the first rotating mechanism 300 can drive the first moving mechanism 200 to rotate around a second direction, thereby indirectly driving the end-effector 100 connected to the first moving mechanism 200 to rotate around the second direction, thereby allowing the instrument channel to rotate around the second direction; the second rotating mechanism 400 can drive the first rotating mechanism 300 to rotate around the first direction, thereby indirectly driving the end-effector 100 connected to it to rotate around the first direction, thereby allowing the instrument channel to rotate around the first direction. Therefore, the instrument channel can rotate around a first direction and a second direction perpendicular to its axis, and can also move along the first direction. In this way, the position and orientation of the instrument channel can be adjusted flexibly and conveniently, and the above adjustment can be achieved by setting only two sets of rotating mechanisms and one set of moving mechanisms, making the overall structure relatively simple.

[0068] See Figure 2 , Figure 3 , Figure 6 and Figure 7 In some embodiments, the first rotating mechanism 300 includes a first toothed member 310 connected to the second rotating mechanism 400 and a second toothed member 320 connected to the first moving mechanism 200. The first toothed member 310 and the second toothed member 320 engage with each other. The first toothed member 310 is configured to rotate about a third direction to drive the second toothed member 320 to rotate about a second direction, where the third direction is the axial direction of the instrument channel.

[0069] Continue reading Figure 2 , Figure 3 , Figure 6 and Figure 7 In some embodiments, one of the first toothed component 310 and the second toothed component 320 is a turbine, and the other is a worm. The axial direction of the first toothed component 310 is a third direction, and the axial direction of the second toothed component 320 is a second direction. In the embodiment shown in the accompanying drawings, the first toothed component 310 is a worm, and the second toothed component 320 is a turbine.

[0070] Continue reading Figure 2 , Figure 3 , Figure 6 and Figure 7 More specifically, the first moving mechanism 200 further includes a first base 270 fixedly connected to the second toothed member 320. The second rotating mechanism 400 includes a second base 440, to which the first toothed member 310 is rotatably connected, so that the first toothed member 310 can rotate relative to the second base 440 about a third direction.

[0071] See Figure 6In some embodiments, the first rotating mechanism 300 further includes a first knob 311 fixedly connected to the first toothed component 310. The first toothed component 310 is mounted within the second base 440, while the first knob 311 protrudes from the second base 440. Rotating the first knob 311 can drive the first toothed component 310 to rotate around a third direction for ease of operation.

[0072] See Figure 6 and Figure 7 In some embodiments, the first rotating mechanism 300 further includes a first rotating shaft 330 extending along a second direction, and a first base 270 fixedly connected to the first rotating shaft 330. A second toothed component 320 is sleeved on the outside of the first rotating shaft 330 and fixedly connected thereto. The second base 440 is also provided with a first mounting hole 441 extending along the second direction inside, and the first rotating shaft 330 extends into the first mounting hole 441 and rotates therewith to improve the smoothness of the rotation process.

[0073] In the aforementioned embodiments, when the first rotating mechanism 300 adopts a worm gear structure, due to its reduction ratio, it allows the user to rotate the first knob 311 with a relatively large amplitude during operation, while the instrument channel of the end mechanism 100 rotates with a smaller amplitude. This facilitates user operation when rotating the instrument channel at small angles and reduces the likelihood of over-rotation.

[0074] exist Figures 9 to 14 In the embodiment shown, the structure of the first rotating mechanism 300 is basically the same as that in the above embodiment, and will not be described again here.

[0075] See Figure 2 ,as well as Figures 4 to 6 In some embodiments, the second rotating mechanism 400 includes a third toothed member 410 and a fourth toothed member 420 connected to the first rotating mechanism 300. The third toothed member 410 and the fourth toothed member 420 are engaged by tooth meshing. The third toothed member 410 is configured to rotate about a third direction to drive the fourth toothed member 420 to rotate about a first direction, which is the axial direction of the instrument channel.

[0076] Continue reading Figure 2 ,as well as Figures 4 to 6 In some embodiments, one of the third tooth 410 and the fourth tooth 420 is a turbine, and the other is a worm. The axial direction of the third tooth 410 is a third direction, and the axial direction of the fourth tooth 420 is a first direction. In the embodiment shown in the accompanying drawings, the third tooth 410 is a worm, and the fourth tooth 420 is a turbine.

[0077] Continue reading Figure 2 ,as well as Figures 4 to 6More specifically, the guiding device includes a third base 700, and a third toothed member 410 is rotatably connected to the third base 700 so that the third toothed member 410 can rotate relative to the third base 700 about a third direction. A second base 440 is fixedly connected to a fourth toothed member 420 so that when the third toothed member 410 drives the fourth toothed member 420 to rotate, the first rotating mechanism 300, the first moving mechanism 200, and the end mechanism 100 rotate synchronously.

[0078] See Figure 5 In some embodiments, the second rotating mechanism 400 further includes a second knob 411 fixedly connected to the third toothed component 410. The third toothed component 410 is mounted within the third base 700, while the second knob 411 protrudes from the third base 700. Rotating the second knob 411 can drive the third toothed component 410 to rotate around a third direction for ease of operation.

[0079] See Figures 4 to 6 In some embodiments, the second rotating mechanism 400 further includes a second rotating shaft 430 extending along a first direction, and a second base 440 fixedly connected to the second rotating shaft 430. A fourth toothed component 420 is sleeved on the outside of the second rotating shaft 430 and fixedly connected thereto. The third base 700 also has a second mounting hole 710 extending along the first direction inside, and the second rotating shaft 430 extends into the second mounting hole 710 and rotates with it to improve the smoothness of the rotation process.

[0080] In the aforementioned embodiments, when the second rotating mechanism 400 adopts a worm gear structure, due to its reduction ratio, it allows the user to rotate the second knob 411 with a relatively large amplitude during operation, while the instrument channel of the end mechanism 100 rotates with a smaller amplitude. This facilitates user operation when rotating the instrument channel at small angles and prevents over-rotation.

[0081] exist Figures 9 to 14 In the embodiment shown, the structure of the second rotating mechanism 400 is basically the same as that in the above embodiment, and will not be described again here.

[0082] See Figure 7 , Figure 8 and Figure 10 In some embodiments, the first moving mechanism 200 includes a threaded first lead screw 210 and a first nut 220, the first lead screw 210 extending along a first direction, and one of the first lead screw 210 and the first nut 220 being configured to rotate about the first direction to drive the other of the first lead screw 210 and the first nut 220 to move along the first direction, wherein the other of the first lead screw 210 and the first nut 220 is used to connect to the end mechanism 100.

[0083] Among them, Figures 2 to 8 In the illustrated embodiment, the first moving mechanism 200 includes a threaded first lead screw 210 and a first nut 220. The first lead screw 210 extends along a first direction and is used to connect to the end mechanism 100. The first nut 220 is configured to rotate about the first direction to drive the first lead screw 210 to move along the first direction. More specific connection structures will be described in subsequent embodiments.

[0084] exist Figures 9 to 14 In the embodiment shown, the first moving mechanism 200 includes a first lead screw 210 and a first nut 220 connected by threads. The first lead screw 210 extends along a first direction, and the first nut 220 is used to connect to the end mechanism 100. The first lead screw 210 is configured to rotate about the first direction to drive the first nut 220 to move along the first direction.

[0085] In both of the main embodiments, rotational power is converted into kinetic power through a lead screw drive to drive the end mechanism 100 to move along the first direction. This method can make the structure more compact and save space occupied along the first direction.

[0086] Furthermore, in the above embodiments, the first moving mechanism 200 adopts a lead screw drive structure, which has a "deceleration" effect similar to the aforementioned worm gear structure. In actual operation, when the user rotates one of the first lead screw 210 and the first nut 220 by a large amplitude, the other of the two components can move a small distance along the first direction. Thus, when the instrument channel needs to move a small distance along the first direction, it facilitates user operation and prevents excessive movement.

[0087] See Figure 9 , Figure 10 , Figure 13 and Figure 14 In some embodiments, the first moving mechanism 200 further includes a backlash-eliminating locking member 240, and the first nut member 220 has a first threaded segment 2211 and a second threaded segment 2212 arranged at intervals along a first direction. The first threaded segment 2211 and the second threaded segment 2212 are respectively threaded to different areas of the first lead screw 210, and the backlash-eliminating locking member 240 is connected to the first threaded segment 2211 and the second threaded segment 2212.

[0088] See Figure 10 , Figure 13 and Figure 14Specifically, the first nut 220 has a threaded hole 221 and a connecting hole 223 extending in a first direction, and a through clearance groove 222 is formed on the first nut 220, which cuts off both the threaded hole 221 and the connecting hole 223 in the first direction. After the cut-off, a portion of the hole wall of the threaded hole 221 forms a first threaded segment 2211, and another portion forms a second threaded segment 2212. The first lead screw 210 is screwed into the threaded hole 221, so that the first threaded segment 2211 and the second threaded segment 2212 are respectively threadedly connected to different areas of the first lead screw 210. The backlash-eliminating locking member 240 can be a screw, which passes through the connecting hole 223 to fasten the first threaded segment 2211 and the second threaded segment 2212, making them tend to move closer to each other. In this way, the internal thread in the first nut 220 can be pressed tightly against the external thread in the first lead screw 210, minimizing the gap between them and improving the smoothness of the transmission.

[0089] See Figure 10 , Figure 12 and Figure 13 In some embodiments, a handwheel 214 is fixedly connected to one end of the first lead screw 210, and the first nut 220 and the end mechanism 100 are fixedly connected through a top plate 230. The first lead screw 210 can be rotated around a first direction by rotating the handwheel 214, thereby driving the end mechanism 100 to move along the first direction through the first nut 220.

[0090] exist Figures 2 to 8 In the illustrated embodiment, a similar method can be used to set the backlash-eliminating locking element 240 to improve the smoothness of the transmission.

[0091] See Figure 2 , Figure 7 and Figure 8 In some embodiments, the guiding device further includes a second moving mechanism 500 for connecting the end mechanism 100, wherein the first moving mechanism 200 is capable of driving the end mechanism 100 and the second moving mechanism 500 to move synchronously along a first direction, and the second moving mechanism 500 is capable of driving the end mechanism 100 and the first moving mechanism 200 to move synchronously along a second direction.

[0092] pass Figures 2 to 8 The structure of the illustrated embodiment allows the end effector 100 to rotate about a first direction, rotate about a second direction, move along the first direction, and move along the second direction. That is, the end effector 100 has four degrees of freedom, which facilitates more flexible adjustment of its pose. In other embodiments, a drive structure can be added to further increase the motion degrees of freedom of the end effector 100.

[0093] Understandably, in actual operation, the orientation of the instrument channel can be changed by rotating the end effector 100 around the first and second directions, adjusting the instrument channel to be parallel to the preset path. Then, by moving the end effector 100 along the first and second directions, the instrument channel can be made to coincide with the preset path. In this way, the user can clearly understand the effect that the current step can achieve when performing each step, that is, first achieve angle adjustment, and then achieve position alignment based on this. For the user, the physical meaning of each operation is more clear and definite, and the user experience will be better.

[0094] Alternatively, in specific operations, the end effector 100 can be moved along the first and second directions to make the instrument channel intersect with the preset path, and then the end effector 100 can be rotated around the first and second directions to make the instrument channel coincide with the preset path.

[0095] See Figure 2 , Figure 7 and Figure 8 In some embodiments, the first moving mechanism 200 is slidably engaged with the first rotating mechanism 300 along a second direction, and the second moving mechanism 500 is slidably engaged with the first rotating mechanism 300 along a first direction. The structure of the first moving mechanism 200 is as described above; the second moving mechanism 500 includes a threaded second lead screw 510 and a second nut 520. The second lead screw 510 extends along the second direction and is used to connect to the end mechanism 100. The second nut 520 is configured to rotate about the second direction to drive the second lead screw 510 to move along the second direction.

[0096] Continue reading Figure 2 , Figure 7 and Figure 8 Specifically, a translation bracket 800 is fixedly connected to the end mechanism 100, and the first lead screw 210 and the second lead screw 510 are both fixedly connected to the translation bracket 800. The first nut 220 is slidably fitted to the aforementioned first base 270 along the second direction, and the second nut 520 is slidably fitted to the first base 270 along the first direction.

[0097] When the first nut 220 is rotated about the first direction, the first lead screw 210 moves along the first direction, causing the translation bracket 800 fixed to it to move synchronously along the first direction. This, in turn, causes the end mechanism 100 and the second lead screw 510 fixed to the translation bracket 800 to move synchronously along the first direction, and the second nut 520 also moves synchronously along the first direction along with the second lead screw 510. Similarly, when the second nut 520 is rotated about the second direction, the second lead screw 510 moves along the second direction, causing the translation bracket 800 fixed to it to move synchronously along the second direction. This, in turn, causes the end mechanism 100 and the first lead screw 210 fixed to the translation bracket 800 to move synchronously along the second direction, and the first nut 220 also moves synchronously along the second direction along with the first lead screw 210. Thus, the end mechanism 100 can be driven to move along the first and second directions independently by the first moving mechanism 200 and the second moving mechanism 500, respectively.

[0098] See Figure 7 and Figure 8 In some embodiments, the first base 270 has a first groove 273 extending in a second direction and a second groove 274 extending in the first direction. A first nut 220 is slidably engaged with the first groove 273 in the second direction, the first groove 273 restricting the movement of the first nut 220 in the first direction and a third direction; a second nut 520 is slidably engaged with the second groove 274 in the first direction, the second groove 274 restricting the movement of the second nut 520 in the second direction and a third direction.

[0099] See Figure 7 Furthermore, the first base 270 includes an upper frame 271 and a lower frame 272 that are fixedly connected. The upper frame 271 and the lower frame 272 can be fixedly connected by means of threaded fasteners or snap-fit. A first groove 273 and a second groove 274, both of which are waist-shaped, are constructed between the upper frame 271 and the lower frame 272.

[0100] In the above embodiment, the second moving mechanism 500 adopts a lead screw drive structure, which has a "deceleration" effect similar to the aforementioned worm gear structure. In specific operation, when the user rotates the second nut 520 by a large amplitude, the second lead screw 510 can move a small distance along the second direction. In this way, when the instrument channel needs to move a small distance along the second direction, it is convenient for the user to operate and is less likely to cause excessive movement.

[0101] See Figures 9 to 14 In some embodiments, the guiding device further includes a third rotating mechanism 600, which connects the first rotating mechanism 300 and the first moving mechanism 200. The third rotating mechanism 600 is used to drive the first moving mechanism 200 to rotate about a third direction, which is the axial direction of the instrument channel.

[0102] Thus, the first rotating mechanism 300 can drive the third rotating mechanism 600 to rotate around the second direction, thereby driving the first moving mechanism 200 and the end mechanism 100 to rotate around the second direction. At the same time, the third rotating mechanism 600 can also drive the first moving mechanism 200 to rotate around the third direction, thereby driving the end mechanism 100 to rotate around the third direction.

[0103] pass Figures 9 to 14 The structure of the illustrated embodiment allows the end effector 100 to rotate about a first direction, rotate about a second direction, rotate about a third direction, and move along the first direction. That is, the end effector 100 has four degrees of freedom, which facilitates more flexible adjustment of its pose. In other embodiments, a drive structure can be added to further increase the motion degrees of freedom of the end effector 100.

[0104] Understandably, in practical operation, the orientation of the instrument channel can be changed by first rotating the end effector 100 around the first and second directions, adjusting the instrument channel to be parallel to the preset path. Then, by coordinating the rotation of the end effector 100 around the third direction and its movement along the first direction, the instrument channel can be made to coincide with the preset path. In this way, the user can clearly understand the effect that can be achieved in each step, that is, first achieve angle adjustment, and then achieve position alignment based on that. For the user, the physical meaning of each operation is more clear and definite, and the user experience is better.

[0105] Alternatively, in specific operations, the instrument channel and the preset path can be intersected by first rotating the end effector 100 around a third direction and moving it along a first direction, and then by coordinating the rotation of the end effector 100 around the first and second directions, the instrument channel and the preset path can be made to coincide.

[0106] See Figures 9 to 12 In some embodiments, the third rotating mechanism 600 includes a fifth tooth 610 connected to the first rotating mechanism 300 and a sixth tooth 620 connected to the first moving mechanism 200. The fifth tooth 610 and the sixth tooth 620 engage with each other. The fifth tooth 610 is configured to rotate about a second direction to drive the sixth tooth 620 to rotate about a third direction.

[0107] See Figures 10 to 12 In some embodiments, one of the fifth tooth 610 and the sixth tooth 620 is a turbine, and the other is a worm. The axial direction of the fifth tooth 610 is a second direction, and the axial direction of the sixth tooth 620 is a third direction. In the embodiment shown in the accompanying drawings, the fifth tooth 610 is a worm, and the sixth tooth 620 is a turbine.

[0108] Continue reading Figures 10 to 12 In some embodiments, the fifth tooth 610 is rotatably connected to the first base 270, allowing the fifth tooth 610 to rotate relative to the first base 270 about a second direction. The third rotating mechanism 600 also includes a fourth base 640, a sixth tooth 620 fixedly connected to the fourth base 640, and a first lead screw 210 rotatably connected to the fourth base 640. Thus, when the fifth tooth 610 rotates about the second direction, it drives the sixth tooth 620 to rotate about a third direction, thereby driving the fourth base 640 to rotate synchronously about a third direction, and consequently driving the first moving mechanism 200 and the end mechanism 100 to rotate synchronously about a third direction.

[0109] See Figure 11 and Figure 12 In some embodiments, the third rotating mechanism 600 further includes a third knob 611 fixedly connected to the fifth toothed member 610. The first base 270 includes a mounting ring 275 having a third mounting hole 2751. The fifth toothed member 610 is mounted in and rotatably connected to the third mounting hole 2751, and the first knob 311 is exposed outside the first base 270. Rotating the third knob 611 can drive the fifth toothed member 610 to rotate about a second direction for easy operation. The sixth toothed member 620 also extends into the third mounting hole 2751. The third rotating mechanism 600 also includes a connector 630, through which the fourth base 640 and the sixth toothed member 620 are fixedly connected.

[0110] See Figure 10 ,as well as Figures 12 to 14 In some embodiments, the fourth base 640 is hollow, and the end walls at both ends of the fourth base 640 along the first direction are respectively formed with a first through hole 641 and a second through hole 642. The first lead screw 210 passes through the first through hole 641 and the second through hole 642 in sequence. The first lead screw 210 has a first smooth rod portion 211, a threaded portion 213 and a second smooth rod portion 212 arranged sequentially along the first direction. The first smooth rod portion 211 and the second smooth rod portion 212 are both smooth rods. The first smooth rod portion 211 extends into the first through hole 641 and is rotatably engaged with it, and the second smooth rod portion 212 extends into the second through hole 642 and is rotatably engaged with it. The threaded portion 213 is suspended in the internal space of the fourth base 640, and the first nut 220 also extends into the internal space of the fourth base 640. The outer peripheral surface of the threaded portion 213 is formed with an external thread for threaded connection with the first threaded segment 2211 and the second threaded segment 2212.

[0111] See Figure 10 , Figure 12 and Figure 13In some embodiments, the aforementioned handwheel 214 is located on the outer side of one end of the fourth base 640 along the first direction, and a washer 250 is provided on the outer side of the other end of the fourth base 640 along the first direction. The first guide rod portion 211 is inserted into the washer 250 to suppress relative rotation between the two around the first direction. The washer 250 prevents the first guide rod portion 211 from dislodging from the first through hole 641 by blocking and limiting, ensuring that the first lead screw 210 can rotate smoothly.

[0112] Specifically, the gasket 250 has a shaped hole 251 that matches the shape and size of the first guide rod portion 211, and the first guide rod portion 211 is inserted into the shaped hole 251. The gasket 250 is fixed to the first guide rod portion 211 by a fastener 260. The fastener 260 can be a threaded fastener.

[0113] In the aforementioned embodiments, when the third rotating mechanism 600 adopts a worm gear structure, due to its reduction ratio, it allows the user to rotate the third knob 611 with a relatively large amplitude during operation, while the instrument channel of the end mechanism 100 rotates with a smaller amplitude. This facilitates user operation when rotating the instrument channel at small angles and reduces the likelihood of over-rotation.

[0114] See Figure 1 , Figure 2 and Figure 9 In some embodiments, the guiding device further includes a coarse adjustment module 10 connected to the second rotating mechanism 400 for driving the second rotating mechanism 400 to rotate and / or move.

[0115] For example, in some embodiments, the coarse adjustment module 10 has a universal joint structure for driving the second rotating mechanism 400 to rotate.

[0116] Specifically, the structure in the aforementioned embodiment is the fine-tuning module 20, in which the second rotation mechanism 400 is connected to the coarse-tuning module 10. The coarse-tuning module 10 drives the entire fine-tuning module 20 to rotate at any angle via its universal joint structure, thereby coarsely adjusting the pose of the end effector 100. After coarse adjustment, the end effector 100 is then driven by the four degrees of freedom in the fine-tuning module 20 to perform small-range movements, thus finely adjusting its pose. This combination of coarse and fine adjustment not only improves efficiency but also ensures accuracy.

[0117] Alternatively, in some embodiments, the coarse adjustment module 10 has a multi-axis motion module (a common multi-axis motion module structure in the prior art can be directly selected) to drive the second rotating mechanism 400 to move. Alternatively, in some embodiments, the coarse adjustment module 10 not only has a multi-axis motion module, but also a universal joint structure to drive the second rotating mechanism 400 to move and rotate in multiple directions.

[0118] See Figure 1 , Figure 2 and Figure 9 One embodiment of this application provides a guiding device including a fine-tuning module 20, which is used to connect to an end mechanism 100. The end mechanism 100 has an instrument channel for guiding surgical instruments. The fine-tuning module 20 includes an angle adjustment structure and a position adjustment structure. The angle adjustment structure is used to adjust the angle of the instrument channel, and the position adjustment structure is used to adjust the position of the instrument channel.

[0119] Specifically, the orientation of the end effector 100 can be adjusted first using the angle adjustment structure to make the instrument channel parallel to the preset path. Then, the position of the end effector 100 can be adjusted using the position adjustment structure to make the instrument channel coincide with the preset path. In this way, the user can clearly understand the effect that the current step can achieve when performing each step. That is, the angle adjustment is achieved first, and then the position alignment is achieved on this basis. For the user, the physical meaning of each operation is clearer and more explicit, and the user experience is better.

[0120] In some embodiments, the fine-tuning module 20 has two rotational degrees of freedom and two translational degrees of freedom, wherein the directions of the rotation axes corresponding to the two rotational degrees of freedom are perpendicular to any two of the axial directions of the instrument channel, and the translational directions corresponding to the two translational degrees of freedom are perpendicular to any two of the axial directions of the instrument channel.

[0121] Specifically, the angle adjustment structure has two rotational degrees of freedom, and the position adjustment structure has two translational degrees of freedom. The two rotational degrees of freedom are rotation about a first direction and a second direction, respectively, and the two translational degrees of freedom are movement along the first direction and the second direction, respectively.

[0122] Furthermore, a position adjustment structure is used to connect the end mechanism 100. The position adjustment structure includes a first moving mechanism 200 and a second moving mechanism 500. The first moving mechanism 200 is used to drive the end mechanism 100 to move along a first direction, and the second moving mechanism 500 is used to drive the end mechanism 100 to move along a second direction. The angle adjustment structure includes a first rotating mechanism 300 connected to the position adjustment structure and a second rotating mechanism 400 connected to the first rotating mechanism 300. The first rotating mechanism 300 is used to drive the end mechanism 100 to rotate around the second direction, and the second rotating mechanism 400 is used to drive the end mechanism 100 to rotate around the first direction. The connection structure of the first moving mechanism 200, the second moving mechanism 500, the first rotating mechanism 300, the second rotating mechanism 400, and the end mechanism 100 can be referred to the aforementioned embodiments.

[0123] Alternatively, in some embodiments, the fine-tuning module 20 has three rotational degrees of freedom and one translational degree of freedom, wherein the rotational axes corresponding to the three rotational degrees of freedom are perpendicular to each other, and one of the rotational axes is oriented along the axis of the instrument channel, and the translational direction corresponding to the translational degree of freedom is perpendicular to the axis of the instrument channel.

[0124] Specifically, the angle adjustment structure has two rotational degrees of freedom, and the position adjustment structure has one translational degree of freedom and one rotational degree of freedom. The two rotational degrees of freedom of the angle adjustment structure are rotation about a first direction and a second direction, respectively, and the one translational degree of freedom and one rotational degree of freedom of the position adjustment structure are movement along the first direction and rotation about a third direction, respectively.

[0125] Furthermore, a position adjustment structure is used to connect the end effector 100. The position adjustment structure includes a first moving mechanism 200 and a third rotating mechanism 600. The first moving mechanism 200 drives the end effector 100 to move along a first direction, and the third rotating mechanism 600 drives the end effector 100 to rotate about a third direction. The angle adjustment structure includes a first rotating mechanism 300 connected to the position adjustment structure and a second rotating mechanism 400 connected to the first rotating mechanism 300. The first rotating mechanism 300 drives the end effector 100 to rotate about a second direction, and the second rotating mechanism 400 drives the end effector 100 to rotate about the first direction. The connection structure of the first moving mechanism 200, the first rotating mechanism 300, the second rotating mechanism 400, the third rotating mechanism 600, and the end effector 100 can be referred to the aforementioned embodiments.

[0126] In some embodiments, the guiding device further includes a coarse adjustment module 10 connected to the fine adjustment module 20, the coarse adjustment module 10 being used to drive the fine adjustment module 20 to rotate and / or move. The specific structure and arrangement of the coarse adjustment module 10 can be found in the foregoing embodiments.

[0127] See Figure 1 , Figure 2 and Figure 9An embodiment of this application provides a surgical navigation system including a guiding device. The guiding device includes a position adjustment structure and an angle adjustment structure, wherein the position adjustment structure is used to connect an end effector 100. The position adjustment structure includes a first moving mechanism 200, and further includes a second moving mechanism 500 or a third rotating mechanism 600. The first moving mechanism 200 is used to drive the end effector 100 to move along a first direction, the second moving mechanism 500 is used to drive the end effector 100 to move along a second direction, and the third rotating mechanism 600 is used to drive the end effector 100 to rotate about a third direction. The angle adjustment structure includes a first rotating mechanism 300 connected to the position adjustment structure, and a second rotating mechanism 400 connected to the first rotating mechanism 300. The first rotating mechanism 300 is used to drive the end effector 100 to rotate about the second direction, and the second rotating mechanism 400 is used to drive the end effector 100 to rotate about the first direction. The third direction is the axial direction of the instrument channel, and any two of the first direction, the second direction, and the third direction are perpendicular.

[0128] In some embodiments, the angle adjustment structure is used to drive the end mechanism 100 to move through the first rotation mechanism 300 and the second rotation mechanism 400 so that the instrument channel is parallel to the preset path; the position adjustment structure is used to drive the end mechanism 100 to move through the first moving mechanism 200 and the second moving mechanism 500 or the third rotation mechanism 600 so that the instrument channel coincides with the preset path, based on the instrument channel being parallel to the preset path.

[0129] Specifically, in some embodiments, the first moving mechanism 200 in the position adjustment structure is used to connect to the end effector 100, and the first rotating mechanism 300 is connected to the first moving mechanism 200. The first rotating mechanism 300 can drive the first moving mechanism 200 to rotate around a second direction, thereby indirectly driving the end effector 100 connected to the first moving mechanism 200 to rotate around the second direction, thus causing the instrument channel to rotate around the second direction; the second rotating mechanism 400 can drive the first rotating mechanism 300 to rotate around a first direction, thereby indirectly driving the end effector 100 indirectly connected to it to rotate around the first direction, thus causing the instrument channel to rotate around the first direction. By driving the end effector 100 to rotate around the first direction and around the second direction through the angle adjustment structure, the position of the instrument channel on the end effector 100 can be adjusted to be parallel to a preset path.

[0130] When the position adjustment structure includes a first moving mechanism 200 and a second moving mechanism 500, the second moving mechanism 500 is used to connect the end effector 100. The first moving mechanism 200 can drive the end effector 100 and the second moving mechanism 500 to move synchronously along a first direction, and the second moving mechanism 500 can drive the end effector 100 and the first moving mechanism 200 to move synchronously along a second direction. Thus, based on the parallelism between the instrument channel and the preset path, by driving the end effector 100 to move along the first direction and along the second direction through the position adjustment structure, the position of the instrument channel on the end effector 100 can be further adjusted to make it coincide and aligned with the preset path.

[0131] When the position adjustment structure includes a first moving mechanism 200 and a third rotating mechanism 600, the first rotating mechanism 200 and the first moving mechanism 200 are connected via the third rotating mechanism 600. The first moving mechanism 200 can drive the end effector 100 to move along a first direction, while the third rotating mechanism 600 can also drive the first moving mechanism 200 to rotate around a third direction, thereby driving the end effector 100 to rotate around a third direction. Thus, based on the parallelism between the instrument channel and the preset path, by driving the end effector 100 to move along the first direction and rotate around a third direction through the position adjustment structure, the position of the instrument channel on the end effector 100 can be further adjusted to make it coincide with and aligned with the preset path.

[0132] Alternatively, in some embodiments, the position adjustment structure is used to drive the end mechanism 100 to move via the first moving mechanism 200 and the second moving mechanism 500 or the third rotating mechanism 600 so that the instrument channel intersects with the preset path; the angle adjustment structure is used to drive the end mechanism 100 to move via the first rotating mechanism 300 and the second rotating mechanism 400 so that the instrument channel coincides with the preset path, based on the instrument channel intersecting with the preset path.

[0133] In other words, during operation, the end effector 100 can be moved along a first direction by the first moving mechanism 200; and moved along a second direction by the second moving mechanism 500, or rotated around a third direction by the third rotating mechanism 600, so that the instrument channels intersect at a preset path. Based on this, the end effector 100 can be rotated around a second direction by the first rotating mechanism 300, and rotated around a first direction by the second rotating mechanism 400, so that the instrument channels coincide at the preset path.

[0134] It should be noted that "preset path" refers to a pre-set surgical path. When the instrument channel on the end effector 100 is aligned with the preset path, the surgical instruments placed therein can be guided and limited through the instrument channel, so that the surgical instruments can reach the surgical area along the instrument channel under the operation of the operator.

[0135] See Figure 1 , Figure 2 and Figure 9 In some embodiments, the surgical navigation system further includes a coarse adjustment module 10 connected to the second rotating mechanism 400. The coarse adjustment module 10 is used to drive the end mechanism 100 to rotate and / or move so that the instrument channel is close to a preset path.

[0136] The specific settings and connection structures of the coarse adjustment module 10 and fine adjustment module 20 (such as the first moving mechanism 200, the second moving mechanism 500, the first rotating mechanism 300, the second rotating mechanism 400, and the third rotating mechanism 600) are the same as those in the aforementioned embodiments, and the content of the aforementioned embodiments can be directly referenced.

[0137] See Figure 1 , Figure 2 and Figure 9 An embodiment of this application provides a mixed reality surgical navigation system, including a mixed reality device, surgical instruments, and a guiding device. The mixed reality device provides adjustment guidance for the guiding device; the guiding device includes a fine-tuning module 20, which includes an angle adjustment structure and a position adjustment structure. The angle adjustment structure is configured to be operably adjusted such that the axis of the instrument channel in the end effector 100 is parallel to a preset path of the surgical instruments; the position adjustment structure is configured to be operably adjusted such that, based on the instrument channel being parallel to the preset path, the instrument channel coincides with the preset path; or, the position adjustment structure is configured to be operably adjusted such that the axis of the instrument channel in the end effector 100 intersects the preset path; the angle adjustment structure is configured to be operably adjusted such that, based on the instrument channel intersecting the preset path, the instrument channel coincides with the preset path.

[0138] In the above embodiments, the structure and operation of the guiding device are the same as in the previous embodiments, and the content of the previous embodiments can be directly referenced.

[0139] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0140] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A guiding device, characterized in that, The guiding device includes: A first moving mechanism (200) is used to connect to an end mechanism (100), the end mechanism (100) having an instrument channel for guiding surgical instruments, the first moving mechanism (200) being used to drive the end mechanism (100) to move along a first direction, the first direction being perpendicular to the axial direction of the instrument channel; A first rotating mechanism (300) is connected to the first moving mechanism (200) and is used to drive the first moving mechanism (200) to rotate about a second direction, the second direction being perpendicular to the first direction and the axial direction; The second rotating mechanism (400) is connected to the first rotating mechanism (300) and is used to drive the first rotating mechanism (300) to rotate around the first direction.

2. The guiding device according to claim 1, characterized in that, The first rotating mechanism (300) includes a first toothed member (310) connected to the second rotating mechanism (400) and a second toothed member (320) connected to the first moving mechanism (200). The first toothed member (310) and the second toothed member (320) are engaged by teeth. The first toothed member (310) is configured to rotate about a third direction to drive the second toothed member (320) to rotate about the second direction, wherein the third direction is the axial direction of the instrument channel.

3. The guiding device according to claim 1, characterized in that, The second rotating mechanism (400) includes a third toothed component (410) and a fourth toothed component (420) connected to the first rotating mechanism (300). The third toothed component (410) and the fourth toothed component (420) are engaged by teeth. The third toothed component (410) is configured to rotate about a third direction to drive the fourth toothed component (420) to rotate about the first direction. The third direction is the axial direction of the instrument channel.

4. The guiding device according to claim 1, characterized in that, The first moving mechanism (200) includes a threaded first lead screw (210) and a first nut (220), the first lead screw (210) extending along the first direction, and one of the first lead screw (210) and the first nut (220) being configured to rotate about the first direction to drive the other of the first lead screw (210) and the first nut (220) to move along the first direction, wherein the other of the first lead screw (210) and the first nut (220) is used to connect to the end mechanism (100).

5. The guiding device according to claim 4, characterized in that, The first moving mechanism (200) further includes a backlash-eliminating locking member (240). The first nut member (220) has a first threaded segment (2211) and a second threaded segment (2212) arranged at intervals along the first direction. The first threaded segment (2211) and the second threaded segment (2212) are respectively threaded to different areas of the first lead screw (210). The backlash-eliminating locking member (240) is connected to the first threaded segment (2211) and the second threaded segment (2212).

6. The guiding device according to any one of claims 1 to 5, characterized in that, The guiding device further includes a second moving mechanism (500) for connecting the end mechanism (100), wherein the first moving mechanism (200) is capable of driving the end mechanism (100) and the second moving mechanism (500) to move synchronously along the first direction, and the second moving mechanism (500) is capable of driving the end mechanism (100) and the first moving mechanism (200) to move synchronously along the second direction.

7. The guiding device according to claim 6, characterized in that, The first moving mechanism (200) is slidably engaged with the first rotating mechanism (300) along the second direction, and the second moving mechanism (500) is slidably engaged with the first rotating mechanism (300) along the first direction; The first moving mechanism (200) includes a threaded first lead screw (210) and a first nut (220), the first lead screw (210) extending along the first direction, the first lead screw (210) being used to connect the end mechanism (100), and the first nut (220) being configured to rotate about the first direction to drive the first lead screw (210) to move along the first direction; The second moving mechanism (500) includes a threaded second lead screw (510) and a second nut (520), the second lead screw (510) extending along the second direction and used to connect the end mechanism (100), and the second nut (520) configured to rotate about the second direction to drive the second lead screw (510) to move along the second direction.

8. The guiding device according to any one of claims 1 to 5, characterized in that, The guiding device further includes a third rotating mechanism (600), through which the first rotating mechanism (300) and the first moving mechanism (200) are connected. The third rotating mechanism (600) is used to drive the first moving mechanism (200) to rotate about a third direction, which is the axial direction of the instrument channel.

9. The guiding device according to claim 8, characterized in that, The third rotating mechanism (600) includes a fifth toothed component (610) connected to the first rotating mechanism (300) and a sixth toothed component (620) connected to the first moving mechanism (200). The fifth toothed component (610) and the sixth toothed component (620) are engaged by teeth. The fifth toothed component (610) is configured to rotate about the second direction to drive the sixth toothed component (620) to rotate about the third direction.

10. The guiding device according to any one of claims 1 to 5, characterized in that, The guiding device further includes a coarse adjustment module (10) connected to the second rotating mechanism (400), the coarse adjustment module (10) being used to drive the second rotating mechanism (400) to rotate and / or move.

11. A guiding device, characterized in that, The guiding device includes a fine-tuning module (20) for connecting to an end mechanism (100), the end mechanism (100) having an instrument channel for guiding surgical instruments, the fine-tuning module (20) including an angle adjustment structure and a position adjustment structure, the angle adjustment structure for adjusting the angle of the instrument channel, and the position adjustment structure for adjusting the position of the instrument channel.

12. The guiding device according to claim 11, characterized in that, The fine-tuning module (20) has two rotational degrees of freedom and two translational degrees of freedom. The rotational axes corresponding to the two rotational degrees of freedom are perpendicular to any two of the axial directions of the instrument channel, and the translational directions corresponding to the two translational degrees of freedom are perpendicular to any two of the axial directions of the instrument channel.

13. The guiding device according to claim 11, characterized in that, The fine-tuning module (20) has three rotational degrees of freedom and one translational degree of freedom. The rotational axes corresponding to the three rotational degrees of freedom are perpendicular to each other, and one of the rotational axes is the axial direction of the instrument channel. The translational direction corresponding to the one translational degree of freedom is perpendicular to the axial direction of the instrument channel.

14. The guiding device according to claim 11, characterized in that, The guiding device also includes a coarse adjustment module (10) connected to the fine adjustment module (20), the coarse adjustment module (10) being used to drive the fine adjustment module (20) to rotate and / or move.

15. A surgical navigation system, characterized in that, The surgical navigation system includes a guiding device, the guiding device comprising: A position adjustment structure for connecting an end effector (100), the position adjustment structure including a first moving mechanism (200), and further including a second moving mechanism (500) or a third rotating mechanism (600), the first moving mechanism (200) for driving the end effector (100) to move along a first direction, the second moving mechanism (500) for driving the end effector (100) to move along a second direction, and the third rotating mechanism (600) for driving the end effector (100) to rotate about a third direction, wherein the third direction is the axial direction of the instrument channel of the end effector (100), and any two of the first direction, the second direction, and the third direction are perpendicular; and An angle adjustment structure includes a first rotating mechanism (300) connected to the position adjustment structure and a second rotating mechanism (400) connected to the first rotating mechanism (300). The first rotating mechanism (300) is used to drive the end mechanism (100) to rotate around the second direction, and the second rotating mechanism (400) is used to drive the end mechanism (100) to rotate around the first direction.

16. The surgical navigation system according to claim 15, characterized in that, The angle adjustment structure is used to drive the end mechanism (100) to move through the first rotating mechanism (300) and the second rotating mechanism (400) so that the instrument channel is parallel to a preset path; The position adjustment structure is used to drive the end mechanism (100) to move by the first moving mechanism (200), the second moving mechanism (500) or the third rotating mechanism (600) based on the instrument channel being parallel to the preset path, so that the instrument channel coincides with the preset path; Alternatively, the position adjustment structure is used to drive the end effector (100) to move via the first moving mechanism (200), the second moving mechanism (500), or the third rotating mechanism (600), so that the instrument channel intersects with a preset path; the angle adjustment structure is used to drive the end effector (100) to move via the first rotating mechanism (300) and the second rotating mechanism (400) based on the instrument channel intersecting with the preset path, so that the instrument channel coincides with the preset path.

17. The surgical navigation system according to claim 16, characterized in that, The surgical navigation system also includes a coarse adjustment module (10) connected to the second rotating mechanism (400), the coarse adjustment module (10) being used to drive the end mechanism (100) to rotate and / or move so that the instrument channel is close to the preset path.

18. A mixed reality surgical navigation system, characterized in that, This includes mixed reality devices, surgical instruments, and guidance systems; The mixed reality device is used to provide adjustment and guidance for the guiding device; The guiding device includes a fine-tuning module (20), which includes an angle adjustment structure and a position adjustment structure; wherein: The angle adjustment structure is configured to be operablely adjustable such that the axial direction of the instrument channel in the end effector (100) is parallel to a preset path of the surgical instrument; the position adjustment structure is configured to be operablely adjustable such that, based on the instrument channel being parallel to the preset path, the instrument channel coincides with the preset path. Alternatively, the position adjustment structure is configured to be operablely adjustable such that the axis of the instrument channel in the end effector (100) intersects a preset path; the angle adjustment structure is configured to be operablely adjustable such that, based on the instrument channel intersecting the preset path, the instrument channel coincides with the preset path.

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