Actuator and surgical navigation system

Abstract

The utility model discloses an actuator and a surgical navigation system. The actuator comprises a positioning sleeve and a mounting sleeve. A positioning hole and a first notch are formed in the positioning sleeve, the positioning hole is located in the inner side of the positioning sleeve and extends in the axis direction of the positioning sleeve, and the first notch is formed in the length direction of the positioning sleeve in a penetrating mode and communicates with the positioning hole; a mounting hole and a second notch are formed in the mounting sleeve, the mounting hole is located in the mounting sleeve and extends in the axis direction of the mounting sleeve, the second notch extends in the length direction of the mounting sleeve and communicates with the mounting hole, and the mounting sleeve is mounted in the positioning hole and can rotate along the axis of the mounting sleeve. The actuator and the surgical navigation system at least can solve the problems that in the prior art, a puncture needle is inconvenient to disassemble and assemble, and the surgical time is long.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to an actuator and a surgical navigation system. Background Art

[0002] At present, in the field of image-guided surgery or surgical guidance, an actuator is usually used to guide and position a puncture needle or the like. In actual use, the actuator is fixedly connected to the end of a micro-mechanical arm to guide and position the puncture needle or the like.

[0003] However, in the existing actuators, the puncture needle can mostly only be disassembled and assembled along the axial direction of the positioning sleeve, which makes the operation complicated and takes a long time. Utility Model Content

[0004] The main purpose of the present application is to provide an actuator and a surgical navigation system to at least solve the problem in the prior art that the actuator is inconvenient for disassembly and assembly of the puncture needle and the surgery time is long.

[0005] According to one aspect of the present application, an actuator is provided, comprising:

[0006] A positioning sleeve, wherein the positioning sleeve is provided with a positioning hole and a first notch, wherein the positioning hole is located inside the positioning sleeve and extends along the axial direction of the positioning sleeve, and the first notch is penetrated along the length direction of the positioning sleeve and communicated with the positioning hole;

[0007] A mounting sleeve is provided with a mounting hole and a second notch, wherein the mounting hole is located inside the mounting sleeve and extends along the axial direction of the mounting sleeve, the second notch extends along the length direction of the mounting sleeve and is connected with the mounting hole, and the mounting sleeve is installed in the positioning hole and can rotate along its own axis.

[0008] Furthermore, the positioning sleeve is provided with a plurality of positioning portions, and the plurality of positioning portions are arranged at intervals along the circumferential direction of the positioning sleeve;

[0009] The mounting sleeve is provided with a positioning matching portion, and the mounting sleeve rotates along its own axis so that the positioning matching portion is matched and connected with one of the plurality of positioning portions.

[0010] Further, one of the positioning portion and the positioning matching portion is a positioning groove, and the other is a positioning protrusion matched with the positioning groove.

[0011] Further, the positioning portion includes a positioning groove, the positioning groove is located at the top end of the positioning sleeve and is a groove along the length direction of the positioning sleeve;

[0012] The positioning matching portion includes a positioning protrusion, and the positioning protrusion is arranged at the top end of the installation sleeve and protrudes from the outer side wall of the installation sleeve.

[0013] Furthermore, a connecting portion is provided on the positioning sleeve, and the connecting portion is at least used to connect the positioning sleeve to a predetermined structure, and a sterile protective element is provided on the connecting portion.

[0014] Furthermore, the connecting portion includes a plug rod, which is connected to the outside of the positioning sleeve and extends in a direction away from the positioning sleeve, and the sterile protection component is sleeved on the plug rod and located at one end of the plug rod close to the positioning sleeve.

[0015] Furthermore, the sterile protective component includes an integrally arranged sterile bag and a sterile protective cover, the sterile bag is sleeved on the connecting portion from one end of the connecting portion away from the positioning sleeve, and the sterile protective cover is detachably mounted on the connecting portion.

[0016] Further, the connecting portion is pivotally connected to the positioning sleeve; and / or,

[0017] The connecting parts include at least two, and at least one of the connecting parts can move along the length direction of the positioning sleeve.

[0018] Furthermore, an outer flange is arranged at the top end of the installation sleeve, and the outer flange is placed on the top of the positioning sleeve. The actuator also includes a target mechanism, and the target mechanism is connected to the outer flange and extends to the outside of the positioning sleeve.

[0019] Furthermore, the target mechanism comprises:

[0020] A connecting frame, the connecting frame comprising a connecting section and a mounting section, the connecting section being connected to the outer flange and extending in the radial direction of the mounting sleeve, one end of the mounting section being connected to the connecting section, the other end of the mounting section extending in the length direction of the mounting sleeve, and the distance from the mounting section to the surface of the mounting sleeve gradually increasing from the top end to the bottom end of the mounting sleeve;

[0021] A target frame is mounted on the mounting section.

[0022] On the other hand, the present application also provides a surgical navigation system, which includes the above-mentioned actuator.

[0023] In the present application, since the mounting sleeve of the target assembly can rotate along its own axis, after the mounting sleeve of the target assembly is installed in the positioning hole, the mounting sleeve rotates in the positioning hole so that the first notch and the second notch are arranged opposite to each other. At this time, structures such as the puncture needle can be disassembled and assembled along the axial direction of the positioning hole, and the puncture needle can be disassembled and assembled along the radial direction of the positioning hole without removing the positioning device used to position the puncture needle. When the mounting sleeve is rotated so that the first notch and the second notch are at least partially misaligned, the portion where the first notch and the second notch are opposite to each other is relatively small, and the gap between the first notch and the second notch is relatively narrow. However, for the slender puncture needle, it can still be disassembled and assembled from the radial and axial directions of the positioning hole, which can improve the convenience of the operation, shorten the operation time, and reduce the complexity of the surgical operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0025] Figure 1 It is a first three-dimensional structural diagram of the actuator disclosed in the embodiment of the present application;

[0026] Figure 2 A three-dimensional structural diagram of a positioning sleeve of an actuator disclosed in an embodiment of the present application;

[0027] Figure 3 A three-dimensional structural diagram of a target assembly of an actuator disclosed in an embodiment of the present application;

[0028] Figure 4 A second three-dimensional structural diagram of the actuator disclosed in the embodiment of the present application;

[0029] Figure 5 This is a third three-dimensional structural diagram of the actuator disclosed in the embodiment of the present application.

[0030] The above drawings include the following reference numerals:

[0031] 10. Positioning sleeve; 11. Positioning hole; 12. First notch; 13. Positioning portion; 14. Connecting portion; 15. Sterile protective member; 16. Mounting lug; 161. Long groove; 20. Target assembly; 21. Mounting sleeve; 211. External flange; 212. Positioning mating portion; 213. Mounting hole; 214. Second notch; 22. Target mechanism; 221. Connecting frame; 2211. Connecting section; 2212. Mounting section; 222. Target frame. DETAILED DESCRIPTION

[0032] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0033] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0034] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0035] See also Figures 1 to 5 As shown, according to an embodiment of the present application, an actuator is provided, which includes a positioning sleeve 10 and a target assembly 20 .

[0036] Among them, the positioning sleeve 10 is provided with a positioning hole 11 and a first notch 12. The positioning hole 11 is located on the inner side of the positioning sleeve 10 and extends along the axial direction of the positioning sleeve 10. The first notch 12 is arranged along the length direction of the positioning sleeve 10 and is connected with the positioning hole 11; the target assembly 20 includes a mounting sleeve 21 and a target mechanism 22. The target mechanism 22 is connected to the top of the mounting sleeve 21 and extends to the outside of the positioning sleeve 10. The mounting sleeve 21 is provided with a mounting hole 213 and a second notch 214. The positioning hole 11 is located inside the mounting sleeve 21 and extends along the axial direction of the mounting sleeve 21. The second notch 214 extends along the length direction of the mounting sleeve 21 and is connected with the mounting hole 213. The mounting sleeve 21 is installed in the positioning hole 11 and can rotate along its own axis.

[0037] When the installation sleeve 21 rotates along its own axis in the positioning hole 11, the first notch 12 and the second notch 214 can be arranged opposite to each other or at least partially staggered. It should be noted that the first notch 12 and the second notch 214 are arranged opposite to each other, which means that the center lines of the first notch 12 and the second notch 214 in the width direction coincide with each other, and the first notch 12 and the second notch 214 are arranged to be staggered to the center lines of the first notch 12 and the second notch 214 in the width direction.

[0038] In the present application, since the mounting sleeve 21 of the target assembly 20 can rotate along its own axis, after the mounting sleeve 21 of the target assembly 20 is installed in the positioning hole 11, the mounting sleeve 21 rotates in the positioning hole 11, so that the first notch 12 and the second notch 214 are arranged opposite to each other (such as Figure 1 ), at this time, the puncture needle and other structures can be disassembled and assembled along the axial direction of the positioning hole 11, and can also be disassembled and assembled along the radial direction of the positioning hole 11 without removing the positioning device for positioning the puncture needle; when the sleeve 21 is rotated and installed, so that the first notch 12 and the second notch 214 are at least partially misaligned (see Figure 4 and Figure 5 As shown in the figure, the portion where the first notch 12 and the second notch 214 face each other is relatively small, and the gap between the first notch 12 and the second notch 214 is relatively narrow. However, for the slender puncture needle, it can still be disassembled and assembled from the radial and axial directions of the positioning hole 11, which can improve the convenience of the operation, shorten the operation time, and reduce the complexity of the surgical operation.

[0039] At the same time, since the mounting sleeve 21 in this embodiment can rotate along its own axis in the positioning hole 11, when the mounting sleeve 21 rotates in the positioning hole 11, it can drive the target mechanism 22 installed on the mounting sleeve 21 to rotate synchronously, so that the target mechanism 22 can be rotated to different positions, which is more suitable for navigation in different surgical directions and can increase the flexibility and freedom of surgical arrangement.

[0040] The actuator in this embodiment has a simple structure, good overall rigidity, and is easy to install without disassembly. The actuator can be directly installed on the positioning platform, which saves surgical time, reduces surgical difficulty, and reduces the risk of surgical accessories falling.

[0041] See also Figures 1 to 3As shown, in order to limit the installation sleeve 21 on the positioning sleeve 10, a plurality of positioning portions 13 are provided on the positioning sleeve 10 in this embodiment, and the plurality of positioning portions 13 are arranged at intervals along the circumferential direction of the positioning sleeve 10; correspondingly, a positioning matching portion 212 is provided on the installation sleeve 21, and when the installation sleeve 21 rotates along its own axis, the positioning matching portion 212 can be matched and connected with one of the plurality of positioning portions 13, thereby making the first notch 12 and the second notch face each other or at least partially offset. That is to say, in this embodiment, by providing a plurality of positioning portions 13 on the positioning sleeve 10, and correspondingly providing a positioning matching portion 212 that matches the positioning portion 13 on the mounting sleeve 21, when the mounting sleeve 21 is rotated to different positions along its own axis, the positioning matching portion 212 on the mounting sleeve 21 can be matched with the positioning portions 13 at different positions in the circumferential direction of the positioning sleeve 10, and then the mounting sleeve 21 can be fixed on the positioning sleeve 10, and finally the first notch 12 and the second notch are directly opposite or at least partially offset, and the target mechanism 22 is rotated to different positions relative to the positioning sleeve 10, which can greatly improve the positioning flexibility and ease of use of the actuator in this embodiment. Of course, in other embodiments of the present application, only one positioning portion 13 may be provided on the positioning sleeve 10, and a plurality of positioning matching portions 212 may be provided in the circumferential direction of the mounting sleeve 21. When the mounting sleeve 21 rotates in the positioning hole 11, the positioning portion 13 may cooperate with a positioning matching portion 212 on the circumference of the mounting sleeve 21, thereby fixing the mounting sleeve 21 at different positions of the positioning sleeve 10.

[0042] Furthermore, in other embodiments of the present application, multiple positioning portions 13 and multiple positioning matching portions 212 can be simultaneously provided in the circumferential directions of the positioning sleeve 10 and the mounting sleeve 21. As long as other deformation methods can fix the mounting sleeve 21 on the positioning sleeve 10, they are all within the protection scope of the present application.

[0043] Specifically, one of the positioning portion 13 and the positioning matching portion 212 in this embodiment is a positioning groove, and the other is a positioning protrusion that matches the positioning groove. That is to say, when the positioning portion 13 is set as a positioning groove, the positioning matching portion 212 is set as a positioning protrusion; when the positioning portion 13 is set as a positioning protrusion, the positioning matching portion 212 is set as a positioning groove. In this embodiment, by setting the positioning portion 13 and the positioning matching portion 212 as a positioning groove and a positioning protrusion respectively, the structure is simple, easy to disassemble and assemble, and convenient for doctors to use and operate.

[0044] In a specific embodiment of the present application, the positioning portion 13 is set as a positioning groove, which is located at the top of the positioning sleeve 10 and is a groove along the length direction of the positioning sleeve 10; correspondingly, the positioning matching portion 212 is set as a positioning protrusion, which is set at the top of the installation sleeve 21 and protrudes from the outer wall of the installation sleeve 21. In this way, when it is necessary to rotate and fix the installation sleeve 21 at different positions of the positioning sleeve 10, it is only necessary to lift the installation sleeve 21 upward and rotate the installation sleeve 21 so that the positioning protrusion on the installation sleeve 21 is aligned with a positioning groove, and then apply a downward force to the installation sleeve 21 so that the positioning protrusion is inserted into the positioning groove. The operation is simple and convenient to use.

[0045] Optionally, the positioning portion 13 in this embodiment can be set to two, three or more than three. The drawings of the present application show the situation when the positioning portion 13 is set to three. When the mounting sleeve 21 rotates in the positioning hole 11 and is fixed at three different positioning portions 13, the target mechanism 22 can achieve positioning in three directions.

[0046] In order to facilitate the installation of the actuator in this embodiment on a predetermined structure, such as a surgical robot arm, a connection portion 14 is provided on the positioning sleeve 10 in this embodiment, and the connection portion 14 is at least used to connect the positioning sleeve 10 to a predetermined structure, such as the surgical robot arm mentioned above, and a sterile protective member 15 is provided on the connection portion 14. In actual use, a sterile film is sleeved on the connection portion 14, and then the sterile film is fixed by the sterile protective member 15, which can play a role in sterile protection.

[0047] Optionally, the connection portion 14 in this embodiment includes a plug-in rod, which is connected to the outside of the positioning sleeve 10 and extends in a direction away from the positioning sleeve 10, and the sterile protective member 15 is sleeved on the plug-in rod and located at one end of the plug-in rod close to the positioning sleeve 10. When in use, firstly, a sterile film is sleeved from one end of the plug-in rod away from the positioning sleeve 10, and then the sterile protective member 15 is sleeved on the plug-in rod with the sterile protective film on the outside. At this time, the sterile protective member 15 can fix the sterile film on the plug-in rod. After the sterile protective member 15 is sleeved, the sterile film is turned back from the outer surface of the sterile protective member 15 toward the side away from the positioning sleeve 10, and then the plug-in rod is plugged into the corresponding surgical robot arm. After installation, the part of the sterile film that is turned back can be covered on the surgical robot arm. At this time, the sterile film can effectively isolate the surgical robot arm from the positioning sleeve 10, which can play a good sterile protection role and increase the safety of the operation.

[0048] Optionally, the sterile protective member 15 in this embodiment includes a sterile protective cover, which is detachably mounted on the connecting portion 14. When a sterile film needs to be mounted, the sterile protective cover can be removed from the connecting portion 14. After the sterile film is mounted, the sterile protective cover can be mounted on the connecting portion 14 to position the sterile film. Of course, in other embodiments of the present application, the sterile protective member 15 can also be a structure such as a fixing clip. As long as it is other deformation methods under the conception of the present application, they are all within the protection scope of the present application.

[0049] Of course, in other embodiments of the present application, the sterile film can be a sterile bag, which can first reserve a hole in the sterile bag, and then the sterile bag is put on the connecting part 14, and then the sterile protective cover and the sterile bag are buckled on the connecting part 14 together; or the sterile bag and the sterile protective cover are first bonded (integrated packaging), and then directly put on the connecting part 14 during installation. That is to say, the sterile protective component 15 includes an integrally arranged sterile bag and a sterile protective cover (only the sterile protective cover is shown in the accompanying drawings in this embodiment), and the sterile bag is put on the connecting part 14 from one end of the connecting part 14 away from the positioning sleeve 10, and the sterile protective cover is detachably installed on the connecting part 14.

[0050] Furthermore, the connection portion 14 in this embodiment can be pivotally connected to the positioning sleeve 10. Specifically, the connection portion 14 can be pivotally connected to the positioning sleeve 10 via a structure such as a pin.

[0051] Optionally, the connection portion 14 in this embodiment can be set to one, or two or more. Figure 1 , Figure 4 and Figure 5 The figure shows the situation when there are two connecting parts 14. At least one of the two connecting parts 14 can move along the length direction of the positioning sleeve 10. When in use, it is convenient to adjust the position of the connecting part 14 according to actual use and installation requirements, so that the actuator in this embodiment can be adapted to different models of surgical robotic arms.

[0052] Specifically, in order to allow the connection part 14 to move along the length direction of the positioning sleeve 10, the outer periphery of the positioning sleeve 10 in this embodiment is provided with a mounting lug 16, and the mounting lug 16 is provided with a long groove 161, and the long groove 161 extends along the length direction of the positioning sleeve 10. When actually connected, the connection part 14 is moved according to the installation requirements, and then the end of the connection part 14 is fixed at different positions in the length direction of the long groove 161 by a locking pin. When installing the actuator, the connection position of the connection part 14 can be adjusted according to the structure of the corresponding surgical robot arm.

[0053] Furthermore, an outer flange 211 is provided at the top of the installation sleeve 21 in this embodiment, and the outer flange 211 is placed on the top of the positioning sleeve 10, and the target mechanism 22 is connected to the outer flange 211 and extends to the outside of the positioning sleeve 10. The provision of the outer flange 211 in this embodiment can limit the relative position between the installation sleeve 21 and the positioning sleeve 10. At this time, the target mechanism 22 is connected to the outer flange 211, which can avoid the contact between the target mechanism 22 and the positioning sleeve 10 and cause wear or interference, and is more suitable for the target mechanism 22 to extend to the outside of the positioning sleeve 10 to achieve its corresponding surgical navigation function.

[0054] Recombination Figures 1 to 5 As shown, the target mechanism 22 in this embodiment includes a connecting frame 221 and a target frame 222 .

[0055] Among them, the connecting frame 221 includes a connecting section 2211 and a mounting section 2212, the connecting section 2211 is connected to the outer flange 211 and extends radially along the mounting sleeve 21, one end of the mounting section 2212 is connected to the connecting section 2211, and the other end of the mounting section 2212 extends along the length direction of the mounting sleeve 21, and along the direction from the top to the bottom of the mounting sleeve 21, the distance from the mounting section 2212 to the surface of the mounting sleeve 21 gradually increases; the target frame 222 is installed on the mounting section 2212.

[0056] According to the above structure, it can be known that in this embodiment, the distance from the mounting section 2212 to the surface of the mounting sleeve 21 is gradually increased, so that the mounting section 2212 can be inclined to the mounting sleeve 21, that is, the mounting section 2212 is inclined toward the top of the actuator. After the target frame 222 is installed on the mounting section 2212, the target frame 222 is inclined upward, which is more suitable for cooperating with the camera mechanism set above the actuator to shoot the actuator, and can improve the navigation accuracy of the actuator in this embodiment.

[0057] According to the above description, the actuator of the present application has at least the following technical effects:

[0058] (1) The target mechanism can be positioned in multiple directions, increasing the flexibility and freedom of surgical arrangement;

[0059] (2) During the operation, the puncture needle can be removed laterally without removing the positioning device, which improves the convenience of the operation and shortens the operation time;

[0060] (3) The tilt setting of the target frame can improve the accuracy of navigation positioning;

[0061] (4) The design of the sterile protective cover improves the surgical sterile protection function and increases the safety of the operation.

[0062] On the other hand, an embodiment of the present application also provides a surgical navigation system, which includes the actuator in the above-mentioned embodiment. Therefore, the surgical navigation system includes all the technical effects of the actuator in the above-mentioned embodiment. Since the technical effects of the actuator have been described in detail above, they will not be repeated here.

[0063] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0064] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0065] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An actuator, characterized in that: include: A positioning sleeve (10), wherein the positioning sleeve (10) is provided with a positioning hole (11) and a first notch (12), wherein the positioning hole (11) is located inside the positioning sleeve (10) and extends along the axial direction of the positioning sleeve (10), and the first notch (12) is provided through the positioning sleeve (10) along the length direction and communicates with the positioning hole (11); A mounting sleeve (21), wherein the mounting sleeve (21) is provided with a mounting hole (213) and a second notch (214); the mounting hole (213) is located inside the mounting sleeve (21) and extends along the axial direction of the mounting sleeve (21); the second notch (214) extends along the length direction of the mounting sleeve (21) and is connected to the mounting hole (213); the mounting sleeve (21) is mounted in the positioning hole (11) and can rotate along its own axis.

2. The actuator according to claim 1, characterized in that: The positioning sleeve (10) is provided with a plurality of positioning portions (13), and the plurality of positioning portions (13) are arranged at intervals along the circumferential direction of the positioning sleeve (10); The mounting sleeve (21) is provided with a positioning matching portion (212), and the mounting sleeve (21) rotates along its own axis so that the positioning matching portion (212) is matched and connected with one of the plurality of positioning portions (13).

3. The actuator according to claim 2, characterized in that: One of the positioning portion (13) and the positioning matching portion (212) is a positioning groove, and the other is a positioning protrusion matched with the positioning groove.

4. The actuator according to claim 2, characterized in that: The positioning portion (13) comprises a positioning groove, which is located at the top of the positioning sleeve (10) and is a groove along the length direction of the positioning sleeve (10); The positioning matching portion (212) comprises a positioning protrusion, and the positioning protrusion is arranged at the top end of the installation sleeve (21) and protrudes from the outer side wall of the installation sleeve (21).

5. The actuator according to claim 1, characterized in that: The positioning sleeve (10) is provided with a connecting portion (14), the connecting portion (14) is at least used to connect the positioning sleeve (10) to a predetermined structure, and the connecting portion (14) is provided with a sterile protective element (15).

6. The actuator according to claim 5, characterized in that: The connecting portion (14) comprises a plug-in rod, which is connected to the outside of the positioning sleeve (10) and extends in a direction away from the positioning sleeve (10), and the sterile protective element (15) is sleeved on the plug-in rod and is located at one end of the plug-in rod close to the positioning sleeve (10).

7. The actuator according to claim 5, characterized in that: The sterile protective component (15) comprises an integrally arranged sterile bag and a sterile protective cover, wherein the sterile bag is sleeved on the connecting portion (14) from one end of the connecting portion (14) away from the positioning sleeve (10), and the sterile protective cover is detachably mounted on the connecting portion (14).

8. The actuator according to claim 5, characterized in that: The connecting portion (14) is pivotally connected to the positioning sleeve (10); and / or, The connecting parts (14) include at least two, and at least one of the connecting parts (14) can move along the length direction of the positioning sleeve (10).

9. The actuator according to any one of claims 1 to 8, characterized in that: An outer flange (211) is arranged at the top end of the mounting sleeve (21), and the outer flange (211) is mounted on the top of the positioning sleeve (10). The actuator also includes a target mechanism (22), and the target mechanism (22) is connected to the outer flange (211) and extends to the outside of the positioning sleeve (10).

10. The actuator according to claim 9, characterized in that: The target mechanism (22) comprises: A connecting frame (221), the connecting frame (221) comprising a connecting section (2211) and a mounting section (2212), the connecting section (2211) being connected to the outer flange (211) and extending in the radial direction of the mounting sleeve (21), one end of the mounting section (2212) being connected to the connecting section (2211), the other end of the mounting section (2212) extending in the length direction of the mounting sleeve (21), and the distance from the mounting section (2212) to the surface of the mounting sleeve (21) gradually increasing in the direction from the top end to the bottom end of the mounting sleeve (21); A target frame (222), wherein the target frame (222) is mounted on the mounting section (2212).

11. A surgical navigation system, characterized in that: The surgical navigation system comprises the actuator according to any one of claims 1 to 10.

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