Navigation registration mark and surgical navigation system

Abstract

The utility model provides a navigation registration mark and a surgical navigation system, the navigation registration mark comprises a base, the base is attached to a target surface in a use process, and the base comprises a first indication structure for indicating a first spatial point and a second indication structure for indicating a second spatial point; the developing positioning assembly comprises a first developing structure capable of developing in a first medical image and a second developing structure capable of developing in a second medical image, the developing positioning assembly is used for being detachably connected to the base, and in the connection state, the first developing structure indicates a first spatial point, and the second developing structure indicates a second spatial point; the second developing structure indicates a second spatial point. According to the navigation registration mark, the registration mark point obtained based on the medical image and the registration mark point collected in the operation space completely coincide, deviation does not need to be corrected, the registration efficiency and the registration precision are improved, the registration mark point supports multi-mode registration, and various types of navigation registration requirements can be met at the same time.

Description

Technical Field

[0001] The present invention relates to medical devices, in particular to a navigation registration mark and a surgical navigation system. Background Art

[0002] Positioning navigation is of great help to surgical operations. Preoperative registration (establishing a mapping relationship between medical images and patient space) is the technical basis of positioning navigation. How to obtain a high-precision registration relationship more conveniently and simply, and how to register non-invasively are the current development directions.

[0003] At present, the commonly used markers for assisting positioning and navigation to achieve registration are in vitro registration markers. Since the registration markers occupy a certain space, when the spatial position is collected by contacting the surface of the marker through the front end of the probe (usually spherical), the center of the probe tip cannot coincide with the center of the marker, so there is a certain collection deviation. CN205514897U discloses an imaging marker, which is provided with a groove above the developing body, the developing body can be developed in the medical image, the probe can collect the spatial position of the groove, and the registration is performed according to the developing mark under the medical image and the groove position collected by the probe. The defect of this scheme is that the developing body and the groove position are different, and the deviation between the developing mark and the groove in the imaging marker and the orientation information in the medical image need to be combined to correct the deviation before the registration can be performed. Although this scheme improves the accuracy, it needs to collect more data to calculate the orientation and correct the deviation, and its registration efficiency needs to be improved. On the other hand, the current registration marker only supports one form of medical imaging, and cannot support multimodal image registration, which limits the registration accuracy and the scope of application of surgical navigation.

[0004] In order to solve or partially solve the above technical problems, the present invention provides a navigation registration mark. Summary of the invention

[0005] In order to solve or at least partially solve the above technical problems, the present invention provides a navigation registration mark, including:

[0006] A base, wherein the base is attached to a target surface during use, and the base includes a first indication structure indicating a first spatial point and a second indication structure indicating a second spatial point;

[0007] A development positioning component, comprising a first development structure capable of being developed in a first medical image, and a second development structure capable of being developed in a second medical image, wherein the development positioning component is used to be detachably connected to the base, and in a connected state, the first development structure indicates the first spatial point, and the second development structure indicates the second spatial point.

[0008] Optionally, the first indication structure includes at least two, and each first indication structure jointly indicates the first spatial point;

[0009] Optionally, the second indication structure includes at least two, and each second indication structure jointly indicates the second spatial point.

[0010] Optionally, each developing structure is a sphere, and the centers of each sphere are arranged in the same plane, and the first / second spatial point can be uniquely determined by the position of each center.

[0011] Optionally, the first indicator structure and the second indicator structure are respectively selected from any one of the following:

[0012] A groove, wherein the groove can cooperate with the registration probe to collect the position of the space point indicated by the groove;

[0013] A protrusion, wherein the protrusion can cooperate with the registration probe to acquire the position of the space point indicated by the protrusion;

[0014] A tracking marker that can be tracked by a tracking system to the position of the indicated spatial point.

[0015] Optionally, the first indication structure and the second indication structure are set to different colors.

[0016] Optionally, the development positioning assembly includes: a first development unit including the first development structure, and a second development unit including the second development structure;

[0017] The first developing unit and the second developing unit may be independently mounted to the base, respectively, or the first developing unit and the second developing unit may be assembled and mounted together to the base.

[0018] Optionally, the development positioning assembly includes more components.

[0019] Optionally, the development structure of each development positioning assembly can be developed in different medical images.

[0020] Optionally, each developing structure uses a multimodal developing material and can be developed in at least two medical images simultaneously.

[0021] Optionally, the developing structure is a double-layer spherical structure, the inner layer of which can be developed in the first medical image, and the outer layer of which can be developed in the second medical image.

[0022] On the other hand, the present invention also provides another navigation registration marker, including: the base can be attached to the target surface during use, the base is provided with a developing positioning structure, the developing positioning structure can be developed in the medical image, and its spatial position can be collected. Further, the spatial position of the developing positioning structure under the tracking system can be obtained through the corresponding registration probe.

[0023] In some embodiments, a first development positioning structure and a second development positioning structure are provided on the base, the first development positioning structure is a spherical structure that can be developed in CT, and the second development positioning structure is a spherical structure that can be developed in MR.

[0024] Optionally, the first visualization positioning structure and the second visualization positioning structure have significantly different sizes, ie, the matching registration probe ends are provided with recesses of different sizes matching their diameters.

[0025] Optionally, the first developing positioning structure is arranged on a first part of the base, and the second developing positioning structure is arranged on a second part of the base, and the first part and the second part have significantly different colors and / or text logos, respectively.

[0026] On the other hand, the present invention also provides a surgical navigation system, comprising any of the aforementioned navigation registration markers.

[0027] The navigation registration mark provided by the present invention includes at least the following innovative features:

[0028] 1. The registration mark is attached to the target surface through the base, avoiding additional trauma and reducing patient pain.

[0029] 2. When installed on the base, the developing structure of the developing positioning assembly and the indicating structure on the base indicate the same spatial point. When performing registration, there is no need to correct the deviation, which reduces the amount of calculation and improves the registration efficiency and accuracy.

[0030] 3. Each imaging and positioning component can be developed under different medical images, and supports navigation registration of multiple medical images with a simple structure.

[0031] 4. In some schemes, the developing and positioning assembly includes multiple developing units, each developing unit includes a developing structure, and each developing unit can be installed independently or in combination on the base; in some schemes, more developing and positioning assemblies are included, and each group of developing and positioning assemblies can be replaceably installed on the base, so that the registration mark has higher flexibility in use, supports registration of more modes, and improves registration accuracy.

[0032] 5. The combination of registration markers, matching positioning probes and navigation systems can simplify the use process and improve registration accuracy.

[0033] 6. In some schemes, the imaging positioning structure on the registration mark can be developed under medical imaging, and its spatial position can also be directly collected. Its structure is simpler, and the overlap between the developed position and the collected spatial position is higher, which improves the registration accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative work.

[0035] Figure 1 It is one of the structural schematic diagrams of the navigation registration mark provided by the present invention;

[0036] Figure 2 yes Figure 1 A top view of the navigation registration mark;

[0037] Figure 3 This is the second structural diagram of the navigation registration mark provided by the present invention;

[0038] Figure 4 This is the third structural diagram of the navigation registration mark provided by the present invention;

[0039] Figure 5 yes Figure 4 A top view of the navigation registration mark;

[0040] Figure 6 This is the fourth structural diagram of the navigation registration mark provided by the present invention.

[0041] Figure 7 This is one of the structural schematic diagrams of another navigation registration mark provided by the present invention.

[0042] Figure 8 This is the second structural schematic diagram of another navigation registration mark provided by the present invention.

[0043] Reference numerals:

[0044] 10-base, 101-first indication structure, 20-development positioning assembly, 201-first development structure, 202-second development structure, 205-fifth development structure, 206-sixth development structure, 30-development positioning assembly, 301-third development structure, 302-fourth development structure, 40-matching assembly, 401-first development structure, 50 base, 501-development positioning structure. DETAILED DESCRIPTION

[0045] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] Embodiment 1:

[0047] Figure 1 An embodiment of the navigation registration mark of the present invention is shown. As shown in the figure, the navigation registration mark includes a base 10 and a development positioning assembly 20.

[0048] The base 10 is used to be attached to the target surface (i.e., the patient surface) during use, for example, by means of adhesive, release paper, etc., and the side attached to the target surface can be any suitable shape, such as circular, elliptical, rectangular, irregular, etc. The base 10 includes a first indication structure 101 indicating a first spatial point, and a second indication structure 102 indicating a second spatial point.

[0049] The development positioning component 20 includes a first development structure 201 capable of being developed in a first medical image, and a second development structure 202 capable of being developed in a second medical image. The development positioning component 20 is used to be detachably connected to the base 10. In the connected state, the first development structure 201 indicates a first spatial point, and the second development structure 202 indicates a second spatial point.

[0050] The first medical image is a medical image different from the second medical image, and the two medical images can be respectively selected from: CT, X-ray, ultrasound, magnetic resonance imaging, nuclear medicine examination, fluorescence imaging, etc.

[0051] The navigation registration mark of this embodiment can be used according to the following process: during the preoperative medical image acquisition process, the base 10 is adhered to the patient's surface and fixed, and the development positioning component 20 is installed on the base 10 (similarly, the development positioning component 20 can also be installed on the base 10 first, and then adhered and fixed to the patient's surface together), and the first and second medical images of the patient are acquired. The above-mentioned first indication structure 201 can be developed in the first medical image and can indicate the first spatial point, and the second indication structure 202 can be developed in the second medical image and can indicate the second spatial point. During the navigation registration process, the development positioning assembly 20 is removed from the base 10, and the position of the first indication structure is directly collected to obtain the first spatial point, and the position of the second indication structure is collected to obtain the second spatial point; the first spatial point in the first medical image is aligned with the first spatial point collected during the operation, so as to realize the navigation registration based on the first medical image, and the second spatial point in the second medical image is aligned with the second spatial point collected during the operation, so as to realize the navigation registration based on the second medical image. Alternatively, the first / second medical images can be fused (aligned) first, and then the navigation registration can be realized based on the first / second spatial points in the fused image and the first / second spatial points collected during the operation.

[0052] The navigation registration mark provided in this embodiment enables the registration mark points obtained based on medical images to completely overlap with the registration mark points collected in the surgical space, without the need to correct deviations, thereby improving registration efficiency and registration accuracy. In addition, the registration mark points provided in this embodiment also support navigation registration requirements based on various medical image types.

[0053] Example 2

[0054] Reference Figure 2 , Figure 3 , described on the basis of Example 1, the navigation registration mark of this embodiment includes: a base 10 and a developer positioning component 20.

[0055] The base 10 is used to be attached to the target surface (i.e., the patient surface) during use, for example, by means of adhesive, release paper, etc., and the side attached to the target surface can be any suitable shape, such as circular, elliptical, rectangular, irregular, etc. The base 10 includes a first indication structure 101 indicating a first spatial point, and a second indication structure 102 indicating a second spatial point.

[0056] The developing and positioning assembly 20 includes two first developing structures 201 and two second developing structures 202. The developing and positioning assembly 20 is used to be detachably connected to the base 10. In the connected state, the two first developing structures 201 jointly indicate the first spatial point. Specifically, refer to Figure 3In the top view shown, the midpoint of the line connecting the two first developing structures 201 coincides with the first indicating structure 101, both of which indicate the first spatial point, and the midpoint of the line connecting the two second developing structures 202 coincides with the second indicating structure 102, both of which indicate the second spatial point.

[0057] Of course, the design of the developing positioning assembly 20 or the base 10 can also be adjusted so that other preset points (such as 1 / 3, 2 / 3, 1 / 4, 3 / 4, etc.) on the line connecting the two first / second developing structures 201 coincide with the first indication structure 101 / second indication structure 102.

[0058] More first / second developing structures can be provided on the developing positioning assembly 20. For example, three first developing structures 201 are provided on the developing positioning assembly 20, so that the preset positions such as the centroid, incenter, circumcenter, orthocenter or lateral center of the triangle formed by the three first developing structures 201 coincide with the first indicating structure 101, and both indicate the first spatial point. Of course, more first (or second) developing structures can be used to jointly indicate the first spatial point. Preferably, the positions of the various first / second developing structures on the base 10 are distributed in the form of regular polygons, and the geometric center of the regular polygon is used as the position of the first / second spatial point indicated by it, so that the calculation process is faster.

[0059] Furthermore, each first / second developing structure is a spherical structure, and the center of each sphere is arranged in the same plane. The first / second spatial point can be uniquely determined by the position of the center of each sphere. Preferably, the diameters of each sphere are the same. When the number of the first / second developing structures is 3 or more, the first / second developing structures are not collinear.

[0060] Embodiment 3:

[0061] On the basis of any embodiment, the above-mentioned first / second indication structure can be a groove, specifically a groove in a V-shaped, hemispherical or other shape. During the operation, the spatial position of the groove (i.e., the first / second spatial point) can be collected by the registration probe, and the top of the registration probe can be V-shaped, spherical, etc., which can match the shape of the groove. Taking the hemispherical groove and the top of the spherical probe as an example, when the top of the registration probe is placed in the groove 101, the position of the probe ball center is the spatial position indicated by the groove 101, and the spatial position also corresponds to the position of the development indication of each development structure in the medical image. The first / second indication structure can also be a convex structure such as a boss, a convex ball, etc., which can cooperate with the groove of the corresponding shape at the end of the registration probe to collect the first / second spatial point of the indication structure. The first / second indication structure can also be a tracking mark, such as an electromagnetic mark, which can be directly tracked by the electromagnetic tracking system to the first / second spatial point indicated by it, and another example is an optical mark, which can be directly tracked by the optical tracking system to the first / second spatial point indicated by it.

[0062] Optionally, the first indication structure and the second indication structure use different colors. After the medical image is acquired, the doctor can determine the indication structure corresponding to the medical image based on the color of the indication structure, and then acquire its spatial position to avoid acquiring the wrong registration mark point.

[0063] The developing structure (such as the first developing structure 201 and the second developing structure 202) can be in a regular shape, such as a triangular pyramid, a cube, a sphere, etc., preferably a sphere, and the diameters of the spheres of the developing structures can be the same or different. The developing structure includes a material that is easy to develop under medical imaging, for example, stainless steel and titanium alloy materials that can be developed under X-ray, CT, and ultrasound imaging, and for example, superparamagnetic iron oxide (SPIO), iron oxide, gadolinium ions, manganese ions, water, cod liver oil, etc. that can be developed under magnetic resonance imaging.

[0064] Embodiment 4:

[0065] See also Figure 4 , Figure 5 , shows another embodiment of the navigation registration mark of the present invention, the navigation registration mark includes a base 10 and a development positioning component 20.

[0066] The base 10 is used to adhere to the target surface (i.e., the patient surface) during use, for example, it can be adhered to the target surface by means of adhesives, release paper, etc., and the side that adheres to the target surface can be any suitable shape, such as a circle, an ellipse, a rectangle, an irregular shape, etc. A first indication structure 101 is provided on the base 10, which can indicate a first spatial point, and a second indication structure 102 is also provided, which can indicate a second spatial point.

[0067] Reference Figure 4 The developer positioning assembly 20 includes a first developer unit 210 and a second developer unit 220. The first developer unit 210 and the second developer unit 220 can be installed on the base at the same time. For example, the first developer unit 210 is installed on the base 10 through a "small diameter" thread, and the second developer unit 220 is installed on the base 10 through a "large diameter" thread, forming a "concentric circle" installation. Figure 5 In the installed state, the midpoint of the line connecting the two first developing structures 201 on the first developing unit 210 coincides with the first indicating structure 101, and both indicate the first spatial point; a 1 / 3 point on the line connecting the two second developing structures 202 on the second developing unit 220 coincides with the second indicating structure 102, and both indicate the second spatial point.

[0068] Optionally, the first developing unit 210 and the second developing unit 220 can be independently installed on the base 10, that is, the installation states of the two do not interfere with each other. Optionally, the first developing unit 210 and the second developing unit 220 can also be structurally designed so that the two can be assembled and installed together on the base 10 in the assembled state, and the first spatial point can be independently determined based on the developing structure in the first developing unit 210, and the first spatial point can also be independently determined based on the developing structure in the second developing unit 220.

[0069] Furthermore, the developing positioning assembly 20 includes more developing units, and the developing structures in different developing units can be developed in different medical images. Furthermore, some developing units can also be designed to be replaceably installed on the base 10. Specifically, a universal mounting position is provided on the base 10, and these developing units are all adapted to this mounting position. When navigation registration is required based on a certain type of medical image, the corresponding developing unit can be selected and installed on the base 10 to perform medical image acquisition of this type. Of course, multiple developing units can also be used in a single registration process to achieve multi-modal registration.

[0070] Embodiment 5:

[0071] Reference Figure 6 , shows another embodiment of the navigation registration mark of the present invention, the navigation registration mark includes a base 10 and a development positioning component 20.

[0072] Reference Figure 6 The top view shows that the developing positioning assembly 20 includes a first developing unit 210 and a second developing unit 202. The first developing unit 210 can be installed on one side of the base 10, and the second developing unit 220 can be installed on the other side of the base 10, forming a "parallel" installation. The midpoint of the line connecting the two first developing structures 201 on the first developing unit 210 coincides with the first indicating structure 101, that is, both indicate the first spatial point; the center of gravity of the triangle formed by the three second developing structures on the second developing unit 220 coincides with the second indicating structure 102, that is, both indicate the second spatial point.

[0073] Optionally, the first developing unit 210 and the second developing unit 220 can be independently installed on the base 10, that is, the installation states of the two do not interfere with each other. Optionally, the first developing unit 210 and the second developing unit 220 can also be structurally designed so that the two can be assembled and installed together on the base 10 in the assembled state, and the first spatial point can be independently determined based on the developing structure in the first developing unit 210, and the first spatial point can also be independently determined based on the developing structure in the second developing unit 220.

[0074] Furthermore, the developing positioning assembly 20 includes more developing units, and the developing structures in different developing units can be developed in different medical images. Furthermore, some developing units can also be designed to be replaceably installed on the base 10. Specifically, a universal mounting position is provided on the base 10, and these developing units are all adapted to this mounting position. When navigation registration is required based on a certain type of medical image, the corresponding developing unit can be selected and installed on the base 10 to perform medical image acquisition of this type. Of course, multiple developing units can also be used in a single registration process to achieve multi-modal registration.

[0075] Embodiment 6:

[0076] The description is based on Example 1, except that the navigation registration mark of this embodiment includes more development positioning components 20, each development positioning component 20 can be replaceably installed on the base 10, and different development positioning components can be developed under different types of medical images, that is, the navigation registration mark of this embodiment can support navigation registration of more modality combinations. After selecting the development positioning component according to the needs, there is no need to replace the development positioning component after collecting a type of medical image, which is conducive to improving the navigation registration accuracy.

[0077] Embodiment 7:

[0078] Still refer to Figure 1 , described on the basis of Example 1, each developing structure adopts a multimodal developing material, which can be developed in at least two medical images at the same time, such as stainless steel and titanium alloy materials that can be developed in ultrasound and CT at the same time, and gold nanoparticles and ferrosoferric oxide nanoparticles that can be developed in CT and magnetic resonance at the same time.

[0079] Alternatively, the imaging structure may be a double-layer spherical structure, the inner layer of which can be developed in the first medical image, and the outer layer of which can be developed in the second medical image. It is understandable that the first medical image is a medical image different from the second medical image, and the two can be selected from: CT, X-ray, ultrasound, magnetic resonance, nuclear medicine examination, fluorescence imaging, etc. For example, the inner layer of the imaging structure is a sphere that is not transparent to X-rays, and the outer layer is a shell made of a material that can be imaged in magnetic resonance. The core and the shell overlap as the spherical center of the imaging structure, and the diameters of the spheres of each imaging structure can be the same or different.

[0080] Embodiment 8:

[0081] Reference Figure 7, shows another navigation registration mark of the present invention. As shown in the figure, the navigation registration mark includes a base 50. The base 50 is attached to the target surface (i.e., the patient surface) during use. For example, it can be attached to the target surface by adhesive, release paper, etc. The side attached to the target surface can be any suitable shape, such as circular, elliptical, rectangular, irregular, etc. The base 50 includes a development positioning structure 5301. The development positioning structure 501 can be developed in medical images, and its spatial position can also be collected.

[0082] Furthermore, in an optional solution, the imaging positioning structure 501 is a sphere formed by the imaging material, and at least part of the sphere can cooperate with the alignment probe to collect the position of the spatial point indicated by it. When in use, the cap-shaped front end of the alignment probe fits with a part of the sphere, and the tracking system can track the spatial position of the alignment probe, and then determine the position of its cap-shaped front end, and thus obtain the position of the imaging positioning structure 501.

[0083] The material of the imaging positioning structure can be selected as needed, for example, stainless steel and titanium alloy materials that can be developed under X-ray, CT, and ultrasound imaging. For example, it contains superparamagnetic iron oxide (SPIO), iron oxide, gadolinium ions, manganese ions, water, cod liver oil, etc. that can be developed under magnetic resonance imaging.

[0084] Embodiment 9:

[0085] Reference Figure 8 On the basis of Example 8, the base of the navigation registration mark provided in this embodiment is provided with at least two imaging positioning structures, a CT positioning ball (capable of being imaged in CT) and an MRI positioning ball (capable of being imaged in MRI).

[0086] The MRI positioning ball is arranged on the first part of the base, and the CT positioning ball is arranged on the second part of the base. The first part and the second part have significantly different colors and / or text logos, for example, still referring to Figure 8 , the first part of the base is red and / or marked with the word MRI, and the second part of the base is green and / or marked with the word CT.

[0087] Embodiment 10:

[0088] This embodiment provides a surgical navigation system, which includes the navigation registration mark described in any one of the aforementioned embodiments of the present invention.

[0089] In one type of surgical navigation system product, the system also includes a robotic arm and a registration probe. The indicating structure is a groove or a protrusion, and the groove or protrusion can be used by the registration probe to collect the spatial point indicated by it. The registration probe is used in conjunction with the robotic arm. The registration probe is installed on the robotic arm. The robotic arm and the registration probe collect the positions indicated by multiple grooves or protrusions in various postures and transmit them to the workstation. The workstation processes the medical image and the position indicated by the groove or protrusion to obtain the registration relationship.

[0090] In another type of surgical navigation system product, the system also includes a tracking system and a registration probe. The indicating structure is a groove or a protrusion, and the groove or protrusion can be collected by the registration probe to indicate the spatial point. The registration probe includes a needle body and a bracket, and the bracket is provided with a tracking mark. The registration probe is used in conjunction with a tracking system, such as an electromagnetic marker in conjunction with an electromagnetic tracking system, and an optical marker in conjunction with an optical tracking system. The doctor holds the registration probe to collect the positions indicated by multiple grooves or protrusions. The tracking system tracks the spatial position of the registration probe through the tracking mark, determines the spatial position indicated by the groove or protrusion corresponding to the top of the registration probe, and transmits it to the workstation. The workstation processes the medical image and the position of the collected groove or protrusion to obtain the registration relationship.

[0091] In another type of surgical navigation system product, the system also includes a tracking system. The indicating structure in the navigation registration mark is a tracking mark, and the tracking mark can be directly tracked by the tracking system to the position of the space point it indicates. The workstation processes the medical image and the position of the first indicating structure to obtain a registration relationship.

[0092] It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present invention and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A navigation registration mark, characterized in that: include: A base, wherein the base is attached to a target surface during use, and the base includes a first indication structure indicating a first spatial point and a second indication structure indicating a second spatial point; A development positioning component, comprising a first development structure capable of being developed in a first medical image, and a second development structure capable of being developed in a second medical image, wherein the development positioning component is used to be detachably connected to the base, and in a connected state, the first development structure indicates the first spatial point, and the second development structure indicates the second spatial point.

2. The navigation registration mark according to claim 1, characterized in that: The first indication structure includes at least two, and each first indication structure jointly indicates the first spatial point; And / or, the second indication structure includes at least two, and each second indication structure jointly indicates the second spatial point.

3. The navigation registration mark according to claim 1, characterized in that: Each developing structure is a sphere, and the centers of each sphere are arranged in the same plane. The first / second spatial point can be uniquely determined by the position of each center.

4. The navigation registration mark according to claim 1, characterized in that: The first indicator structure and the second indicator structure are selected from any of the following: A groove, wherein the groove can cooperate with the registration probe to collect the position of the space point indicated by the groove; A protrusion, wherein the protrusion can cooperate with the registration probe to acquire the position of the space point indicated by the protrusion; A tracking marker that can be tracked by a tracking system to the position of the indicated spatial point.

5. The navigation registration mark according to claim 1, characterized in that: The first indication structure and the second indication structure are set to different colors.

6. The navigation registration mark according to claim 1, characterized in that: The developing and positioning assembly comprises: a first developing unit including the first developing structure, and a second developing unit including the second developing structure; The first developing unit and the second developing unit may be independently mounted to the base, respectively, or the first developing unit and the second developing unit may be assembled and mounted together to the base.

7. The navigation registration mark according to claim 1, characterized in that: The developing positioning assembly includes more.

8. The navigation registration mark according to claim 7, characterized in that: The developing structure of each developing positioning component can be developed in different medical images.

9. The navigation registration mark according to claim 1, characterized in that: Each developing structure adopts a multimodal developing material and can develop in at least two medical images at the same time.

10. The navigation registration mark according to claim 1, characterized in that: The developing structure is a double-layer spherical structure, the inner layer of which can be developed in the first medical image, and the outer layer of which can be developed in the second medical image.

11. A navigation registration mark, characterized in that: include: A base, wherein the base can be attached to a target surface during use, and a developing positioning structure is arranged on the base, wherein the developing positioning structure can be developed in a medical image and its spatial position can be acquired.

12. The navigation registration mark according to claim 11, characterized in that: The spatial position of the imaging positioning structure under the tracking system can be obtained through the corresponding registration probe.

13. The navigation registration mark according to claim 11, characterized in that: The base is provided with a first developing positioning structure and a second developing positioning structure, wherein the first developing positioning structure is a spherical structure capable of being developed in CT, and the second developing positioning structure is a spherical structure capable of being developed in MR.

14. The navigation registration mark according to claim 13, characterized in that: The first development positioning structure and the second development positioning structure have significantly different sizes.

15. The navigation registration mark according to claim 13, characterized in that: The first developing positioning structure is arranged on the first part of the base, and the second developing positioning structure is arranged on the second part of the base. The first part and the second part have significantly different colors and / or text logos, respectively.

16. A surgical navigation system, characterized in that: A navigation registration mark comprising any one of claims 1-15.

Images