A non-corrected multimodal registration marker and a surgical navigation system

Abstract

The present invention provides a non-corrected multimodal registration mark, which includes: a base, the base is attached to the target surface during use, the base is provided with a first indication structure and at least two first development structures, the first indication structure indicates a first spatial point, and the at least two first development structures jointly indicate the first spatial point; a development positioning component, the development positioning component is provided with a second development structure, and the development positioning component is used to be detachably connected to the base. The non-corrected multimodal registration mark of the present invention allows 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 multiple types of medical images.

Description

Technical Field

[0001] The present invention relates to medical devices, in particular to a non-corrected multi-modal registration marker 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 non-modified multimodal 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 non-modified multimodal registration mark, comprising:

[0006] A base, wherein the base is attached to a target surface during use, and wherein a first indicating structure and at least one first developing structure are provided on the base, wherein the first indicating structure indicates a first spatial point, and the first developing structure can also indicate the first spatial point;

[0007] A developing positioning assembly is provided with a second developing structure, and the developing positioning assembly is used for being detachably connected to the base.

[0008] In some embodiments, the first developing structure and the first indicating structure are the same structure, such as a protrusion that can be developed in an image and can cooperate with a registration probe to obtain its position in the tracking system.

[0009] Optionally, two or more first developing structures are provided on the base and can indicate the first spatial point;

[0010] Optionally, the second development structure also indicates the first spatial point.

[0011] Optionally, a second indicating structure is provided on the base, and the second indicating structure and the second developing structure both indicate a second spatial point.

[0012] Optionally, a matching component is further included, which is detachably connected to the base, and a third indication structure is provided on the matching component, which indicates a third spatial point when installed on the base, and the second development structure also indicates the third spatial point when the development positioning component is installed on the base.

[0013] Furthermore, each indicating structure is set to a different color.

[0014] Optionally, each indicating structure is selected from any of the following:

[0015] A groove, wherein the groove can cooperate with the registration probe to collect the position of the space point indicated by the groove;

[0016] A protrusion, wherein the protrusion can cooperate with the registration probe to acquire the position of the space point indicated by the protrusion;

[0017] A tracking marker that can be tracked by a tracking system to the position of the indicated spatial point.

[0018] Optionally, more development positioning components are also included;

[0019] Each developing and positioning assembly can be installed to the base replaceably, or installed to the base at the same time.

[0020] Optionally, the development structure in each development positioning assembly can be developed in different medical images.

[0021] Optionally, each first developing structure is a sphere, the centers of each sphere are arranged in the same non-collinear plane, and the first spatial point can be uniquely determined by each center.

[0022] The present invention also provides a surgical navigation system, comprising any of the aforementioned non-modified multimodal registration markers.

[0023] The non-modified multimodal registration mark provided by the present invention includes at least the following innovative features:

[0024] 1. The registration mark is attached to the target surface through the base, avoiding additional trauma and reducing the pain of the patient. The first indication structure on the base and each first development structure indicate the same spatial point. When performing registration, there is no need to correct the deviation between the two, which reduces the amount of calculation and improves the registration efficiency and registration accuracy.

[0025] 2. The base is combined with a detachable imaging and positioning component to support navigation registration of multiple modalities. In some solutions, the first imaging structure and the second imaging structure both indicate the first spatial point, and the overall structure is simple; in some solutions, the first imaging structure and the second imaging structure indicate different spatial points, and additional indicating structures are provided by the base or matching components, so that the required supported medical imaging modality can be flexibly selected.

[0026] 3. Set each indicator structure to a different color to facilitate people to select and determine the correspondence between the indicator structure and the medical image to avoid mismatching.

[0027] 4. In some solutions, more development positioning components are included, and each group of development positioning components can be replaced and installed on the base. The registration mark has higher flexibility in use, supports registration of more modalities, and improves registration accuracy.

[0028] 5. The combination of registration markers, matching positioning probes and navigation systems can simplify the use process and improve registration accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] 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.

[0030] Figure 1 It is one of the structural schematic diagrams of the non-corrected multi-modal registration mark provided by the present invention;

[0031] Figure 2 yes Figure 1 Top view of the uncorrected multimodal registration mark;

[0032] Figure 3 This is the second structural schematic diagram of the non-corrected multi-modal registration mark provided by the present invention;

[0033] Figure 4 yes Figure 3 Top view of the uncorrected multimodal registration mark;

[0034] Figure 5This is the third structural schematic diagram of the non-corrected multi-modal registration mark provided by the present invention;

[0035] Figure 6 yes Figure 5 Top view of the uncorrected multimodal registration mark;

[0036] Figure 7 This is the fourth structural schematic diagram of the non-corrected multi-modal registration mark provided by the present invention;

[0037] Figure 8 This is the fifth structural schematic diagram of the non-corrected multimodal registration mark provided by the present invention.

[0038] Reference numerals:

[0039] 10 - base, 101 - first indication structure, 102 - second indication structure, 111 - first developing structure, 20 - developing positioning assembly, 201 - second developing structure, 30 - matching assembly, 301 - third indication structure. DETAILED DESCRIPTION

[0040] 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.

[0041] Embodiment 1:

[0042] Figure 1 , Figure 2 An embodiment of the non-correction multi-modality registration mark of the present invention is shown, and the non-correction multi-modality registration mark includes a base 10 and a development positioning assembly 20.

[0043] 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 is provided with a first indicating structure 101 indicating a first spatial point, and at least two first developing structures 111.

[0044] The first indication structure 111 is a structure whose position can be captured in the surgical space. For example, the first indication structure can be a groove, specifically a groove in a V-shape, a hemispherical shape, etc. The spatial position of the groove can be captured by a registration probe during the operation. The top of the registration probe can be V-shaped, spherical, etc., and it 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, the position of the center of the probe ball is the spatial position indicated by the groove, that is, the first spatial point. The first indication structure can also be a raised structure in the form of a boss, a convex ball, etc., which can cooperate with the groove of the corresponding shape at the end of the registration probe to capture the first spatial point indicated by the first indication structure. The first indication structure is also such as a tracking mark, such as an electromagnetic mark that can be directly tracked to a spatial position by an electromagnetic tracking system, and an optical mark that can be directly tracked to a spatial position by an optical tracking system. The position of the tracking mark is the first spatial point.

[0045] Each first developing structure on the base 10 can be developed under the first medical image, and the developing positions of each first developing structure 111 in the first medical image can collectively indicate a first spatial point. Figure 1 It shows a state in which two first developing structures 111 are provided on the base 10, and the midpoint of the line connecting the two first developing structures 111 coincides with the first indication structure 101, and both indicate the first spatial point. Of course, the design of the base 10 can also be adjusted so that other preset points on the line connecting the two first developing structures 111 (for example, preset points such as 1 / 3, 2 / 3, 1 / 4, 3 / 4, etc.) coincide with the first indication structure 101, and both indicate the first spatial point.

[0046] Since the position indicated by each first developing structure 111 based on the first medical image coincides with the position indicated by the first indicating structure (both are first spatial points), navigation registration can be achieved based on the first spatial points in the medical image and the first spatial points collected in the surgical space.

[0047] The non-corrected multimodal registration mark also includes a development positioning component 20, on which a second development structure 201 capable of development under a second medical image is provided. The development positioning component 20 is used to be detachably connected to the base 10 to support navigation registration based on the second medical image. Figure 1 , Figure 2 The state in which two second developing structures 201 are arranged on the developing positioning assembly 20 is shown, and the preset point on the line connecting the two second developing positioning assemblies 201 coincides with the first indicating structure 101, and both indicate the first spatial point. Of course, only one second developing structure 201 can also be arranged on the developing positioning assembly 20, and after the developing positioning assembly 20 is installed on the base 10, the second developing structure 201 is embedded in the first indicating structure 101 in the form of a groove, and the positions of the two coincide, and both indicate the first spatial point.

[0048] Furthermore, the first medical image and the second medical image belong to different medical image types, and are respectively selected from: CT, X-ray, ultrasound, magnetic resonance imaging, nuclear medicine examination, fluorescence imaging, etc.

[0049] The non-corrected multimodal registration marks provided in this embodiment enable 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.

[0050] Example 2

[0051] Reference Figure 3 , Figure 4 , described on the basis of Example 1, the non-corrected multimodal registration mark of this embodiment includes: a base 10 and a developing positioning component 20.

[0052] The base 10 is provided with a first indicating structure 101 indicating a first spatial point, a second indicating structure 102 indicating a second spatial point, and two first developing structures 111. Figure 4 , the preset point on the line connecting the two first developing structures 111 coincides with the first indicating structure, and both indicate the first spatial point.

[0053] The developing and positioning assembly 20 is provided with three second developing structures 201. The developing and positioning assembly 20 is used to be detachably connected to the base 10. In the connected state, the three second developing structures 201 jointly indicate the first spatial point. Specifically, refer to Figure 4 In the top view shown, the center of gravity of the triangle formed by the three second developing structures 201 coincides with the second indicating structure 102 on the base 10, and both indicate the second spatial point.

[0054] Of course, the design of the developing positioning assembly 20 or the base 10 can also be adjusted so that the preset positions such as the incenter, circumcenter, orthocenter or lateral center of the triangle formed by the three second developing structures 201 coincide with the second indicating structure 102, and both indicate the second spatial point. More second developing structures 201 can also be used to jointly indicate the second spatial point. Preferably, the positions of the respective second developing structures 201 on the developing positioning assembly 20 are distributed in the form of regular polygons, and the geometric center of the regular polygon is used as the position of the second spatial point indicated by it, so that the calculation process is faster. Similarly, more first developing structures 111 can also be used on the base 10 to indicate the position of the first spatial point.

[0055] 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.

[0056] Embodiment 3:

[0057] Reference Figure 5 , Figure 6 , shows another embodiment of the non-correction multimodal registration mark, which includes: a base 10, a development positioning component 20, and a matching component 30.

[0058] 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 is provided with a first indicating structure 101 indicating a first spatial point, and at least two first developing structures 111.

[0059] The first indicating structure 111 is a first spatial point that can be captured in the surgical space, and the two first developing structures 111 can be developed under the first medical image respectively. The preset points on the line connecting the two (such as 1 / 3, 2 / 3, 1 / 4, 3 / 4, etc.) coincide with the first spatial point, that is, the two first developing structures 111 also indicate the first spatial point. The above-mentioned first indicating structure 111 and the two first developing structures 111 can support navigation registration based on the first medical image.

[0060] The development positioning component 20 is provided with a second development structure 201 capable of developing under a second medical image. The development positioning component 20 is used to be detachably connected to the base 10. When connected to the base 10, the second development structure 201 indicates a third spatial point.

[0061] A third indication structure 301 is provided on the matching component 30, and its spatial position can be collected in the surgical space. For example, the third indication structure 301 can be a groove, specifically a groove in a V-shape, a hemispherical shape, etc., and the spatial position of the groove can be collected by a registration probe during the operation. The top of the registration probe can be V-shaped, spherical, etc., and it 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, the position of the center of the probe ball is the spatial position indicated by the groove. The third indication structure 301 can also be a convex structure in the form of 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 third spatial point indicated by the third indication structure 301. The third indication structure 301 is also such as a tracking mark, specifically such as an electromagnetic mark that can be tracked to a spatial position by an electronic tracking system, and also such as an optical mark that can be tracked to a spatial position by an optical tracking system.

[0062] The matching assembly 30 can also be detachably connected to the base 10, see Figure 6 When the matching component 30 is connected to the base 10, the position of the third indication structure 301 coincides with the position indicated by the second development structure 201 when the development positioning component 20 is installed on the base 10, and both indicate a third spatial point, thereby supporting navigation registration based on the second medical image.

[0063] When implementing navigation registration based on the second medical image, the following process can be referred to: 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 (of course, 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 a second medical image of the patient is acquired. The second development structure 201 in the development positioning component 20 can be developed under the medical image to indicate a third spatial point in the medical image; during the navigation registration process, the development positioning component 20 is removed from the base 10, the matching component 30 is installed on the base 10, and the spatial position of the third indicating structure is acquired to obtain the third spatial point in the surgical space; the third spatial point in the medical image is aligned with the third spatial point acquired based on the third indicating structure in the navigation registration to achieve registration.

[0064] Preferably, a universal mounting position is provided on the base 10, and the developing positioning assembly 20 and the matching assembly 30 can be replaced and installed on the base 10 through the mounting position, thereby simplifying the structure.

[0065] Example 4

[0066] This embodiment is described on the basis of the embodiment 3, in which one second developing structure 201 is provided on the developing positioning assembly 20, and one second developing structure 201 is used to indicate the third spatial point. In this embodiment, two or more second developing structures 201 are provided on the developing positioning assembly 20, and each second developing structure 201 indicates the third spatial point together.

[0067] When two second developing structures 201 are used to indicate the third spatial point, a preset point on the line connecting the two second developing structures 201 can be used as the third spatial point. Figure 7 When three second developing structures 201 are used to indicate a third spatial point, a preset point of a triangle formed by the three second developing structures 201 (such as a preset point such as the centroid, incenter, circumcenter, orthocenter or lateral center) can be used as the third spatial point, or more second developing structures 201 can be used to jointly indicate the third spatial point. Preferably, the positions of each second developing structure 201 on the developing positioning assembly 20 are distributed in the form of a regular polygon, and the geometric center of the regular polygon is used as the position of the third spatial point indicated by it, so that the calculation process is faster.

[0068] Embodiment 5:

[0069] On the basis of any embodiment, each indicating structure can be a groove, specifically a groove in a V-shape, a hemispherical shape, etc. During the operation, the spatial position of the groove can be collected by a registration probe, and the top of the registration probe can be V-shaped, spherical, etc., as long as it matches 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, the position of the center of the probe ball is the spatial position indicated by the groove. Each indicating structure can also be a raised structure in the form of 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 spatial point it indicates. Each indicating structure can also be a tracking mark, such as an electromagnetic mark, which can be tracked by an electronic tracking system to the spatial point it indicates, or an optical mark, which can be tracked by an optical tracking system to the spatial point it indicates.

[0070] Optionally, each indicator structure uses a different color. After the medical image is collected, the doctor can determine the indicator structure corresponding to the medical image based on the color of the indicator structure, and then collect its spatial position to avoid collecting the wrong registration mark point.

[0071] Each developing structure 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 each developing structure 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.

[0072] Embodiment 6:

[0073] Reference Figure 8 , shows another embodiment of the non-correction multimodal registration mark of the present invention, which includes a base 10, a development positioning component 20, and a matching component 30.

[0074] 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 two first development structures 101 are also provided. The two first development structures 101 can jointly indicate the first spatial point, thereby supporting navigation registration based on the first medical image.

[0075] The developing positioning assembly 20 and the matching assembly 30 can be detachably mounted on the base 10. In the third embodiment, the developing positioning assembly 20 and the matching assembly 30 can be replaced and mounted on the base 10. Figure 8 In this embodiment, the developing and positioning component 20 and the matching component 30 can be installed on the base at the same time. For example, the matching component 30 is installed on the base 10 through a "small diameter" thread, and the developing and positioning component 20 is installed on the base 10 through a "large diameter" thread, forming a "concentric circle" installation. In the installed state, the midpoint of the line connecting the two second developing structures 201 on the developing and positioning component 20 coincides with the third indicating structure 301 on the matching component 30, and both indicate the third spatial point, which can support navigation registration based on the second medical image. For another example, the developing and positioning component 20 is installed on one side of the base 10, and the matching component 30 is installed on the other side of one side of the base 10, forming a "parallel" installation. The lateral center of the triangle formed by the three second developing structures 201 on the developing and positioning component 20 coincides with the third indicating structure 301 on the matching component 30, and both indicate the third spatial point.

[0076] Optionally, the developing positioning assembly 20 and the matching assembly 30 can be independently installed on the base 10, that is, the installation states of the two do not interfere with each other. Optionally, the developing positioning assembly 20 and the matching assembly 30 can also be structurally designed so that the two can be assembled and installed on the base 10 together in the assembled state.

[0077] Embodiment 7:

[0078] The description is based on the above, and the difference is that the non-corrected multi-modal 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 non-corrected multi-modal 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.

[0079] Embodiment 8:

[0080] A surgical navigation system of the present invention is shown, which includes the non-modified multimodal registration marker described in any of the aforementioned embodiments of the present invention.

[0081] 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, and the groove 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 in various postures and transmit them to the workstation. The workstation processes the medical image and the position indicated by the groove to obtain the registration relationship.

[0082] 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 registration probe can collect the spatial point indicated by it. The registration probe includes a needle body and a bracket, and a tracking mark is provided on the bracket. The registration probe is used in conjunction with the 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 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 recessed structure to obtain the registration relationship.

[0083] In another type of surgical navigation system product, the system also includes a tracking system. The indicating structure in the uncorrected multimodal 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 indicated by it. The workstation processes the medical image and the position of the first indicating structure to obtain a registration relationship.

[0084] 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.

[0085] 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 non-modified multimodal registration mark, characterized in that: include: A base, wherein the base is attached to a target surface during use, and wherein a first indicating structure and at least one first developing structure are provided on the base, wherein the first indicating structure indicates a first spatial point, and the first developing structure can also indicate the first spatial point; A developing positioning assembly is provided with a second developing structure, and the developing positioning assembly is used for being detachably connected to the base.

2. The non-modified multimodal registration mark according to claim 1, characterized in that: The second development structure also indicates the first spatial point.

3. The non-modified multimodal registration mark according to claim 1, characterized in that: A second indicating structure is disposed on the base, and the second indicating structure and the second developing structure both indicate a second spatial point.

4. The non-modified multimodal registration mark according to claim 1, characterized in that: It also includes a matching component, which is detachably connected to the base. The matching component is provided with a third indicating structure, which indicates a third spatial point when installed to the base. When the developing positioning component is installed to the base, the second developing structure also indicates the third spatial point.

5. The non-modified multimodal registration mark according to claim 3 or 4, characterized in that: Each indicator structure is set to a different color.

6. The non-modified multimodal registration mark according to any one of claims 1 to 4, characterized in that: Each indicating structure is 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.

7. The non-modified multimodal registration mark according to claim 1, characterized in that: Also includes more development positioning components; Each developing and positioning assembly can be installed to the base replaceably, or installed to the base at the same time.

8. The non-modified multimodal registration mark according to claim 7, characterized in that: The developing structure in each developing positioning assembly can be developed in different medical images.

9. The non-modified multimodal registration mark according to claim 1, characterized in that: Each first developing structure is a sphere, the center of each sphere is arranged in the same non-collinear plane, and the first spatial point can be uniquely determined by each center.

10. A surgical navigation system, characterized in that: An unmodified multimodal registration mark comprising any one of claims 1-9.

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