A device for positioning and navigation and a positioning and navigation system

Abstract

The present invention provides a device for positioning navigation and a positioning navigation system, which includes a base for being attached to a target surface during use; a developing positioning component for being detachably connected to the base, a developing structure being provided on the developing positioning component, and in a connected state, the developing positioning component can be developed in a medical image and indicate a first spatial point; a matching component for being detachably connected to the base, and in a connected state, the matching component also indicates the first spatial point and can be collected by a registration probe or tracked by a tracking system to the position of the first spatial point. The present invention uses a developing positioning component and a matching component detachably connected to the base, so that the position of a marking point collected based on a medical image completely coincides with the position of a marking point collected in an operating space, thereby improving registration accuracy, and during the registration process, there is no need to collect more orientation information, and there is no need to correct deviations in combination with a stored "marker model", thereby improving navigation registration efficiency.

Description

Technical Field

[0001] The present invention relates to medical equipment, and in particular to a device for positioning and navigation and a positioning and 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 external registration mark is commonly used in the device for assisting positioning navigation to realize registration. Since the registration mark occupies a certain space, when the spatial position is collected by contacting the surface of the mark with the front end of the probe (usually spherical), the center of the probe tip cannot coincide with the center of the mark, 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 corrected 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 in combination with the stored "marker model", and its registration efficiency needs to be improved. On the other hand, the current registration mark 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 device. 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 device, comprising:

[0006] a base for attaching to a target surface during use;

[0007] A developing positioning component, used for being detachably connected to the base, the developing positioning component is provided with a developing structure, and in a connected state, the developing positioning component can be developed in a medical image and indicate a first spatial point;

[0008] A matching component is used for being detachably connected to the base. In the connected state, the matching component also indicates the first spatial point and can be collected by a registration probe or tracked by a tracking system to the position of the first spatial point.

[0009] Optionally, the matching component is provided with a groove, and in a use state, the shape of the groove also indicates the first spatial point, and the shape of the groove is adapted to the shape of the registration probe tip, so that the first spatial point can be acquired;

[0010] Optionally, the matching component is provided with a protrusion, and in a state of use, the shape of the protrusion also indicates the first spatial point, and the shape of the protrusion is adapted to the shape of the registration probe tip, so that the first spatial point can be collected.

[0011] Optionally, the matching component is provided with a tracking marker which can be tracked by a tracking system to determine the position of the first spatial point.

[0012] Optionally, the developer positioning assembly and the matching assembly are replaceably mounted to the mounting structure.

[0013] Optionally, the developing positioning assembly and the matching assembly are respectively mounted to the base via a mounting structure.

[0014] Optionally, the visualization positioning component is capable of being visualized in at least two medical images.

[0015] Optionally, the developing structure includes two or more.

[0016] Optionally, the imaging positioning component is provided with a first type of imaging structure that can be imaged and positioned in a first medical image, and a second type of imaging structure that can be imaged in a second medical image.

[0017] Further, the first spatial point can be obtained according to the first type of developing structure, and the first spatial point can be obtained according to the second type of developing structure.

[0018] Furthermore, each developing structure is a sphere, and the centers of each sphere are arranged in the same non-collinear plane, and the first spatial point can be uniquely determined by the centers of at least part of the spheres.

[0019] Furthermore, the first type of developing structure is arranged on the first surface of the developing positioning component to indicate the first spatial point, and the second type of developing structure is arranged on the second surface of the developing positioning component to indicate the second spatial point.

[0020] Furthermore, a second indicating structure is provided on the base, and the second indicating structure indicates the second spatial point.

[0021] Optionally, the developing structure uses a multimodal developing material and can be developed in at least two medical images simultaneously.

[0022] 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.

[0023] The present invention provides a positioning and navigation system, comprising any of the above-mentioned devices for positioning and navigation

[0024] The device for positioning and navigation provided by the present invention includes at least the following innovative features:

[0025] 1. The device is attached to the target surface through a base, avoiding additional trauma and reducing patient pain.

[0026] 2. When installed on the base, the developing structure of the developing positioning component and the indicating structure on the matching component 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.

[0027] 3. In some schemes, the registration component and the development positioning component can be installed interchangeably, which reduces the volume / weight of the device and improves the registration accuracy; in some schemes, the development positioning component supporting different imaging modes can be replaced and installed on the base to support multi-modal registration.

[0028] 4. The imaging and positioning component is designed to include multiple types of imaging structures, or is designed to use multi-modal imaging materials, or is designed to be a double-layer spherical structure, which supports imaging under multiple medical images, improves registration and navigation accuracy, and expands the application scope of positioning and navigation.

[0029] 5. The device can be used in combination with the matching positioning probe and navigation system to simplify the use process and improve registration accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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.

[0031] Figure 1 This is one of the structural schematic diagrams of the device for positioning and navigation provided by the present invention;

[0032] Figure 2 This is the second structural schematic diagram of the device for positioning and navigation provided by the present invention;

[0033] Figure 3 yes Figure 2 A top view of a device for positioning and navigation;

[0034] Figure 4 This is the third structural schematic diagram of the device for positioning and navigation provided by the present invention;

[0035] Figure 5 yes Figure 5 A top view of a device for positioning and navigation;

[0036] Figure 6 This is one of the top views of the device for positioning and navigation provided by the present invention;

[0037] Figure 7 This is a second top view of the device for positioning and navigation provided by the present invention;

[0038] Figure 8 This is the fourth structural schematic diagram of the device for positioning and navigation provided by the present invention.

[0039] Reference numerals:

[0040] 10 - base, 101 - second indication structure, 20 - development positioning assembly, 201 - first development structure, 202 - second development structure, 203 - third development structure, 204 - fourth development structure, 205 - fifth development structure, 30 - matching assembly, 301 - first indication structure. DETAILED DESCRIPTION

[0041] 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.

[0042] Embodiment 1:

[0043] Figure 1 An embodiment of the navigation registration device of the present invention is shown. As shown in the figure, the navigation registration device includes a base 10, a development positioning component 20, and a matching component 30.

[0044] 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 adhesive, release paper, etc., and the side that adheres to the target surface can be any suitable shape, such as circular, elliptical, rectangular, irregular, etc.

[0045] The imaging positioning assembly 20 is provided with a imaging structure that can be developed under medical imaging. Figure 1 The first developing structure 201 is shown disposed on the developing positioning assembly 20. The matching assembly 30 is provided with an indicating structure 301 capable of indicating a first spatial point.

[0046] The imaging positioning component 20 and the matching component 30 can be detachably connected to the base 10. When the imaging positioning component 20 is connected to the base 10, the first imaging structure 201 therein can be developed under the medical image and indicate the first spatial point; when the matching component 30 is installed on the base, the indicating structure 301 thereon also indicates the first spatial point, for example, the indicating structure 301 can be collected to the spatial position in conjunction with the registration probe, and for another example, the indicating structure 301 can be tracked to the spatial position by the tracking system, that is, the first spatial point is obtained.

[0047] The device for positioning and navigation provided in this embodiment uses a developing positioning component and a matching component detachably connected to the base, so that the positions of the marking points acquired based on the medical image are completely overlapped with the positions of the marking points acquired in the surgical space, thereby improving the registration accuracy. During the registration process, there is no need to collect more orientation information, nor is there any need to correct deviations in combination with the stored "marker model", thereby improving the navigation registration efficiency.

[0048] Furthermore, the navigation registration device includes two or more imaging positioning components, and the imaging structure of each imaging positioning component can be developed under at least one medical image, and can support navigation registration of one medical image. Specifically, each imaging positioning component can be installed on the base 10 at the same time or replaced, and when installed on the base 10, the imaging structure of each imaging positioning component can indicate the first spatial point.

[0049] Embodiment 2:

[0050] On the basis of Example 1, the indicating structure provided on the above-mentioned matching component 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 spatial point) can be collected by the 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 recess 110, the position of the center of the top of the probe is the spatial position indicated by the groove 110, and the spatial position also corresponds to the position indicated by each developing structure in the medical image. The indicating structure provided on the matching component can also be a convex structure such as a boss and a convex ball, which can cooperate with the groove of the corresponding shape at the end of the registration probe to collect the spatial position of the indicating structure. The indicating 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 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 spatial point indicated by it.

[0051] The developing structure may 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 may be the same or different. The developing structure comprises a material that is convenient for developing 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.

[0052] Example 3

[0053] On the basis of Embodiment 1, at least two developing structures are provided on the developing positioning assembly 20, and the first spatial point is uniquely determined by the at least two developing structures.

[0054] Reference Figure 2 , Figure 3 , the development positioning component 20 is provided with a first development structure 201 and a second development structure 202. In the process of medical image acquisition, the base 10 is attached to the surface of the target object, and the development positioning component 20 is installed on the base 10. After the medical image of the target object is acquired, a unique first spatial point can be determined based on the positions of the first development structure 201 and the second development structure 202 in the medical image. For example, the midpoint of the line connecting the first development structure 201 and the second development structure 202 is used as the first spatial point, and for example, the preset points such as 1 / 3, 2 / 3, 1 / 4, 3 / 4 on the line connecting the first development structure 201 and the second development structure 202 are used as the first spatial point under the medical image. In the process of navigation registration, the development positioning component 20 is removed from the base 10, and the matching component 30 is installed on the base 10. At this time, the spatial position of the indication structure 301 on the matching component 30 is acquired, that is, the first spatial point in the surgical space is obtained. The registration relationship can be obtained according to the first spatial points under the medical image and in the surgical space.

[0055] It is understandable that more developing structures can be set on the developing positioning component 20. For example, three developing structures are used to determine the first spatial point, and the positions of the centroid, incenter, circumcenter, orthocenter or lateral center of the triangle formed by the three developing structures can be used as the first spatial point indicated. For another example, 4, 5, 6... developing structures are set on the base 10, and each developing structure is set in the same non-collinear plane. Preferably, the position of each developing structure on the base 10 is distributed in a regular polygon, and the geometric center of the regular polygon is used as the spatial position indicated by it, so that the calculation process is faster. Furthermore, each developing structure is a sphere, and the spatial point can be uniquely determined under the medical image according to the position of each sphere center. Make the position of the developing structure coincide with the position of the indicating structure.

[0056] Furthermore, the navigation registration device includes two or more imaging positioning components, and the imaging structure of each imaging positioning component can be developed under at least one medical image, and can support navigation registration of one medical image. Specifically, each imaging positioning component can be installed on the base 10 at the same time or replaced, and when installed on the base 10, the imaging structure of each imaging positioning component can indicate the first spatial point based on the corresponding medical image.

[0057] Example 4

[0058] Reference Figure 4 , Figure 5 In one embodiment, the navigation registration device includes a base 10 , a development positioning component 20 , and a matching component 30 .

[0059] The developing and positioning assembly 20 and the matching assembly 30 can be installed on the base 10 at the same time.

[0060] For example, Figure 4 The installation state shown is: the matching assembly 30 is installed to the base 10 through a small diameter thread, and the developing positioning assembly 20 is installed to the base 10 through a large diameter thread, forming a "concentric circle" installation. Figure 5 The first developing structure 201, the second developing structure 202, and the third developing structure 203 are arranged on the developing positioning component 20, and the center of gravity of the above three developing structures coincides with the spatial position indicated by the first indicating structure 301 on the matching component 30 (all indicating the first spatial point).

[0061] For another example, the developing positioning assembly 20 is installed on one side of the base 10, and the developing positioning assembly 30 is installed on the other side of the base 10, forming a "parallel" installation, and one "center" of the triangle formed by the three developing structures on the developing positioning assembly 20 coincides with the position indicated by the indication structure of the matching assembly 30.

[0062] In the installed state, the display structure on the imaging positioning component 20 can indicate the first spatial point based on the medical image, and the first indicating structure on the matching component 30 can be acquired to the spatial position and also indicate the first spatial point. The two indicate the same position based on the medical image and the surgical space, and can support efficient navigation registration.

[0063] Furthermore, the navigation registration device includes two or more imaging positioning components, and the imaging structure of each imaging positioning component can be developed under at least one medical image, and can support navigation registration of one medical image. Specifically, each imaging positioning component can be installed on the base 10 at the same time or replaced, and when installed on the base 10, the imaging structure of each imaging positioning component can indicate the first spatial point based on the corresponding medical image.

[0064] Example 5

[0065] The description is based on the embodiment 4. The developing positioning assembly 20 includes two types of developing structures. Figure 6 The first developing structure 201 and the second developing structure 202 belong to the first type of developing structures and can be developed under the first type of medical images; the fourth developing structure 204 and the fifth developing structure 205 belong to the second type of developing structures and can be developed under the second type of medical images.

[0066] In the installed state, the midpoint of the line connecting the first developing structure 201 and the second developing structure 202 (of course, it can also be other preset points, such as 1 / 3, 2 / 3, 1 / 4, 3 / 4 and other preset points) coincides with the spatial point indicated by the first indication structure, and both indicate the first spatial point; the midpoint of the line connecting the fourth developing structure 204 and the fifth developing structure 205 also coincides with the spatial point indicated by the first indication structure, and both indicate the first spatial point, thereby supporting navigation registration of two medical images.

[0067] It is understandable that the first / second type of imaging structure may also include more imaging structures, for example, three imaging structures are provided, and the first spatial point is indicated by the positions of the incenter, circumcenter, and lateral center of the triangle, or, for example, 4, 5, 6, and other numbers of imaging structures are provided, each of which is distributed in a regular polygon, and the centroid of the regular polygon is used to indicate the first spatial point. More types of indicating structures may also be provided on the imaging positioning component 20 to support navigation registration of more types of medical images.

[0068] Example 6

[0069] Described on the basis of Example 1, refer to Figure 7 The development positioning assembly 20 is provided with a first development structure 201 capable of developing under a first medical image and a fourth development structure 204 capable of developing under a second medical image.

[0070] During the medical image acquisition process, the imaging positioning component 20 is installed on the base 10, the base 10 is attached to the surface of the target object, and the first medical image and the second medical image are respectively acquired for the target object, and the two medical images are fused (registered). The positions of the first imaging structure 201 and the fourth imaging structure 204 appear in the fused image, and the two together indicate the first spatial point (for example, the midpoint of the line connecting the two indicates the first spatial point). In addition, the position of the first indicating structure on the matching component 30 is also acquired during the operation to obtain the first spatial point in the surgical space. Navigation registration can be achieved according to the positions of the first spatial point in the medical image space and the surgical space.

[0071] Example 7

[0072] Described on the basis of Example 3, the first surface of the development positioning assembly 20 is provided with a first type of development structure, which can be developed under a first type of medical image, and the second surface is provided with a second type of development structure, which can be developed under a second type of medical image.

[0073] Reference Figure 8 The first developing structure 201 and the second developing structure 202 on the developing positioning component 20 belong to the first type of developing structures and can be developed under the first type of medical images. After the developing positioning component 20 is installed on the base 10, the first developing structure 201 and the second developing structure 202 can jointly indicate the first spatial point based on the first medical image, which is the same as the spatial point indicated by the first indicating structure 301 after the matching component is installed on the base 10, thereby supporting navigation registration based on the first medical image.

[0074] The fourth developing structure 204 and the fifth developing structure 205 on the developing positioning assembly 20 belong to the second type of developing structures and can be developed under the second type of medical images. After the developing positioning assembly 20 is installed on the base 10, the fourth developing structure 204 and the fifth developing structure 205 can jointly indicate the second spatial point based on the second medical image. The base 10 is provided with a second indicating structure 101, which also indicates the second spatial point, thereby supporting navigation registration based on the second medical image.

[0075] It is understandable that the number of the developing structures provided on the first surface of the developing positioning component 20 may also be 1, 3, 4, etc., and the number of the developing structures provided on the second surface may also be 1, 3, 4, etc. Further, more types of developing structures may be provided on the developing positioning component 20, for example, the "middle layer" of the developing positioning structure 20 may be provided with a third type of developing structure, and a matching component of another thickness may be configured, and the matching component of the thickness and the third type of developing structure may both indicate a third spatial point, thereby supporting navigation registration of more types of medical images.

[0076] Embodiment 8:

[0077] Still refer to Figure 1 On the basis of Example 1, the 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 ferroferric oxide nanoparticles that can be developed in CT and magnetic resonance at the same time.

[0078] 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.

[0079] Embodiment 9:

[0080] A surgical navigation system of the present invention is shown, which includes the device for positioning navigation described in any one of the aforementioned embodiments of the present invention.

[0081] In a type of surgical navigation system product, the system also includes a robotic arm and a registration probe. The matching component is used in conjunction with the registration probe and the robotic arm. The registration probe is installed on the robotic arm. The registration probe collects the position indicated by the matching component in various postures of the robotic arm and transmits it to the workstation. The workstation processes the medical image and the position indicated by the matching component to obtain the registration relationship.

[0082] In another surgical navigation system product, the system also includes a tracking system and a registration probe. The matching component is used in conjunction with the registration probe and the tracking system. The registration probe includes a needle body and a bracket. The bracket is provided with a tracking mark. The tracking mark can be tracked to a spatial position by the tracking system, for example, in conjunction with an electromagnetic tracking system to determine the position of the electromagnetic mark, or in conjunction with an optical tracking system to determine the position of the optical mark. The doctor holds the registration probe to capture the position indicated by the matching component. The tracking system tracks the spatial position of the registration probe through the tracking mark, determines the spatial position corresponding to the top of the registration probe and transmits it to the workstation. The workstation processes the medical image and the position indicated by the matching component to obtain a registration relationship.

[0083] In another type of surgical navigation system product, the system also includes a tracking system. A tracking marker is set on the matching component, and the tracking marker can be directly tracked by the tracking system to the position of the first spatial point indicated by it. The workstation processes the medical image and the tracked position of the matching component 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 device for positioning and navigation, characterized in that: include: a base for attaching to a target surface during use; A developing positioning component, used for being detachably connected to the base, the developing positioning component is provided with a developing structure, and in a connected state, the developing positioning component can be developed in a medical image and indicate a first spatial point; A matching component is used for being detachably connected to the base. In the connected state, the matching component also indicates the first spatial point and can be collected by a registration probe or tracked by a tracking system to the position of the first spatial point.

2. The device for positioning and navigation according to claim 1, characterized in that: The matching component is provided with a groove, and in a use state, the shape of the groove also indicates the first spatial point, and the shape of the groove is adapted to the shape of the registration probe tip, so that the first spatial point can be collected; Or, the matching component is provided with a protrusion, and in a use state, the shape of the protrusion also indicates the first spatial point, and the shape of the protrusion is adapted to the shape of the registration probe tip, so that the first spatial point can be collected; Alternatively, the matching component is provided with a tracking marker, which can be tracked by a tracking system to determine the position of the first spatial point.

3. The device for positioning and navigation according to claim 1, characterized in that: The developer positioning assembly and the matching assembly are replaceably mounted to the mounting structure; or, The developing positioning assembly and the matching assembly are respectively mounted to the base via a mounting structure.

4. The device for positioning and navigation according to claim 1, characterized in that: The visualization positioning assembly is capable of being visualized in at least two medical images.

5. The device for positioning and navigation according to claim 1, characterized in that: The developing structure includes two or more.

6. The device for positioning and navigation according to claim 1, characterized in that: The imaging positioning component is provided with a first type of imaging structure that can be imaged and positioned in a first medical image, and a second type of imaging structure that can be imaged in a second medical image.

7. The device for positioning and navigation according to claim 6, characterized in that: The first spatial point can be obtained according to the first type of developing structure, and the first spatial point can be obtained according to the second type of developing structure.

8. The device for positioning and navigation according to claim 6, characterized in that: Each developing structure is a sphere, and the centers of the spheres are arranged in the same non-collinear plane. The first spatial point can be uniquely determined by the centers of at least part of the spheres.

9. The device for positioning and navigation according to claim 6, characterized in that: The first type of developing structure is arranged on the first surface of the developing positioning component to indicate the first spatial point, and the second type of developing structure is arranged on the second surface of the developing positioning component to indicate the second spatial point.

10. The device for positioning and navigation according to claim 9, characterized in that: A second indicating structure is disposed on the base, and the second indicating structure indicates the second spatial point.

11. The device for positioning and navigation according to claim 4, characterized in that: The developing structure adopts multimodal developing materials and can develop in at least two medical images at the same time.

12. The device for positioning and navigation according to claim 4, 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.

13. A positioning navigation system, characterized in that: A device for positioning and navigation comprising any one of claims 1-12.

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