Actuator and surgical navigation system

Abstract

The utility model discloses an actuator and a surgical navigation system. The actuator comprises a main body part and a connecting part, the connecting part comprises at least one connecting piece, the connecting piece comprises an inserting column and a clamping part arranged at the end of the inserting column, a containing cavity is formed in the clamping part, the clamping part is clamped and connected to the main body part, and at least part of the main body part is located in the containing cavity. The actuator and the surgical navigation system can at least solve the problem that in the prior art, the structural strength of an actuator is not high, the actuator is prone to shaking during use, and therefore the navigation precision of the surgical navigation system is prone to being reduced.

Description

Technical Field

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

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

[0003] The existing actuator mainly includes a positioning sleeve and a target assembly arranged inside the positioning sleeve. The positioning sleeve is hinged with one or two connecting columns. When actually used, the positioning sleeve is plugged into the mechanical arm of the surgical navigation system through the connecting columns. However, the structural strength of the plug-in column on the existing actuator is not high. When used, the actuator is prone to shaking, which can easily reduce the navigation accuracy of the surgical navigation system. Utility Model Content

[0004] The main purpose of the present application is to provide an actuator and a surgical navigation system to at least solve the problem in the prior art that the actuator has low structural strength and is prone to shaking during use, thereby easily reducing the navigation accuracy of the surgical guide system.

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

[0006] Main body;

[0007] The connecting component comprises at least one connecting member, the connecting member comprises a plug-in column and a clamping portion arranged at the end of the plug-in column, the clamping portion is provided with a accommodating cavity, the clamping portion clamps and is connected to the main body, and the main body is at least partially located in the accommodating cavity.

[0008] Furthermore, the main body includes a positioning sleeve, and the connecting member includes a first connecting member and a second connecting member, and the first connecting member and the second connecting member are arranged at intervals along the axial direction of the positioning sleeve and connected to the positioning sleeve.

[0009] Furthermore, two opposite sides of the positioning sleeve are provided with elongated holes, and the elongated holes extend along the axial direction of the positioning sleeve;

[0010] The clamping portion of the first connecting member is movably connected to the elongated hole via a pin shaft, and the pin shaft is movably arranged along the length direction of the elongated hole.

[0011] Furthermore, a locking hole is provided on the clamping portion, and the locking hole extends along the radial direction of the pin shaft. A locking screw is passed through the locking hole, and the locking screw abuts against the pin shaft.

[0012] Furthermore, two bosses are protruding from the outer side wall of the positioning sleeve, and the two bosses are symmetrically arranged on two opposite sides of the positioning sleeve. The clamping part of the second connecting member is provided with two slots, and the slots are connected to the bosses in a one-to-one correspondence.

[0013] Furthermore, the protruding column comprises a flat column, the slot comprises a slot section located at the slot opening of the slot and an arc section located at the bottom of the slot, and the arc section is interference fit with the flat column.

[0014] Furthermore, first planes are arranged on two opposite sides of the positioning sleeve, and a second plane that fits with the first plane is arranged on the inner wall surface of the accommodating cavity.

[0015] Further, the clamping portion includes a U-shaped, C-shaped or V-shaped structure; and / or the clamping portion and the plug-in column are integrally formed.

[0016] Further, the positioning sleeve is provided with a positioning hole and a first notch, the positioning hole is located on the inner side of the positioning sleeve and extends along the axial direction of the positioning sleeve, and the first notch is penetrated along the length direction of the positioning sleeve and communicated with the positioning hole;

[0017] The actuator also includes:

[0018] A target assembly, the target assembly includes a mounting sleeve and a target mechanism, the target mechanism is connected to the mounting sleeve and extends to the outside of the positioning sleeve, the mounting sleeve is provided with a mounting hole and a second notch, the mounting hole is located inside the mounting sleeve and extends along the axial direction of the mounting sleeve, the second notch extends along the length direction of the mounting sleeve and is connected to the mounting hole, the mounting sleeve is installed in the positioning hole and can rotate along its own axis.

[0019] Furthermore, the positioning sleeve is provided with a plurality of positioning portions, and the plurality of positioning portions are arranged at intervals along the circumferential direction of the positioning sleeve;

[0020] The target mechanism includes a connecting frame, the connecting frame includes a connecting section, the connecting section is connected to the mounting sleeve, the mounting sleeve rotates along its own axis so that the connecting section cooperates with one of the multiple positioning parts, and when the connecting section cooperates with one of the multiple positioning parts, the first notch is opposite to the second notch.

[0021] Further, the connecting section extends in the radial direction of the mounting sleeve, the connecting frame further comprises a mounting section, one end of the mounting section is connected to the connecting section, the other end of the mounting section extends in the length direction of the mounting sleeve, and along the direction from the top end to the bottom end of the mounting sleeve, the distance from the mounting section to the surface of the mounting sleeve gradually increases;

[0022] The target mechanism also includes a target frame, which is installed on the installation section.

[0023] Furthermore, the target frame and the mounting section are detachably connected via a snap mechanism.

[0024] Furthermore, a sterile protection component is provided on the plug-in column.

[0025] Furthermore, the sterile protection assembly includes a sterile bag and a sterile protection cover, the sterile bag is sleeved on the plug-in column from one end of the plug-in column away from the main body, and the sterile protection cover is detachably mounted on the plug-in column covered with the sterile bag.

[0026] On the other hand, the present application also provides a surgical navigation system, which includes the above-mentioned actuator.

[0027] In the present application, since the connecting component on the actuator is provided with a plug-in column and a clamping portion, the actuator can be plugged into other structures, such as a robotic arm, through the action of the plug-in column, and the main body is located in the accommodating cavity on the clamping portion, that is, the clamping portion is wrapped around the outer periphery of the main body. Compared with the structure in the prior art in which the connecting column is directly hinged on the positioning sleeve of the actuator, the structural strength of the connection between the connecting component and the main body in the present application is higher, and the main body of the actuator can be stably supported. After the actuator is installed on the robotic arm, the actuator is not prone to shaking during use, which can improve the navigation accuracy of the surgical navigation system using the actuator in the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0029] Figure 1 A three-dimensional structural diagram of an actuator disclosed in an embodiment of the present application;

[0030] Figure 2 An exploded view of an actuator disclosed in an embodiment of the present application;

[0031] Figure 3 A top view of the actuator disclosed in the embodiment of the present application;

[0032] Figure 4 for Figure 3 AA section view in.

[0033] The above drawings include the following reference numerals:

[0034] 10. Main body; 11. Positioning sleeve; 111. Long hole; 112. Boss; 113. First plane; 114. Positioning hole; 115. First notch; 116. Positioning part; 12. Target assembly; 121. Mounting sleeve; 1211. Mounting hole; 1212. Second notch; 122. Target mechanism; 1221. Connecting frame; 12211. Connecting section; 12212. Mounting section; 1222. Target frame; 2 0. Connecting component; 21. Connecting member; 21a. First connecting member; 21b. Second connecting member; 211. Plug-in column; 212. Holding portion; 2121. Accommodating cavity; 21211. Second plane; 2122. Locking hole; 2123. Slot; 21231. Notch section; 21232. Arc section; 30. Pin; 40. Locking screw; 50. Buckle mechanism; 60. Sterile protection component; 61. Sterile protection cover. DETAILED DESCRIPTION

[0035] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0036] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0037] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0038] See also Figures 1 to 4 As shown, according to an embodiment of the present application, an actuator is provided, which includes a main body 10 and a connecting component 20 .

[0039] Among them, the connecting component 20 includes at least one connecting member 21, which includes a plug-in column 211 and a clamping portion 212 arranged at the end of the plug-in column 211, and a accommodating cavity 2121 is arranged on the clamping portion 212. The clamping portion 212 clamps and is connected to the main body 10, and the main body 10 is at least partially located in the accommodating cavity 2121.

[0040] Since the connecting component 20 on the actuator in this embodiment is provided with a plug-in column 211 and a clamping portion 212, the actuator can be plugged into other structures, such as a robotic arm, through the action of the plug-in column 211, and the main body 10 is located in the accommodating cavity 2121 on the clamping portion 212, that is, the clamping portion 212 is wrapped around the outer periphery of the main body 10. Compared with the structure in the prior art in which the connecting column is directly hinged to the positioning sleeve of the actuator, the structural strength of the connection between the connecting component 20 and the main body 10 in this embodiment is higher, and the main body 10 of the actuator can be stably supported. After the actuator is installed on the robotic arm, the actuator is not easy to shake during use, which can improve the navigation accuracy of the surgical navigation system using the actuator in this embodiment.

[0041] Specifically, the main body 10 in this embodiment includes a positioning sleeve 11 and a target assembly 12 detachably connected to the positioning sleeve 11. The connecting member 21 includes a first connecting member 21a and a second connecting member 21b, wherein the first connecting member 21a and the second connecting member 21b are spaced apart along the axial direction of the positioning sleeve 11 and connected to the positioning sleeve 11. In this way, when the actuator in this embodiment is installed on the robotic arm of the surgical navigation system, the first connecting member 21a and the second connecting member 21b can simultaneously stably support and install the positioning sleeve 11. Of course, in other embodiments of the present application, the connecting member 21 can also be set to one, three or more than three. As long as it is other deformation methods under the conception of the present application, it is within the protection scope of the present application.

[0042] In order to facilitate the connection with the first connecting member 21a, the positioning sleeve 11 in this embodiment is provided with an elongated hole 111 on both opposite sides, and the elongated hole 111 extends along the axial direction of the positioning sleeve 11; during installation, the clamping portion 212 of the first connecting member 21a is movably connected to the elongated hole 111 through a pin 30, and the pin 30 is movably arranged along the length direction of the elongated hole 111. Since the clamping portion 212 of the first connecting member 21a in this embodiment is rotatably connected to the elongated hole 111 through a pin 30, when in use, the relative position between the first connecting member 21a and the positioning sleeve 11 can be adjusted by moving the pin 30 along the length direction of the elongated hole 111, so as to facilitate the adjustment of the installation position of the actuator according to the position of the robot arm, and the structure is simple and easy to use.

[0043] Furthermore, a locking hole 2122 is provided on the clamping portion 212 of the first connecting member 21a in the present embodiment. The locking hole 2122 extends radially along the pin shaft 30. A locking screw 40 is passed through the locking hole 2122. The locking screw 40 abuts against the pin shaft 30. Through the action of the locking screw 40, the clamping portion 212 of the first connecting member 21a can be locked on the pin shaft 30, thereby preventing the first connecting member 21a from falling off the positioning sleeve 11.

[0044] Furthermore, in this embodiment, two bosses 112 are convexly provided on the outer wall of the positioning sleeve 11, and the two bosses 112 are symmetrically arranged on opposite sides of the positioning sleeve 11, and two slots 2123 are arranged on the clamping portion 212 of the second connecting member 21b, and the slots 2123 are connected to the bosses 112 in a one-to-one correspondence. In this way, it is convenient to connect the clamping portion 212 of the second connecting member 21b to the positioning sleeve 11.

[0045] Optionally, the convex column 112 in this embodiment includes a flat column (the flat column is a column structure formed by cutting off a portion of the opposite sides of a cylinder, and the cross-section of the main structure can be a runway-shaped cross-section or an elliptical cross-section. Figure 1 and Figure 2 , which shows the case where the cross section of the protruding column 112 is a runway-shaped cross section). The slot 2123 includes a slot section 21231 located at the slot of the slot 2123 and an arc section 21232 located at the bottom of the slot 2123. The arc section 21232 is interference-fitted with the flat column. During actual installation, firstly, the length direction of the plug-in column 211 of the second connecting member 21b is made consistent with the axial direction of the positioning sleeve 11. At this time, the width direction of the slot section 21231 at the slot of the slot 2123 corresponds to the width direction of the flat column. Then, force is applied to at least one of the second connecting member 21b and the positioning sleeve 11, so that the flat column enters from the slot section 21231 into the arc section 21232. Finally, the second connecting member 21b is rotated to Figure 1 The position shown (at this time, the plug-in column 211 of the second connecting member 21b is perpendicular to the axial direction of the positioning sleeve 11) allows the arc segment 21232 to be fixedly connected with the flat column by interference fit. The connection method between the second connecting member 21b and the boss 112 in this embodiment is simple in structure and easy to assemble. Of course, in other embodiments of the present application, the boss 112 can also be a cylinder or other special-shaped column. As long as it is other deformation methods under the conception of the present application, it is within the protection scope of the present application.

[0046] Furthermore, the positioning sleeve 11 in this embodiment is provided with a first plane 113 on both opposite sides, and the inner wall surface of the accommodating cavity 2121 is provided with a second plane 21211 which is in contact with the first plane 113. That is to say, the clamping portion 212 and the positioning sleeve 11 in this embodiment are in surface contact with each other, and the structure is more stable. It is not easy to wear the clamping portion 212 or the positioning sleeve 11, which can improve the service life and use stability of the actuator in this embodiment.

[0047] Optionally, the holding portion 212 in this embodiment includes a U-shaped, C-shaped or V-shaped structure. This embodiment shows the situation when the holding portion 212 is set in a U-shaped structure. At this time, the internal cavity of the U-shaped structure forms the above-mentioned accommodating cavity 2121, which is convenient for installing the main body 10.

[0048] For example, the clamping portion 212 and the plug-in column 211 in this embodiment are integrally formed, which can further improve the structural strength of the connector 21 in this embodiment. Of course, in other embodiments of the present application, the clamping portion 212 and the plug-in column 211 can also be separately provided and then fixed together by hooks, welding or fasteners. As long as it is other deformation methods under the concept of the present application, they are all within the protection scope of the present application.

[0049] See again Figures 1 to 4 As shown, the positioning sleeve 11 in this embodiment is provided with a positioning hole 114 and a first notch 115, the positioning hole 114 is located on the inner side of the positioning sleeve 11 and extends along the axial direction of the positioning sleeve 11, and the first notch 115 is arranged through the length direction of the positioning sleeve 11 and is connected with the positioning hole 114; the target assembly 12 includes a mounting sleeve 121 and a target mechanism 122, the target mechanism 122 is connected to the mounting sleeve 121 and extends to the outside of the positioning sleeve 11, the mounting sleeve 121 is provided with a mounting hole 1211 and a second notch 1212, the mounting hole 1211 is located inside the mounting sleeve 121 and extends along the axial direction of the mounting sleeve 121, the second notch 1212 extends along the length direction of the mounting sleeve 121 and is connected with the mounting hole 1211, and the mounting sleeve 121 is installed in the positioning hole 114 and can rotate along its own axis.

[0050] When the installation sleeve 121 rotates along its own axis in the positioning hole 114, the first notch 115 and the second notch 1212 can be arranged opposite to each other or at least partially staggered. It should be noted that the first notch 115 and the second notch 1212 are arranged opposite to each other, which means that the midlines of the first notch 115 and the second notch 1212 in the width direction coincide with each other, and the first notch 115 and the second notch 1212 are arranged to be staggered to the midlines of the first notch 115 and the second notch 1212 in the width direction.

[0051] In the present application, since the mounting sleeve 121 of the target assembly 12 can rotate along its own axis, after the mounting sleeve 121 of the target assembly 12 is installed in the positioning hole 114, the mounting sleeve 121 rotates in the positioning hole 114, so that the first notch 115 and the second notch 1212 are arranged opposite to each other. At this time, the puncture needle and other structures can be disassembled and assembled along the axial direction of the positioning hole 114, and the puncture needle can be disassembled and assembled along the radial direction of the positioning hole 114 without removing the positioning device for positioning the puncture needle; when the mounting sleeve 121 is rotated so that the first notch 115 and the second notch 1212 are at least partially misaligned, the portion where the first notch 115 and the second notch 1212 are opposite to each other is relatively small, and the gap between the first notch 115 and the second notch 1212 is relatively narrow, but for the slender puncture needle, it can still be disassembled and assembled from the radial and axial directions of the positioning hole 114, which can improve the convenience of the operation, shorten the operation time, and reduce the cumbersomeness of the surgical operation.

[0052] At the same time, since the mounting sleeve 121 in this embodiment can rotate along its own axis in the positioning hole 114, when the mounting sleeve 121 rotates in the positioning hole 114, it can drive the target mechanism 122 installed on the mounting sleeve 121 to rotate synchronously, so that the target mechanism 122 can be rotated to different positions, which is more suitable for navigation in different surgical directions and can increase the flexibility and freedom of surgical arrangement.

[0053] The actuator in this embodiment has a simple structure, good overall rigidity, and is easy to install without disassembly. The actuator can be directly installed on the positioning platform, which saves surgical time, reduces surgical difficulty, and reduces the risk of surgical accessories falling.

[0054] In order to limit the installation sleeve 121 on the positioning sleeve 11, the positioning sleeve 11 in this embodiment is provided with a plurality of positioning portions 116, and the positioning sleeve 11 is provided with a plurality of positioning portions 116, and the plurality of positioning portions 116 are arranged at intervals along the circumferential direction of the positioning sleeve 11; the target mechanism 122 includes a connecting frame 1221, and the connecting frame 1221 includes a connecting section 12211, and the connecting section 12211 is connected to the installation sleeve 121, and the installation sleeve 121 rotates along its own axis so that the connecting section 12211 cooperates with one of the plurality of positioning portions 116, so as to facilitate positioning the target mechanism 122 at different positions of the positioning sleeve 11. When the connecting section 12211 cooperates with one of the multiple positioning parts 116, the first notch 115 is opposite to the second notch 1212. At this time, the puncture needle and other structures can be disassembled and assembled along the axial direction of the positioning hole 114, and the puncture needle can also be disassembled and assembled along the radial direction of the positioning hole 114 without removing the positioning device used to position the puncture needle.

[0055] Optionally, the positioning portion 116 in this embodiment can be set to two, three or more than three. The drawings of this application show the situation when the positioning portion 116 is set to two. When the mounting sleeve 121 rotates in the positioning hole 114 and fixes two different positioning portions 116, the target mechanism 122 can achieve positioning in two directions. Exemplarily, the positioning portion 116 is a positioning groove.

[0056] Furthermore, the connecting section 12211 in this embodiment extends radially along the mounting sleeve 121, and the connecting frame 1221 also includes a mounting section 12212, one end of the mounting section 12212 is connected to the connecting section 12211, and the other end of the mounting section 12212 extends along the length direction of the mounting sleeve 121, and along the direction from the top to the bottom of the mounting sleeve 121, the distance from the mounting section 12212 to the surface of the mounting sleeve 121 gradually increases; the target mechanism 122 also includes a target frame 1222, and the target frame 1222 is installed on the mounting section 12212.

[0057] According to the above structure, it can be known that in this embodiment, the distance between the mounting section 12212 and the surface of the mounting sleeve 121 is gradually increased, so that the mounting section 12212 can be inclined to the mounting sleeve 121, that is, the mounting section 12212 is inclined toward the top of the actuator. After the target frame 1222 is installed on the mounting section 12212, the target frame 1222 is inclined upward, which is more suitable for cooperating with the camera mechanism arranged above the actuator to shoot the actuator, and can improve the navigation accuracy of the actuator in this embodiment. In order to facilitate disassembly and assembly, the target frame 1222 and the mounting section 12212 in this embodiment are detachably connected through a buckle mechanism 50. The buckle mechanism 50 includes a clamping groove and a clamping protrusion, one of which is arranged on the target frame 1222, and the other is arranged on the connecting section 12211. Through the coordinated connection of the clamping groove and the clamping protrusion, the target frame 1222 can be quickly installed.

[0058] Further, a sterile protection component 60 is provided on the plug-in column 211. Optionally, the sterile protection component 60 in this embodiment includes a sterile bag (not shown in the figure) and a sterile protection cover 61. The sterile bag is sleeved on the plug-in column 211 from one end of the plug-in column 211 away from the main body 10, and the sterile protection cover 61 is detachably mounted on the plug-in column 211 coated with the sterile bag. When it is necessary to sleeve the sterile bag, the sterile protection cover 61 can be removed from the plug-in column 211. After the sterile bag is sleeved, the sterile protection cover 61 can be sleeved on the plug-in column 211 coated with the sterile bag to position the sterile bag. Of course, in other embodiments of the present application, the sterile protection cover 61 can also be a structure such as a fixed clip. As long as it is other deformation methods under the conception of the present application, they are all within the protection scope of the present application.

[0059] When in use, a hole can be reserved in the sterile bag, and after the sterile bag is put on the plug-in column 211, the sterile protective cover and the sterile bag are buckled on the plug-in column 211; or the sterile bag and the sterile protective cover are first bonded (integrated packaging), and then directly put on the plug-in column 211 during installation, as long as it is in the concept of the present application. Of course, in other embodiments of the present application, the sterile bag can also be a structure such as a sterile film.

[0060] According to the above description, the actuator of the present application has at least the following technical effects:

[0061] (1) The target mechanism can be positioned in multiple directions, increasing the flexibility and freedom of surgical arrangement;

[0062] (2) During the operation, the puncture needle can be removed laterally without removing the positioning device, which improves the convenience of the operation and shortens the operation time;

[0063] (3) The tilt setting of the target frame can improve the accuracy of navigation positioning;

[0064] (4) The design of the sterile protective cover improves the sterile protection function of the surgery and increases the safety of the surgery;

[0065] (5) The connection method between the main body and the connecting part has higher rigidity and a more stable and reliable structure, which can prevent the actuator from shaking during use and further improve the accuracy of the actuator's navigation and positioning.

[0066] On the other hand, an embodiment of the present application also provides a surgical navigation system, which includes the actuator in the above-mentioned embodiment. Therefore, the surgical navigation system includes all the technical effects of the actuator in the above-mentioned embodiment. Since the technical effects of the actuator have been described in detail above, they will not be repeated here.

[0067] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0068] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0069] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An actuator, characterized in that: include: A main body (10); A connecting component (20), the connecting component (20) comprising at least one connecting member (21), the connecting member (21) comprising a plug-in column (211) and a clamping portion (212) arranged at the end of the plug-in column (211), the clamping portion (212) being provided with a receiving cavity (2121), the clamping portion (212) being clamped and connected to the main body (10), and the main body (10) being at least partially located in the receiving cavity (2121).

2. The actuator according to claim 1, characterized in that: The main body (10) comprises a positioning sleeve (11), and the connecting member (21) comprises a first connecting member (21a) and a second connecting member (21b), wherein the first connecting member (21a) and the second connecting member (21b) are arranged at intervals along the axial direction of the positioning sleeve (11) and are connected to the positioning sleeve (11).

3. The actuator according to claim 2, characterized in that: The positioning sleeve (11) is provided with elongated holes (111) on opposite sides thereof, and the elongated holes (111) extend along the axial direction of the positioning sleeve (11); The clamping portion (212) of the first connecting member (21a) is movably connected to the elongated hole (111) via a pin shaft (30), and the pin shaft (30) is movably arranged along the length direction of the elongated hole (111).

4. The actuator according to claim 3, characterized in that: The clamping portion (212) is provided with a locking hole (2122), the locking hole (2122) extending in the radial direction of the pin shaft (30), a locking screw (40) passing through the locking hole (2122), and the locking screw (40) abuts against the pin shaft (30).

5. The actuator according to claim 2, characterized in that: Two bosses (112) are convexly provided on the outer side wall of the positioning sleeve (11), and the two bosses (112) are symmetrically arranged on two opposite sides of the positioning sleeve (11), and two slots (2123) are provided on the clamping portion (212) of the second connecting member (21b), and the slots (2123) are connected to the bosses (112) in a one-to-one correspondence.

6. The actuator according to claim 5, characterized in that: The protruding column (112) comprises a flat column, and the slot (2123) comprises a notch section (21231) located at the notch portion of the slot (2123) and an arc section (21232) located at the bottom of the slot (2123), and the arc section (21232) is interference fit with the flat column.

7. The actuator according to claim 2, characterized in that: The first plane (113) is provided on both opposite sides of the positioning sleeve (11), and the inner wall surface of the accommodating cavity (2121) is provided with a second plane (21211) that is in contact with the first plane (113).

8. The actuator according to any one of claims 1 to 7, characterized in that: The clamping portion (212) comprises a U-shaped, C-shaped or V-shaped structure; and / or the clamping portion (212) and the plug-in column (211) are integrally formed.

9. The actuator according to any one of claims 2 to 7, characterized in that: The positioning sleeve (11) is provided with a positioning hole (114) and a first notch (115); the positioning hole (114) is located on the inner side of the positioning sleeve (11) and extends along the axial direction of the positioning sleeve (11); the first notch (115) is penetrated along the length direction of the positioning sleeve (11) and communicates with the positioning hole (114); The actuator also includes: A target assembly (12), the target assembly (12) comprising a mounting sleeve (121) and a target mechanism (122), the target mechanism (122) being connected to the mounting sleeve (121) and extending to the outside of the positioning sleeve (11), the mounting sleeve (121) being provided with a mounting hole (1211) and a second notch (1212), the mounting hole (1211) being located inside the mounting sleeve (121) and extending along the axial direction of the mounting sleeve (121), the second notch (1212) extending along the length direction of the mounting sleeve (121) and communicating with the mounting hole (1211), the mounting sleeve (121) being mounted in the positioning hole (114) and being rotatable along its own axis.

10. The actuator according to claim 9, characterized in that: The positioning sleeve (11) is provided with a plurality of positioning portions (116), and the plurality of positioning portions (116) are arranged at intervals along the circumferential direction of the positioning sleeve (11); The target mechanism (122) comprises a connecting frame (1221), the connecting frame (1221) comprises a connecting section (12211), the connecting section (12211) is connected to the mounting sleeve (121), the mounting sleeve (121) rotates along its own axis so that the connecting section (12211) cooperates with one of the plurality of positioning portions (116), and when the connecting section (12211) cooperates with one of the plurality of positioning portions (116), the first notch (115) and the second notch (1212) are directly opposite.

11. The actuator according to claim 10, characterized in that: The connecting section (12211) extends in the radial direction of the mounting sleeve (121); the connecting frame (1221) further comprises a mounting section (12212); one end of the mounting section (12212) is connected to the connecting section (12211); the other end of the mounting section (12212) extends in the length direction of the mounting sleeve (121); and along the direction from the top end to the bottom end of the mounting sleeve (121), the distance from the mounting section (12212) to the surface of the mounting sleeve (121) gradually increases; The target mechanism (122) further comprises a target frame (1222), and the target frame (1222) is mounted on the mounting section (12212).

12. The actuator according to claim 11, characterized in that The target frame (1222) and the mounting section (12212) are detachably connected via a snap mechanism (50).

13. The actuator according to any one of claims 1 to 7, characterized in that: A sterile protection component (60) is arranged on the plug-in column (211).

14. The actuator according to claim 13, characterized in that: The sterile protection assembly (60) comprises a sterile bag and a sterile protection cover (61); the sterile bag is sleeved on the plug-in column (211) from one end of the plug-in column (211) away from the main body (10); and the sterile protection cover (61) is detachably mounted on the plug-in column (211) covered with the sterile bag.

15. A surgical navigation system, characterized in that: The surgical navigation system comprises the actuator according to any one of claims 1 to 14.

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