Instrument clamping device, instrument navigation device and navigation system

Abstract

The utility model provides an instrument clamping device, an instrument navigation device and a navigation system, the navigation system comprises an optical navigation camera, a calculation unit and the instrument navigation device, the instrument navigation device comprises a navigation array and the instrument clamping device, and the navigation array is provided with at least three tracing elements; the instrument clamping device comprises a main clamping body and an auxiliary clamping body, wherein the main clamping body comprises a mounting part and a clamping part which are mutually connected; the auxiliary clamp body is in sliding connection with the mounting part and is arranged opposite to the clamping part; the adjusting piece is connected with the auxiliary clamp body and the clamping part, and one of the auxiliary clamp body and the clamping part is in threaded connection with the adjusting piece; the adjusting piece can be rotated to drive the auxiliary clamp body to linearly move to be close to the clamping part or away from the clamping part; the optical navigation camera is used for capturing coordinates of each tracing element; and the calculation unit is used for calculating the pose of the instrument navigation device according to the coordinates of the tracing elements. According to the instrument clamping device, instruments with different diameters can be clamped, and clamping is firm and stable.

Description

Technical Field

[0001] This application belongs to the technical field of medical devices, and more particularly, relates to an instrument clamping device, an instrument navigation device, and a navigation system. Background Art

[0002] In order to achieve navigation, the common practice is to set a tracing element on the instrument, track the tracing element through an optical navigation camera, and calculate and display the pose of the instrument in space in real time by calibrating the relative position between the instrument and the tracing element. Traditional instruments usually have different diameters due to different functions and manufacturers. Therefore, a clamping structure capable of quickly clamping different diameters needs to be set on the instrument navigation device. However, the clamping structures in the prior art do not clamp the instrument firmly enough, and the clamping operation is not convenient. Summary of the Invention

[0003] The purpose of the embodiments of this application is to provide an instrument clamping device, an instrument navigation device, and a navigation system to solve the technical problem that the clamping structure in the instrument navigation device in the prior art does not clamp the instrument firmly enough.

[0004] To achieve the above purpose, the technical solution adopted in this application is: In the first aspect, an instrument clamping device is provided, including:

[0005] A main clamp body, including the installation part and the clamping part which are connected to each other;

[0006] A sub-clamp body, which is slidably connected to the installation part and is arranged opposite to the clamping part;

[0007] An adjusting member, which is respectively connected to the sub-clamp body and the clamping part, and one of the sub-clamp body and the clamping part is threadedly connected to the adjusting member; the adjusting member can be rotated to drive the sub-clamp body to move linearly closer to or away from the clamping part.

[0008] In one embodiment, the adjusting member is threadedly connected to the sub-clamp body, the adjusting member is limitedly connected to the clamping part in the axial direction of the adjusting member, and the adjusting member is rotatably connected to the clamping part in the circumferential direction around the axis of the adjusting member.

[0009] In one embodiment, a first mounting hole is formed in the clamping part, and the adjusting member is rotatably connected to the first mounting hole;

[0010] The instrument clamping device further includes a limiting member, and the limiting member cooperates with the clamping part and the adjusting member respectively to form a limiting connection between the adjusting member and the clamping part in the axial direction of the adjusting member.

[0011] In one embodiment, a first limiting groove is formed on the adjusting member, and the limiting member is installed on the clamping portion and cooperates with the first limiting groove to form a limiting connection between the adjusting member and the clamping portion;

[0012] Alternatively, a second limiting groove is formed on the clamping portion, and the limiting member is installed on the adjusting member and cooperates with the second limiting groove to form a limiting connection between the adjusting member and the clamping portion.

[0013] In one embodiment, the head end of the adjusting member is threadedly connected to the clamping portion, and the tail end of the adjusting member forms a rotational connection and a limiting connection with the sub-clamping body.

[0014] In one embodiment, a second mounting hole is provided on the sub-clamping body, and the tail end of the adjusting member passes through the second mounting hole to form a rotational connection; a limiting ring is further installed at the tail end of the adjusting member, and the limiting ring forms a limiting connection with the sub-clamping body.

[0015] In a second aspect, the present application further provides an instrument navigation device, including a navigation array and the above-mentioned instrument clamping device, the navigation array is connected to the instrument clamping device, and at least three tracing elements are provided on the navigation array.

[0016] In one embodiment, the instrument clamping device is detachably connected to the navigation array.

[0017] In one embodiment, the instrument clamping device is threadedly sleeved with the navigation array.

[0018] In one embodiment, the instrument clamping device forms a first limiting portion, the navigation array forms a second limiting portion, and the first limiting portion is inserted and matched with the second limiting portion to form a circumferential limit between the instrument clamping device and the navigation array;

[0019] The instrument navigation device further includes a threaded rod, and the threaded rod passes through the navigation array and is threadedly connected to the instrument clamping device.

[0020] In one embodiment, a connecting shaft is provided on the navigation array, a sleeve is provided on the instrument clamping device, and the sleeve is sleeved on the connecting shaft; one of the connecting shaft and the sleeve forms a limiting pin, and the other of the connecting shaft and the sleeve forms a third limiting groove, and the limiting pin forms a rotational snap connection with the third limiting groove;

[0021] The instrument navigation device further includes an elastic member, and the elastic member abuts between the connecting shaft and the sleeve to keep the limiting pin and the limiting groove in a clamped state.

[0022] In one embodiment, the elastic member is sleeved on the connecting shaft, and in the clamped state, the elastic member abuts between the connecting shaft and the top end surface of the sleeve.

[0023] In one embodiment, the elastic member is received in the sleeve, and in the clamped state, the elastic member abuts between the bottom end surface of the sleeve and the bottom end surface of the connecting shaft.

[0024] In a third aspect, the present application further provides a navigation system, including an optical navigation camera, a calculation unit, and the above-mentioned instrument navigation device. The optical navigation camera is used to capture the coordinates of each of the tracing elements; the calculation unit is used to calculate the pose of the instrument navigation device according to the coordinates of each of the tracing elements.

[0025] The beneficial effects of the instrument clamping device, the instrument navigation device, and the navigation system provided by the present application are as follows: By slidably connecting the secondary clamping body to the mounting portion and arranging it opposite to the clamping portion, and by threadedly connecting one of the secondary clamping body and the clamping portion to the adjusting member, thus, the secondary clamping body can be driven to linearly move closer to or away from the clamping portion by rotating the adjusting member, so as to clamp instruments with different diameters. Among them, since the secondary clamping body is arranged opposite to the clamping portion, and the secondary clamping body moves closer to or away from the clamping portion, that is, the secondary clamping body and the clamping portion clamp the instrument on opposite sides in parallel, the clamping force distribution of the secondary clamping body on the instrument is uniform, and the clamping force distribution of the clamping portion on the instrument is uniform, so that the instrument can be clamped firmly and stably. In addition, the adjusting member is connected to the secondary clamping body and the clamping portion by a threaded connection, and the threaded connection has a locking function, thereby further strengthening the clamping firmness of the instrument. In addition, when in use, only by rotating the adjusting member, the clamping of the instrument can be realized, and the operation is simple and convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to these drawings.

[0027] Figure 1 It is a schematic structural diagram of the navigation array system provided by the embodiment of the present application;

[0028] Figure 2 It is a three-dimensional structural diagram of the instrument clamping device provided by Embodiment 1 of the present application;

[0029] Figure 3 It is a cross-sectional structural diagram of the instrument clamping device provided by Embodiment 1 of the present application;

[0030] Figure 4 Schematic exploded view of the instrument clamping device provided in the first embodiment of the present application;

[0031] Figure 5 Schematic perspective view of the instrument clamping device provided in the second embodiment of the present application;

[0032] Figure 6 Schematic cross-sectional view of the instrument clamping device provided in the second embodiment of the present application;

[0033] Figure 7 Schematic perspective view of the instrument clamping device provided in the third embodiment of the present application;

[0034] Figure 8 Schematic cross-sectional view of the instrument clamping device provided in the third embodiment of the present application;

[0035] Figure 9 Schematic exploded view of the instrument clamping device provided in the third embodiment of the present application;

[0036] Figure 10 Schematic exploded view of the instrument navigation device provided in the fourth embodiment of the present application;

[0037] Figure 11 Schematic exploded view of the instrument navigation device provided in the fifth embodiment of the present application;

[0038] Figure 12 Schematic exploded view of the navigation array in the instrument navigation device provided in the fifth embodiment of the present application;

[0039] Figure 13 Schematic perspective view of the instrument navigation device provided in the sixth embodiment of the present application;

[0040] Figure 14 Schematic exploded view of the instrument navigation device provided in the sixth embodiment of the present application;

[0041] Figure 15 Schematic perspective view of the instrument navigation device provided in the seventh embodiment of the present application;

[0042] Figure 16 Schematic exploded view of the instrument navigation device provided in the seventh embodiment of the present application;

[0043] Figure 17 Schematic cross-sectional view of the instrument navigation device provided in the seventh embodiment of the present application.

[0044] Among them, the reference numerals in the figures:

[0045] 100. Instrument navigation device; 1. Instrument clamping device; 11. Main clamping body; 111. Mounting part; 1111. Chute; 112. Clamping part; 1121. First mounting hole; 1122. Second limiting groove; 1123. First step; 113. Connecting column; 114. Second connecting cylinder; 1141. Groove; 115. Sleeve; 1151. Third limiting groove; 1152. Insertion section; 1153. Connecting section; 1154. Clamping section; 1155. Guide groove; 12. Sub-clamping body; 121. First threaded hole; 122. Sliding part; 123. Second mounting hole; 13. Adjusting part; 131. First limiting groove; 132. Second step; 133. Third step; 14. Limiting part; 15. Locking part; 16. Limiting ring; 17. Second pin; 2. Navigation array; 21. Array board; 22. Trace element; 23. Threaded column; 24. First connecting cylinder; 241. Protrusion; 25. Connecting shaft; 26. Limiting pin; 27. Color block; 3. Threaded rod; 4. Elastic part; 5. Slide block; 51. Guide post; 200. Optical navigation camera; 300. Instrument; X. First direction; Y. Second direction. Detailed implementation manners

[0046] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0047] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0048] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present application.

[0049] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality of" means two or more unless otherwise specifically defined.

[0050] As described in the background art, during clinical use, instruments usually have different diameters due to different functions and manufacturers. Therefore, it is required that the instrument navigation device can adapt to instruments with different diameters. For this purpose, there are already some instrument navigation devices on the market, which are provided with clamping structures that can clamp different diameters. However, the clamping structures in the prior art do not clamp the instruments firmly enough, and the clamping operation is not convenient.

[0051] For this purpose, the embodiment of the present application provides an instrument clamping device 1, an instrument navigation device 100 and a navigation system. By slidingly connecting the secondary clamp body 12 with the mounting part 111 of the main clamp body 11, arranging the clamping part 112 of the secondary clamp body 12 and the main clamp body 11 opposite to each other, and threadedly connecting the adjusting member 13 with one of the secondary clamp body 12 or the clamping part 112, the secondary clamp body 12 is driven to approach or move away from the clamping part 112 by rotating the adjusting member 13, so as to clamp instruments 300 with different diameters and clamp the instruments 300 firmly.

[0052] Please refer to Figure 1 , and now the navigation system provided by the embodiment of the present application will be described. The navigation system includes an instrument navigation device 100, an optical navigation camera 200 and a calculation unit. The optical navigation camera 200 is used to capture the coordinates of each tracer element 22 on the instrument navigation device 100, and the calculation unit is used to calculate the coordinates and pose of the instrument navigation device 100 according to the coordinates of each tracer element 22.

[0053] Specifically, the instrument navigation device 100 is used to be fixedly installed with the instrument 300, and the coordinates and pose of the instrument 300 can be obtained according to the coordinates and pose of the instrument navigation device 100. Specifically, the calculation unit calculates the coordinates of the instrument and the position coordinates of the reference origin, so as to feedback the pose of the instrument.

[0054] Please refer to Figure 1 , and now the instrument navigation device 100 provided by the embodiment of the present application will be described. The instrument navigation device 100 includes a navigation array 2 and an instrument clamping device 1. The navigation array 2 is connected to the instrument clamping device 1. The instrument clamping device 1 is used to clamp the instrument 300. At least three tracer elements 22 are provided on the navigation array 2. The instrument 300 is clamped and fixed on the navigation array 2 with the tracer elements 22 through the instrument clamping device 1, so that the pose of the instrument 300 can be calculated by the optical navigation camera 200 according to the coordinates of the tracer elements 22.

[0055] Please refer to together Figures 2 to 9, the instrument clamping device 1 provided in the embodiments of the present application will now be described. The instrument clamping device 1 is used to be installed on the navigation array 2 to clamp the instrument 300. The instrument clamping device 1 includes a main clamp body 11, a sub-clamp body 12, and an adjusting member 13. The main clamp body 11 includes an installation portion 111 and a clamping portion 112 that are connected to each other; the sub-clamp body 12 is slidably connected to the installation portion 111 and is disposed opposite to the clamping portion 112; the adjusting member 13 is respectively connected to the sub-clamp body 12 and the clamping portion 112, and one of the sub-clamp body 12 and the clamping portion 112 is threadedly connected to the adjusting member 13; the adjusting member 13 can be rotated to drive the sub-clamp body 12 to linearly move closer to or away from the clamping portion 112.

[0056] Among them, the main clamp body 11 is connected to the navigation array 2. Specifically, the installation portion 111 is connected to the navigation array 2. The main clamp body 11 serves as a support main body for the sub-clamp body 12 and the adjusting member 13. Through the main clamp body 11, the sub-clamp body 12 and the adjusting member 13 can be installed on the navigation array 2. The connection between the installation portion 111 and the clamping portion 112 can be an integral connection or a split connection. For example, it can be connected by welding, screw locking connection, or interference fit connection to ensure that the installation portion 111 and the clamping portion 112 can be relatively fixed and no relative movement will occur.

[0057] The sub-clamp body 12 is disposed opposite to the clamping portion 112. A clamping space for clamping the instrument 300 is formed at an interval between the sub-clamp body 12 and the clamping portion 112 along the first direction X. The sub-clamp body 12 is slidably connected to the installation portion 111. Specifically, the installation portion 111 is fixedly installed on the navigation array 2, and the sub-clamp body 12 slides on the installation portion 111 under the drive of the adjusting member 13, and the sub-clamp body 12 slides along the first direction X. During the sliding process of the sub-clamp body 12, the clamping space between the sub-clamp body 12 and the clamping portion 112 is changed, so that instruments 300 with different diameters can be clamped.

[0058] One of the sub-clamp body 12 and the clamping portion 112 is threadedly connected to the adjusting member 13. For example, when the sub-clamp body 12 is threadedly connected to the adjusting member 13, when the adjusting member 13 is rotated, since a sliding fit is formed between the sub-clamp body 12 and the installation portion 111, the rotational movement of the adjusting member 13 will be converted into a linear movement of the sub-clamp body 12, so that the clamping space between the sub-clamp body 12 and the clamping portion 112 can be adjusted. In addition, when the clamping portion 112 is threadedly connected to the adjusting member 13, when the adjusting member 13 is rotated, since the clamping portion 112 is fixed on the navigation array 2 through the installation portion 111, the position of the clamping portion 112 is fixed, and the adjusting member 13 threadedly connected to the clamping portion 112 moves axially while rotating. At this time, the sub-clamp body 12 can be installed on the adjusting member 13, and the sub-clamp body 12 is slidably connected to the installation portion 111, so that the sub-clamp body 12 can be driven by the adjusting member 13 to slide relative to the clamping portion 112.

[0059] The instrument clamping device 1 provided by the embodiment of the present application has the sub-clamp body 12 slidably connected to the mounting portion 111 and disposed opposite to the clamping portion 112, and one of the sub-clamp body 12 and the clamping portion 112 is threadedly connected to the adjusting member 13. Thus, by rotating the adjusting member 13, the sub-clamp body 12 can be driven to move linearly to approach or move away from the clamping portion 112, so as to clamp instruments 300 with different diameters. Among them, since the sub-clamp body 12 is disposed opposite to the clamping portion 112, and the sub-clamp body 12 moves to approach or move away from the clamping portion 112, that is, the sub-clamp body 12 and the clamping portion 112 are parallelly clamped on opposite sides of the instrument 300, the clamping force distribution of each part of the sub-clamp body 12 on the instrument 300 is uniform, and the clamping force distribution of each part of the clamping portion 112 on the instrument 300 is uniform. Therefore, the instrument 300 can be clamped firmly and stably. In addition, the adjusting member 13 is connected to the sub-clamp body 12 and the clamping portion 112 by a threaded connection, and the threaded connection has a locking function, which further strengthens the clamping firmness of the instrument 300. In addition, during use, only by rotating the adjusting member 13, the clamping of the instrument 300 can be realized, and the operation is simple and convenient.

[0060] In the present application, there are many connection methods among the adjusting member 13, the sub-clamp body 12 and the clamping portion 112, and examples will be given in turn below for explanation.

[0061] Embodiment 1:

[0062] In this embodiment, please refer to Figures 2 to 4 , the adjusting member 13 is threadedly connected to the sub-clamp body 12, the adjusting member 13 is limitedly connected to the clamping portion 112 in the axial direction of the adjusting member 13, and the adjusting member 13 is rotatably connected to the clamping portion 112 in the circumferential direction around the axis of the adjusting member 13. When the adjusting member 13 is rotated, since a sliding fit is formed between the sub-clamp body 12 and the mounting portion 111, the rotational movement of the adjusting member 13 will be converted into a linear movement of the sub-clamp body 12, so that the clamping space between the sub-clamp body 12 and the clamping portion 112 can be adjusted. In addition, during the rotation of the adjusting member 13, since the adjusting member 13 is rotatably connected to the clamping portion 112, the rotational movement of the adjusting member 13 will not drive the clamping portion 112 to rotate. In addition, since the adjusting member 13 is limitedly connected to the clamping portion 112, the axial movement of the sub-clamp body 12 will not drive the adjusting member 13 to move. Generally speaking, by respectively limiting the sub-clamp body 12 and the adjusting member 13 through the mounting portion 111 and the clamping portion 112, only one of the sub-clamp body 12 and the adjusting member 13 in the threaded fit can move, and the other can only rotate.

[0063] In this embodiment, please refer to Figure 3, a first threaded hole 121 is formed on the secondary clamping body 12, a first mounting hole 1121 is formed on the clamping portion 112, the adjusting member 13 is axially disposed through the first threaded hole 121 and the first mounting hole 1121 in sequence, threads are provided at the position of the adjusting member 13 corresponding to the first threaded hole 121, the surface of the adjusting member 13 corresponding to the first mounting hole 1121 is smooth, and the axis of the adjusting member 13 is parallel to the first direction X.

[0064] In this embodiment, please refer to Figure 3 , a first mounting hole 1121 is formed on the clamping portion 112, and the adjusting member 13 is rotatably connected to the first mounting hole 1121; the instrument clamping device 1 further includes a limiting member 14, and the limiting member 14 cooperates with the clamping portion 112 and the adjusting member 13 respectively to form a limiting connection between the adjusting member 13 and the clamping portion 112 in the axial direction of the adjusting member 13. Among them, the setting of the first mounting hole 1121 can form a rotatable connection with the adjusting member 13, so that the adjusting member 13 can rotate relative to the clamping portion 112. The setting of the limiting member 14 can axially limit the adjusting member 13 to prevent the adjusting member 13 from moving along with the secondary clamping body 12.

[0065] Specifically, the adjusting member 13 and the first mounting hole 1121 are in a high-precision and low-friction fit, reducing the resistance while avoiding jamming of the adjusting member 13.

[0066] In this embodiment, the secondary clamping body 12 reciprocates along the main clamping body 11 to loosen and clamp the instrument 300. After clamping the instrument 300, the hexagon structure at the head of the adjusting member 13 is used to lock the instrument 300, and self-locking is achieved through the thread pre-tightening force. It should be noted that the thread directions of the adjusting member 13 and the secondary clamping body 12 are reverse threads. In this way, when the adjusting member 13 is tightened clockwise, the secondary clamping body 12 clamps the instrument 300, which conforms to ergonomics.

[0067] In this embodiment, please refer to Figure 3 , a first limiting groove 131 is formed on the adjusting member 13, the limiting member 14 is installed on the clamping portion 112 and cooperates with the first limiting groove 131 to form a limiting connection between the adjusting member 13 and the clamping portion 112, that is, the limiting member 14 is used as a part of the clamping portion 112, and a limiting connection is formed between the limiting member 14 and the first limiting groove 131 on the adjusting member 13. During assembly, first pass the adjusting member 13 through the first mounting hole 1121, then install the limiting member 14 into the clamping portion 112, and make the limiting member 14 insert into the first limiting groove 131 to form a limiting connection with the first limiting groove 131.

[0068] Specifically, the first mounting hole 1121 is a blind hole. The end of the adjusting member 13 is inserted into the first mounting hole 1121 and hidden therein, thereby improving the situation where the end of the adjusting member 13 extends outside the secondary clamping body 12 and affects the appearance. It can be understood that in other embodiments, the adjusting member 13 can also be arranged to penetrate through the first mounting hole 1121. For example, the end face of the adjusting member 13 can be flush with an outer side face of the clamping portion 112 facing away from the secondary clamping body 12, or the end face of the adjusting member 13 can protrude from the outer side face of the secondary clamping body 12.

[0069] In this embodiment, the first limiting groove 131 is an annular groove formed on the outer peripheral wall of the adjusting member 13, and the first limiting groove 131 extends along the circumferential direction of the adjusting member 13. One end of the limiting member 14 is formed with a U-shaped groove. One end of the limiting member 14 is sleeved on the position of the adjusting member 13 corresponding to the first limiting groove 131, and at least part of the limiting member 14 is inserted into the first limiting groove 131. The width of the limiting member 14 in the first direction X is adapted to the width of the first limiting groove 131 in the first direction X, so that the limiting along the first direction X can be formed by the insertion of the limiting member 14 and the first limiting groove 131. In addition, the U-shaped groove of the limiting member 14 is arranged. On the one hand, it can increase the limiting connection area between the limiting member 14 and the first limiting groove 131 along the circumferential direction of the first limiting groove 131, thereby ensuring the limiting ability of the limiting member 14 to the adjusting member 13. On the other hand, through the opening design of the U-shaped groove, the U-shaped groove can be sleeved outside the adjusting member 13, which is convenient for assembly.

[0070] In one embodiment, please refer to Figure 3 , an installation groove extending in the second direction Y is formed on the clamping portion 112. The second direction Y is perpendicular to the first direction X, and the installation groove is vertically communicated with the first mounting hole 1121. The limiting member 14 is inserted into the installation groove from the second direction Y and extends into the first mounting hole 1121 to be in limiting connection with the adjusting member 13.

[0071] In one embodiment, please refer to Figure 3 and Figure 4 , a locking member 15 is further installed on the clamping portion 112. The locking member 15 is threadedly installed in the clamping portion 112, and the locking member 15 is used to abut against the outer side wall of the limiting member 14 to lock the limiting member 14 in the clamping portion 112. Among them, since the limiting member 14 needs to be installed after the adjusting member 13 is installed, because the limiting member 14 needs to be detachably arranged on the clamping portion 112, and at the same time, in order to ensure the firm installation of the limiting member 14 on the clamping portion 112, the locking member 15 is provided to lock the limiting member 14.

[0072] Specifically, a locking hole perpendicular to the installation groove is formed on the clamping portion 112. The locking hole penetrates through the outer side surface of the clamping portion 112. The locking member 15 is threadedly installed in the locking hole. Rotating the locking member 15 causes the locking member 15 to move in a direction perpendicular to the limiting member 14, thereby pressing and fixing the limiting member 14.

[0073] In this embodiment, the locking member 15 fixes the limiting member 14 by pressing, so that holes do not need to be opened on the limiting member 14. At the same time, the locking member 15 can be received in the clamping portion 112, making the surface of the instrument clamping device 1 neat and beautiful. It can be understood that in other embodiments, the limiting member 14 can also be installed by screwing a screw, which is not uniquely limited here. In this embodiment, please refer to Figure 2 and Figure 4 , a sliding groove 1111 is formed on the installation portion 111, and a sliding portion 122 is formed on the secondary clamping body 12. The sliding portion 122 is slidably disposed in the sliding groove 1111. Among them, the design of the sliding groove 1111 can limit the rotation of the secondary clamping body 12 and at the same time provide guidance for the linear motion of the secondary clamping body 12. At the same time, the sliding groove 1111 is hollowed out on the installation portion 111, effectively reducing the weight of the instrument, reducing the size of the parts, and making the instrument more portable.

[0074] Specifically, the sliding groove 1111 is arc-shaped, and the sliding portion 122 is also arc-shaped. The sliding groove 1111 and the sliding portion 122 are in clearance fit to avoid shaking with each other on the premise of ensuring sliding.

[0075] Embodiment 2:

[0076] All the technical features of the instrument clamping device 1 in this embodiment are basically the same as all the technical features of the instrument clamping device 1 in Embodiment 1. The difference is that: in this embodiment, please refer to Figure 5 and Figure 6 , the clamping portion 112 is formed with a second limiting groove 1122. The limiting member 14 is installed on the adjusting member 13 and cooperates with the second limiting groove 1122 to form a limiting connection between the adjusting member 13 and the clamping portion 112. In this embodiment, the limiting member 14 is installed on the adjusting member 13 as a part of the adjusting member 13, and then a limiting connection is formed through the limiting member 14 and the second limiting groove 1122 in the clamping portion 112, thereby limiting the axial direction of the adjusting member 13.

[0077] Specifically, please refer to Figure 5 and Figure 6, the limiter 14 is fixedly connected to the adjusting member 13, that is, after the limiter 14 and the adjusting member 13 are installed, there is no relative movement between the limiter 14 and the adjusting member 13. Optionally, the limiter 14 is sleeved on the end of the adjusting member 13, and the limiter 14 is fixed to the end of the adjusting member 13 by welding. Alternatively, the limiter 14 can be installed on the adjusting member 13 by a first pin that passes through the limiter 14 and the adjusting member 13 transversely, or the limiter 14 can be glued.

[0078] The second limiting groove 1122 is connected to the first mounting hole 1121 and is coaxially arranged. The inner diameter of the second limiting groove 1122 is larger than the inner diameter of the first mounting hole 1121. A first step 1123 is formed between the second limiting groove 1122 and the first mounting hole 1121. The limiting member 14 is received in the second limiting groove 1122. The limiting member 14 is sleeved on the adjusting member 13 and stops at the first step 1123. A second step 132 is formed on the outer peripheral wall of the adjusting member 13. The second step 132 abuts against the end face of the clamping portion 112 away from the first step 1123. In this way, the axial limiting of the adjusting member 13 can be achieved by the first step 1123, the end face of the clamping portion 112, the second step 132 and the limiting member 14.

[0079] In this embodiment, the outer diameter of the limiting member 14 is smaller than the inner diameter of the second limiting groove 1122 , so as to avoid structural interference between the limiting member 14 and the clamping portion 112 when the limiting member 14 rotates along with the adjusting member 13 .

[0080] In this embodiment, the adjusting member 13 is a screw having a head and a tail. A nut is formed on the head to facilitate rotation operation. The tail of the adjusting member 13 is matched with the first mounting hole 1121 with a small gap, so that the adjusting member 13 can rotate relative to the clamping portion 112, and the rotation is stable.

[0081] Embodiment three:

[0082] All technical features of the instrument clamping device 1 in this embodiment are substantially the same as those of the instrument clamping device 1 in the first embodiment, except that: in this embodiment, refer to Figures 7 to 10 The head end of the adjusting member 13 is threadedly connected to the clamping portion 112, and the tail end of the adjusting member 13 is connected to the auxiliary clamping body 12 in a rotational connection and a limited connection. When the adjusting member 13 is rotated, since the adjusting member 13 is threadedly connected to the clamping portion 112 and the clamping portion 112 is fixedly arranged, the adjusting member 13 will move axially while rotating. Since the adjusting member 13 is connected to the auxiliary clamping body 12 in a rotational connection, the auxiliary clamping body 12 will not rotate with the adjusting member 13, but the auxiliary clamping body 12 is connected to the adjusting member 13 in a limited connection, so the auxiliary clamping body 12 will move axially with the adjusting member 13, thereby driving the auxiliary clamping body 12 to approach or move away from the clamping portion 112, thereby clamping or releasing the device 300.

[0083] In this embodiment, please refer to Figure 4 , a second mounting hole 123 is provided on the secondary clamp body 12, and the tail end of the adjusting member 13 passes through the second mounting hole 123 to form a rotational connection; a limiting ring 16 is further installed at the tail end of the adjusting member 13, and the limiting ring 16 forms a limiting connection with the secondary clamp body 12. During assembly, first pass the tail end of the adjusting member 13 through the second mounting hole 123, and then fixedly sleeved the limiting ring 16 on the tail end of the adjusting member 13. The limiting ring 16 and the secondary clamp body 12 are axially abutted to form axial limitation.

[0084] Specifically, the second mounting hole 123 is a through hole, the adjusting member 13 is disposed through the second mounting hole 123, and the tail end of the adjusting member 13 and the second mounting hole 123 are in precise shaft-hole fit so that the adjusting member 13 can rotate relative to the secondary clamp body 12.

[0085] Specifically, the limiting ring 16 is sleeved on the position where the adjusting member 13 extends out of the secondary clamp body 12, the limiting ring 16 abuts against the end face of the secondary clamp body 12 away from the clamping portion 112, and the two are in loose fit. At the same time, a third step 133 is further formed on the adjusting member 13, and the third step 133 abuts against the end face of the secondary clamp body 12 facing the clamping portion 112, and the two are in loose fit. Thus, the axial directions of the adjusting member 13 and the secondary clamp body 12 can be limited jointly by the limiting ring 16, the two end faces of the secondary clamp body 12 and the third step 133.

[0086] In this embodiment, the limiting ring 16 is sleeved on the adjusting member 13 and fixed on the adjusting member 13 by a second pin 17, which is convenient for disassembly and assembly. In other embodiments of the present application, the limiting ring 16 can also be locked on the adjusting member 13 by a screw, or the limiting ring 16 is welded on the adjusting member 13, or the limiting ring 16 and the adjusting member 13 are connected by interference fit, and no unique limitation is made here.

[0087] In this embodiment, please refer to Figure 4 , a sliding portion 122 is formed on the secondary clamp body 12, and a sliding groove 1111 is formed on the mounting portion 111, and the sliding portion 122 is in sliding fit with the sliding groove 1111. Specifically, sliding grooves 1111 are respectively formed on two opposite outer sides of the mounting portion 111, the secondary clamp body 12 is formed with two relatively spaced sliding portions 122, and the two sliding portions 122 are respectively slidably disposed in the two sliding grooves 1111.

[0088] During the operation, it is often necessary to navigate multiple instruments 300 successively. For example, during orthopedic spinal disc fusion surgery, a retractor, a scraper, and an implantator need to be used successively. In order to navigate the retractor, the scraper, and the implantator without confusing the optical navigation camera 200, usually, multiple navigation arrays 2 need to be designed for distinction, such as the retractor navigation array 2, the scraper navigation array 2, and the implantator navigation array 2.

[0089] Among them, the navigation array 2 is connected to the instrument clamping device 1, and the instrument clamping device 1 clamps the instrument 300, thereby forming an instrument navigation device 100 that can be tracked in real time by the optical navigation camera 200. Suppose there are three specifications of S / M / L for the instrument clamping device 1 corresponding to the retractor navigation array 2A. If the navigation array 2 and the instrument clamping device 1 are designed as non-detachable connections. Then three instrument navigation devices 100 of A-S, A-M, and A-L need to be formed. If there are 8 navigation arrays 2 such as A to H in the instrument 300 package, then 3*8 = 24 instrument navigation devices 100 are required, and the cost is too high.

[0090] To solve the above problems, in this application, the instrument clamping device 1 and the navigation array 2 are designed as detachable connections. During the operation, only the corresponding instrument clamping device 1 needs to be connected to the navigation array 2 to realize the corresponding relationship between the instrument 300 and the instrument navigation device 100. The multi-specification instrument clamping device 1 is adapted to multiple navigation arrays 2, with a wide range of applications, convenient replacement, improved surgical efficiency, and saved surgical time.

[0091] Specifically, there are many ways to realize the detachable connection between the instrument clamping device 1 and the navigation array 2. The following is an example:

[0092] Embodiment 4:

[0093] Please refer to Figure 10 , the instrument clamping device 1 and the navigation array 2 are threadedly sleeved. For example, a threaded post 23 is formed on the navigation array 2, a connecting post 113 is formed on the instrument clamping device 1, a second threaded hole is formed in the connecting post 113, and the threaded post 23 is threadedly sleeved with the connecting post 113 to form a detachable connection between the instrument clamping device 1 and the navigation array 2. Only by rotating the instrument clamping device 1 can it be disassembled and assembled. The operation is convenient, and rapid disassembly and assembly can be realized, shortening the replacement time and improving the surgical efficiency.

[0094] In practical applications, when the instrument 300 is selected, the direction of the instrument 300 is determined. To ensure that the navigation array 2 can always be captured by the optical navigation camera 200, it is necessary to ensure that the orientation of the navigation array 2 remains unchanged after each assembly. In this embodiment, the orientation of the navigation array 2 can be maintained by the self-locking force of the thread, and by fixing the starting direction of the thread, the repeatability of disassembly and assembly can be ensured, and the orientation remains unchanged after each disassembly and assembly.

[0095] In addition, in this embodiment, in order to facilitate the distinction of the navigation array 2, a color block 27 is also provided on the navigation array 2 to distinguish the navigation array 2 by color.

[0096] Embodiment Five:

[0097] All the technical features of the instrument navigation device 100 in this embodiment are basically the same as those of the instrument navigation device 100 in Embodiment Four. The difference is that in this embodiment, please refer to Figure 11 and Figure 12 , the instrument clamping device 1 is formed with a first limiting portion, the navigation array 2 is formed with a second limiting portion, and the first limiting portion and the second limiting portion are connected in a limiting manner to form a circumferential limit between the instrument clamping device 1 and the bracket of the navigation array 2; the instrument navigation device 100 further includes a threaded rod 3, and the threaded rod 3 passes through the navigation array 2 and is threadedly connected to the instrument clamping device 1.

[0098] During assembly, first form a limiting connection through the first limiting portion and the second limiting portion, and then pass the threaded rod 3 through the navigation array 2 and threadedly connect it to the instrument clamping device 1, so as to lock the instrument clamping device 1 and the navigation array 2 together. In this solution, since a circumferential limit has been formed between the instrument clamping device 1 and the navigation array 2 before rotating the threaded rod 3, that is, to prevent the navigation array 2 from rotating relative to the instrument clamping device 1, the relative position between the instrument clamping device 1 and the navigation array 2 is ensured, thus ensuring the relative position between the navigation array 2 and the instrument 300, so as to ensure that the navigation array 2 can be captured by the optical navigation camera 200 each time, and the navigation accuracy is ensured. In addition, when locking, only the threaded rod 3 needs to be rotated to lock the instrument clamping device 1 and the navigation array 2, and the orientation of the navigation array 2 will not be changed. And the operation is convenient, rapid disassembly and assembly can be realized, the replacement time is shortened, and the surgical efficiency is improved.

[0099] In this embodiment, please refer to Figure 11 , a first through hole is formed at the center of the navigation array 2, and a third threaded hole is formed on the instrument clamping device 1. During assembly, the threaded rod 3 is passed through the first through hole and inserted into the third threaded hole to be locked and connected to the third threaded hole.

[0100] In this embodiment, please refer to Figure 11The instrument clamping device 1 is formed with a plurality of first limiting portions spaced apart along the circumferential direction and asymmetrically arranged, and the navigation array 2 is formed with a plurality of second limiting portions spaced apart along the circumferential direction and asymmetrically arranged, and each first limiting portion is plugged in and matched with each second limiting portion in a one-to-one correspondence, thereby forming a circumferential limiting of the instrument clamping device 1 and the navigation array 2, and can achieve a fool-proof effect, prevent the navigation array 2 from being installed upside down, and keep the orientation of the navigation array 2 and the instrument clamping device 1 relatively unchanged each time they are disassembled and assembled.

[0101] In this example, see Figure 11 and Figure 12 The first limiting portion is a protrusion 241, and the second limiting portion is a groove 1141, and the protrusion 241 and the groove 1141 form a plug-in fit along the axial direction of the threaded rod 3. It can be understood that in other embodiments, the first limiting portion can also be a groove 1141, and the second limiting portion can be a protrusion 241, which is not the only limitation here.

[0102] In this example, see Figure 11 and Figure 12 , the navigation array 2 extends a first connecting tube 24 toward the instrument clamping device 1, the first connecting tube 24 is connected to the first through hole, the instrument clamping device 1 extends a second connecting tube 114 toward the navigation array 2, the protrusion 241 extends from the axial end surface of the first connecting tube 24 toward the instrument clamping device 1, the groove 1141 is formed on the end surface of the second connecting tube 114, and a third threaded hole is formed in the second connecting tube 114. During assembly, the threaded rod 3 is first passed through the first through hole and the first connecting tube 24, and the end of the threaded rod 3 is extended out of the first connecting tube 24, and then the first connecting tube 24 and the second connecting tube 114 are axially close to each other, and each protrusion 241 is plugged into each groove 1141 one by one, and after being plugged in place; the end of the threaded rod 3 is inserted into the third threaded hole, and the threaded rod 3 is rotated until the navigation array 2 and the instrument clamping device 1 are locked.

[0103] In addition, in this embodiment, in order to facilitate the distinction of the navigation arrays 2, a color block 27 is provided at one end of the threaded rod 3 away from the instrument clamping device 1, so as to distinguish the navigation arrays 2 by color.

[0104] Embodiment six:

[0105] All technical features of the instrument navigation device 100 in this embodiment are substantially the same as those of the instrument navigation device 100 in the fourth embodiment, except that: in this embodiment, refer to Figure 13 and Figure 14, a connecting shaft 25 is provided on the navigation array 2, a sleeve 115 is provided on the instrument clamping device 1, and the sleeve 115 is sleeved on the connecting shaft 25; one of the connecting shaft 25 and the sleeve 115 forms a limit pin 26, and the other of the connecting shaft 25 and the sleeve 115 forms a third limit groove 1151, and the limit pin 26 and the third limit groove 1151 form a rotational snap connection; the instrument navigation device 100 further includes an elastic member 4, and the elastic member 4 abuts between the connecting shaft 25 and the sleeve 115 to keep the limit pin 26 and the third limit groove 1151 in snap connection.

[0106] Among them, the rotational snap connection is arranged such that the connecting shaft 25 and the sleeve 115 can be snap-connected and can form circumferential limitation. At the same time, the arrangement of the elastic member 4 can ensure the snap connection between the connecting shaft 25 and the sleeve 115 through the elastic force, so that the instrument clamping device 1 and the navigation array 2 are firmly and stably connected and should not shake significantly.

[0107] In this embodiment, the limit pin 26 is formed on the outer wall of the connecting shaft 25, and the axial direction of the limit pin 26 is perpendicular to the axial direction of the connecting shaft 25. The third limit groove 1151 is formed on the side wall of the sleeve 115, the third limit groove 1151 is U-shaped, and the third limit groove 1151 includes a clamping section 1152, a connecting section 1153 and a clamping section 1154 which are sequentially bent and connected. The clamping section 1152 extends axially from the end face of the sleeve 115 facing the connecting shaft 25 in a direction away from the connecting shaft 25. The clamping section 1154 is arranged in parallel and spaced from the clamping section 1152. The connecting section 1153 is connected between the bottom end of the clamping section 1152 and the bottom end of the clamping section 1154, and the top end of the clamping section 1154 is closed. During assembly, the connecting shaft 25 is inserted into the sleeve 115, and the limit pin 26 is snapped into the third limit groove 1151 from the top end of the clamping section 1152 until the limit pin 26 moves to the bottom end of the clamping section 1152, and then the connecting shaft 25 is rotated so that the limit pin 26 slides on the connecting section 1153 to the bottom end of the clamping section 1154. At this time, the elastic member 4 is in a compressed state. Under the elastic force of the elastic member 4, the limit pin 26 is snapped into the top end of the clamping section 1154 from the bottom end of the clamping section 1154, thereby forming the connection between the connecting shaft 25 and the sleeve 115, and the connection is firm.

[0108] In this embodiment, the elastic member 4 is a spring, and the elastic member 4 is sleeved on the connecting shaft 25. Before assembly, the elastic member 4 abuts against the stop pin 26 and the side of the navigation array 2 facing the instrument clamping device 1. In the clamping state, the elastic member 4 abuts between the connecting shaft 25 and the top surface of the sleeve 115. When the connecting shaft 25 is inserted into the sleeve 115, and the stop pin 26 slides from the connecting section 1153 to the bottom end of the clamping section 1154, the spring abuts between the side of the navigation array 2 facing the instrument clamping device 1 and the end surface of the sleeve 115, and the spring has a downward pushing force on the sleeve 115, so that the stop pin 26 can remain abutted against the bottom end of the clamping section 1154. It can be understood that in other embodiments of the present application, the elastic member 4 can also be a disc spring or other elastic structure.

[0109] In this embodiment, the connecting shaft 25 and the sleeve 115 are clearance-fitted, ensuring that the two can rotate relative to each other without obvious shaking.

[0110] In other embodiments, in order to increase the contact area of ​​the spring, a washer may be provided between the spring and the limit pin 26, and the spring abuts against the washer, thereby increasing the contact area between the washer and the sleeve 115, thereby making the connection more stable and reliable.

[0111] In this embodiment, the navigation array 2 includes an array board 21 and at least three tracing elements 22 disposed on the array board 21. A mounting hole is disposed at the center of the array board 21, and a connecting shaft 25 is locked at the mounting hole by a countersunk screw. A color block 27 is also disposed in the mounting hole, and the color block 27 is disposed on a side of the connecting shaft 25 away from the sleeve 115.

[0112] Embodiment seven:

[0113] All technical features of the instrument navigation device 100 in this embodiment are substantially the same as those of the instrument navigation device 100 in the sixth embodiment, except that: in this embodiment, refer to Figures 15 to 17 The elastic member 4 is received in the sleeve 115, and in the clamping state, the elastic member 4 abuts between the bottom end surface of the sleeve 115 and the bottom end surface of the connecting shaft 25. In this embodiment, the elastic member 4 is received in the sleeve 115, so that the elastic member 4 can be prevented from being damaged due to exposure, and the surface of the entire instrument navigation device 100 is neat and beautiful.

[0114] In this example, see Figure 17 , the elastic member 4 is a cylindrical spring. It can be understood that in other embodiments of the present application, the elastic member 4 can also be a disc spring or other elastic member 4, which is not limited here.

[0115] In this example, see Figures 15 to 17, a slider 5 is arranged inside the sleeve 115. The slider 5 is axially slidably limited in the sleeve 115. The top end of the elastic member 4 abuts against the slider 5, and the slider 5 abuts against the bottom end of the connecting shaft 25. Among them, the arrangement of the slider 5 can limit the elastic member 4 in the sleeve 115 and prevent the elastic member 4 from being pulled out of the sleeve 115 before assembly. It can be understood that in other embodiments, the bottom end of the elastic member 4 can also be fixed to the bottom of the sleeve 115 by welding or other means, and then the slider 5 may not be provided.

[0116] In this embodiment, please refer to Figure 15 , at least two guiding columns 51 are formed on the outer edge of the slider 5 at intervals. At least two axially extending guiding grooves 1155 are formed on the side wall of the sleeve 115. Each guiding column 51 is slidably arranged in each guiding groove 1155 correspondingly. During the telescopic process of the elastic member 4, the guiding column 51 is slidably arranged in the guiding groove 1155, so that the elastic member 4 can be limited, and the abutting force of the elastic member 4 on the connecting shaft 25 will not be affected.

[0117] In addition, when the limit pin 26 is inserted into the third limit groove 1151, its retraction stroke needs to be considered. At this time, it should be ensured that the slider 5 is still within its stroke.

[0118] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An instrument clamping device (1), characterized in that, Comprising: A main clamp body (11), including a mounting part (111) and a clamping part (112) which are connected to each other; A sub-clamp body (12), slidably connected to the mounting part (111) and disposed opposite to the clamping part (112); An adjusting member (13), connected to the sub-clamp body (12) and the clamping part (112) respectively, and one of the sub-clamp body (12) and the clamping part (112) is threadedly connected to the adjusting member (13); the adjusting member (13) can be rotated to drive the sub-clamp body (12) to move linearly to approach the clamping part (112) or move away from the clamping part (112).

2. The instrument clamping device (1) according to claim 1, characterized in that, The adjusting member (13) is threadedly connected to the sub-clamp body (12), and the adjusting member (13) is limit-connected to the clamping part (112) in the axial direction of the adjusting member (13), and the adjusting member (13) is rotationally connected to the clamping part (112) in the circumferential direction around the axis of the adjusting member (13).

3. The instrument clamping device (1) according to claim 2, wherein, The clamping part (112) is formed with a first mounting hole (1121), and the adjusting member (13) is rotationally connected to the first mounting hole (1121); The instrument clamping device (1) further includes a limiting member (14), and the limiting member (14) cooperates with the clamping part (112) and the adjusting member (13) respectively to form a limit connection between the adjusting member (13) and the clamping part (112) in the axial direction of the adjusting member (13).

4. The instrument clamping device (1) according to claim 3, characterized in that, A first limiting groove (131) is formed on the adjusting member (13), and the limiting member (14) is installed on the clamping part (112) and cooperates with the first limiting groove (131) to form a limit connection between the adjusting member (13) and the clamping part (112); Alternatively, the clamping part (112) is formed with a second limiting groove (1122), and the limiting member (14) is installed on the adjusting member (13) and cooperates with the second limiting groove (1122) to form a limit connection between the adjusting member (13) and the clamping part (112).

5. The instrument clamping device (1) according to claim 1, characterized in that, The head end of the adjusting member (13) is threadedly connected to the clamping part (112), and the tail end of the adjusting member (13) forms a rotational connection and a limit connection with the sub-clamp body (12).

6. The instrument clamping device (1) according to claim 5, characterized in that, A second mounting hole (123) is provided on the sub-clamp body (12), and the tail end of the adjusting member (13) passes through the second mounting hole (123) and forms a rotational connection; a limiting ring (16) is further installed at the tail end of the adjusting member (13), and the limiting ring (16) forms a limit connection with the sub-clamp body (12).

7. An instrument navigation device (100), characterized in that, Comprising a navigation array (2) and the instrument clamping device (1) according to any one of claims 1 to 6, the navigation array (2) is connected to the instrument clamping device (1), and at least three tracing elements (22) are provided on the navigation array (2).

8. The instrument navigation device (100) according to claim 7, characterized in that, The instrument clamping device (1) is formed with a first limiting part, and the navigation array (2) is formed with a second limiting part. The first limiting part and the second limiting part are inserted and cooperated to form a circumferential limit between the instrument clamping device (1) and the navigation array (2); The instrument navigation device (100) further includes a threaded rod (3), and the threaded rod (3) penetrates through the navigation array (2) and is threadedly connected to the instrument clamping device (1).

9. The instrument navigation device (100) according to claim 7, characterized in that, A connecting shaft (25) is provided on the navigation array (2), and a sleeve (115) is provided on the instrument clamping device (1). The sleeve (115) is sleeved on the connecting shaft (25); a limiting pin (26) is formed on one of the connecting shaft (25) and the sleeve (115), and a third limiting groove (1151) is formed on the other of the connecting shaft (25) and the sleeve (115). The limiting pin (26) and the third limiting groove (1151) form a rotational snap connection; The instrument navigation device (100) further includes an elastic member (4), and the elastic member (4) abuts between the connecting shaft (25) and the sleeve (115) to keep the limiting pin (26) and the limiting groove in a snap connection state.

10. The instrument navigation device (100) according to claim 9, characterized in that, The elastic member (4) is sleeved on the connecting shaft (25), and in the snap connection state, the elastic member (4) abuts between the top end surfaces of the connecting shaft (25) and the sleeve (115).

11. The instrument navigation device (100) according to claim 9, characterized in that, The elastic member (4) is received in the sleeve (115), and in the snap connection state, the elastic member (4) abuts between the bottom end surface of the sleeve (115) and the bottom end surface of the connecting shaft (25).

12. A navigation system, characterized in that, Comprising an optical navigation camera (200), a calculation unit, and the instrument navigation device (100) according to any one of claims 7 to 11, wherein the optical navigation camera (200) is configured to capture the coordinates of each tracer element (22); and the calculation unit is configured to calculate the pose of the instrument navigation device (100) according to the coordinates of each of the tracer elements (22).

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