Surgical instrument for electromagnetic positioning and navigation of orthopedic surgical robot

Abstract

The utility model relates to a surgical instrument for electromagnetically positioning and navigating an orthopedic surgical robot, which comprises a needle body for detecting or fixing bone tissues and provided with a tip for being inserted into the bone tissues and a blunt end for clamping; the positioning sensor device is used for electromagnetic positioning navigation of the orthopedic surgical robot; and a base for mounting the positioning sensor device, the needle body and the positioning sensor device being respectively, directly or indirectly, fixedly connected to the base.

Description

[0001] This application claims priority to Chinese Application No. 202311631949.7, filed December 1, 2023, for all purposes, which is incorporated by reference herein in its entirety. TECHNICAL FIELD

[0002] The present disclosure relates to a surgical instrument for electromagnetic positioning navigation of an orthopedic surgery robot. BACKGROUND

[0003] Robotic assisted orthopedic surgery is an important application of orthopedic surgery robots. In the past, surgeons placed screws in the spine to perform complex spinal surgery with the aid of their hands or a large number of X-ray photos taken during the surgery, which posed a risk of radiation exposure to the patient and the surgeon. In addition, the accuracy of screw placement in spinal surgery is relatively high, and the consequences of placing screws in the wrong or not the most ideal position are very serious.

[0004] Orthopedic surgery robots can provide a guidance system based on computerized preoperative planning, significantly improving accuracy and reducing the risk of misplaced screws. Conventional orthopedic robot spinal pedicle screw placement surgery places a guide needle according to intraoperative planning, and then places a cannulated pedicle screw through the guide needle, ultimately still relying on the surgeon to perform manual drilling and screwing, which is low in efficiency. Existing orthopedic surgery robots are generally equipped with infrared navigation systems, which are easily affected by intraoperative objects, patient or patient support device movement, causing navigation deviation and surgery interruption, etc.

[0005] The present inventor has developed a reference frame for an electromagnetic positioning navigation device of a surgical robot and an electromagnetic positioning navigation system having the same, which can avoid the shortcomings of optical navigation of the surgical robot in the prior art that is easily affected by object obstruction and achieve high-precision navigation.

[0006] It is known in the prior art that an infrared navigation system for a surgical robot generally sets reflective balls for tracking on a separate reference frame, but such a reference frame is relatively far from the surgical area where the surgical operation is to be performed, so that the reflective balls for tracking are also relatively far from the surgical area. Such an arrangement in the infrared navigation system can cause a large error in positioning navigation.

[0007] A bone probe is a commonly used surgical instrument in orthopedics, mainly used for detecting and positioning bones during bone surgery. The main function of the bone probe is to help the doctor accurately locate and detect the bone during the operation. In orthopedic surgery, the doctor needs to accurately find the position of the bone in order to perform the operation. The bone probe can be inserted into the bone gently to help the doctor perceive the position and shape of the bone. The doctor can judge the hardness, stability and structure of the bone according to the feedback of the bone probe, so as to make correct surgical decisions. In some complex orthopedic surgeries, the doctor needs to accurately locate the specific part of the bone, such as the position of the fracture or the center point of the joint. The bone probe can help the doctor find the target position by inserting into the bone and further operating. In addition to the application in surgery, the bone probe can also be used for the examination and evaluation of the bone. The doctor can perceive the hardness and stability of the bone by inserting the bone probe, and evaluate the health status of the bone. This is very important for orthopedic doctors, as it can help them develop appropriate treatment plans and surgical plans. Utility model content

[0008] The technical problem to be solved by the utility model is to provide a surgical instrument for electromagnetic positioning and navigation of an orthopedic surgery robot, which can improve the positioning and navigation accuracy of the orthopedic surgery robot or allow the orthopedic surgeon to plan and adjust the operation in real time.

[0009] The technical problem is solved by a surgical instrument for electromagnetic positioning and navigation of an orthopedic surgery robot, according to the disclosure, the surgical instrument comprises: a needle body for detecting or fixing bone tissue, having a sharp end for inserting into bone tissue and a blunt end for clamping; a positioning sensor device for electromagnetic positioning and navigation of an orthopedic surgery robot; and a base for mounting the positioning sensor device, wherein the needle body and the positioning sensor device are directly or indirectly fixedly connected with the base. By using the surgical instrument for electromagnetic positioning and navigation of the surgical robot, it can be suitable for minimally invasive and open surgery, the needle body is inserted into the bone tissue more stably and suitable for various orthopedic surgery scenes, including spine, knee and pelvis, etc., and the positioning and navigation accuracy of the surgical robot can be improved because they are usually close to the operation site.

[0010] In the extended scheme of the utility model, it is provided that the base has a top side, a bottom side and a peripheral side, and notches are provided on at least part of the top side and the peripheral side, the notches are designed to accommodate the positioning sensor device so that the positioning sensor device is fixedly positioned with the needle body.

[0011] In another extended design scheme, the fixed connection of the positioning sensor device and the base is realized by at least one first pin connection device.

[0012] According to the present disclosure, the at least one first pin connection device preferably comprises a first hole in the positioning sensor device, a second hole in the base and a separate pin, respectively.

[0013] As a variant of the above surgical instrument, it can also be provided that between the opposite peripheral sides of the base there is a connecting strip extending on the top side of the base, and a through hole aligned with the first and second holes in the height direction is formed in the connecting strip for the pin and / or needle body to pass through.

[0014] In another extended design, it can be provided that the at least one first pin connection device comprises a first hole in the positioning sensor device and a fixed pin provided on the base, respectively.

[0015] In another extended design, it can be provided that the fixed connection of the positioning sensor device with the base is achieved by at least one first snap connection device.

[0016] Further, the first snap connection device can be designed to comprise a first hole in the positioning sensor device and a first snap element provided on the base, respectively.

[0017] In an extended design, it is provided that the needle body is designed as a Kirschner wire, and a visualization body for registration with an image acquired by a medical imaging device is provided on the base. Thus, the surgical instrument can be suitable for both minimally invasive and open surgery, and due to the fact that the Kirschner wire is more stable in penetrating bone tissue, it is suitable for more orthopedic surgery scenarios, including spine, knee, pelvis, etc., and due to the proximity to the surgical site, it can also improve navigation accuracy.

[0018] In another extended design, it is provided that the surgical instrument further comprises a cover element for covering the positioning sensor device, a third hole for the needle body to pass through is formed in the cover element, and the cover element is fixedly connected with the base by a second snap connection device.

[0019] In a further extended design, it is provided that the second snap connection device comprises at least one snap element and a groove matched with the at least one snap element.

[0020] According to the further preferred present disclosure, the at least one snap element is provided on the peripheral side of the cover element or the peripheral side of the base, and the at least one groove is provided on the peripheral side of the base or the peripheral side of the cover element.

[0021] Additionally or alternatively, a through hole for the needle body to pass through is formed in the base, and further preferably, the needle body passes through the through hole such that in the assembled position of the surgical instrument, the needle body extends perpendicular to the bottom side or the top side of the base.

[0022] In an expanded design variant, the needle body is fixedly connected to the base by means of a second pin connection or adhesive connection.

[0023] In an expanded design variant, the needle body is integrally injection molded with the base.

[0024] In order to also achieve precise electromagnetic positioning navigation in certain surgical scenarios, it is advantageous to provide an additional positioning sensor device in or on the needle body. Since this additional positioning sensor device is closer to the surgical area in the assembled state than the positioning sensor device mounted on the base, a surgical instrument with an additional sensor can achieve more precise electromagnetic navigation positioning.

[0025] In order to more firmly fix the housing instrument according to the disclosure in the bone tissue and to make it less likely to rotate therein, according to the disclosure it is advantageous to design the tip of the needle body as a triangular prism.

[0026] According to the disclosure, it is preferably provided that the blunt end of the needle body is designed with at least two clamping surfaces parallel to each other extending along the axis of the needle body in order to clamp the insertion or removal of the surgical instrument according to the disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0027] The examples are described in detail below with reference to the accompanying drawings, in order to make the more details and advantages of the technical solution of the present utility model more clear. In the drawings, it is shown that:

[0028] Figure 1 is a first embodiment of a surgical instrument according to the disclosure designed as a reference frame device, wherein the base is connected to the positioning sensor device by means of a pin connection;

[0029] Figure 2 is a second embodiment of a surgical instrument according to the disclosure designed as a reference frame device, wherein the base is connected to the positioning sensor device by means of a snap connection;

[0030] Figure 3 is a variant of Figure 1 , wherein the positioning sensor device is inserted from the peripheral side of the base;

[0031] Figure 4 is a third embodiment of a surgical instrument according to the disclosure with a cover;

[0032] Figure 5 is a variant of Figure 4 , wherein the surgical instrument according to the disclosure is designed as a bone probe device;

[0033] Figures 6A-6BThis is a perspective view of a non-limiting embodiment of the needle body according to the present disclosure and a simplified schematic diagram of the needle body equipped with a positioning sensor device;

[0034] Figure 7 These are bottom perspective views of two embodiments of the needle body and base fixedly connected together according to this disclosure. Detailed Implementation

[0035] Referring to the accompanying drawings, wherein the same reference numerals refer to the same parts in multiple views, this disclosure relates to a surgical instrument for electromagnetic positioning and navigation of an orthopedic surgical robot.

[0036] All devices involving needle-like instruments in surgical procedures are included within the scope of the "needle body" referred to in this utility model. In other words, the embodiments illustrated by the surgical instrument 10 of this disclosure are applicable to all needle-like instruments, such as both reference frame devices and bone probes, as long as there is no structural conflict.

[0037] The terms "first," "second," and "third," etc., used in this disclosure do not indicate order or importance, but are only used to distinguish different components / parts. The terms "top side," "bottom side," and "circumferential side," etc., are relative to the corresponding drawings of this disclosure or to the assembled state, and do not mean that the orientation is the same in other perspectives.

[0038] Figure 1 This is a first embodiment of the surgical instrument 10 designed as a reference frame device according to the present disclosure, wherein the left figure shows the surgical instrument 10 in an assembled state, and the right figure shows the surgical instrument 10 in a disassembled state with the sensor device and the base separated. In this first embodiment, the base 11 and the positioning sensor device 12 are fixedly connected by a separate pin 13 (also referred to as a movable pin).

[0039] The surgical instrument 10 may include a needle body 14 for probing or fixing bone tissue, a positioning sensor device 12 for electromagnetic positioning and navigation of an orthopedic surgical robot, and a base 11 for mounting the positioning sensor device 12. The needle body 14 has a pointed end 15 for inserting into bone tissue and a blunt end 16 for clamping (the design of the needle body will be discussed later). Figures 6A-6B (As further explained below), the needle body 14 and the positioning sensor device 12 can be directly or indirectly fixedly connected to the base 11.

[0040] like Figure 1As shown, the base 11 of the surgical instrument 10 has a top side 17, a bottom side 18, and a peripheral side 19 in the plane of this drawing (as shown in the left figure). The base 11 has recesses 20 in at least a portion of the top side 17 and peripheral side 19 (as shown in the right figure) for accommodating the positioning sensor device 12, thereby fixing the positioning sensor device 12 in position with the needle body 14. In the assembled position of the surgical instrument 10 according to this disclosure, the positioning sensor device 12 is particularly shaped to be surrounded by the recesses 20 of the base 11 to prevent the positioning sensor device 12 from moving outwards. In this embodiment, the base 11 is preferably designed as a basin shape with notches 28 on the peripheral side 19 to maintain the fixed position of the positioning sensor device 12 and the needle body 14.

[0041] The surgical instrument 10 according to this disclosure also has a imaging element 21 on its base 11, which can be identified by an imaging device and used for registration with an image acquired by a medical imaging device. The imaging element 21 is preferably located at a notch 28 in the base 11; however, it can also be arranged on the outer periphery 19 of the base 11 or at other locations. The imaging element is preferably designed as a tantalum wire of varying lengths to improve positioning accuracy.

[0042] In this embodiment, in order to restrict the rotational degree of freedom of the positioning sensor device 12, the fixed connection between the positioning sensor device 12 and the base 11 of the surgical instrument 10 according to the present disclosure is achieved by at least one of the two first pin connection devices, which respectively include a first hole 22 in the positioning sensor device 12 and a second hole 23 in the base 11 and an independent pin 13, wherein the first hole 22 and the second hole 23 extend along the height direction, wherein, in the assembly position of the surgical instrument 10 according to the present disclosure, the first hole 22 and the second hole 23 are aligned with each other along their height direction, and in the assembly position of the surgical instrument 10, the independent pin 13 is directly inserted into the first hole 22 and the second hole 23 to achieve positional fixation between the positioning sensor device 12 and the base 11.

[0043] As Figure 1 Alternatively, the first pin connection device may also include a first hole 22 formed in the positioning sensor device 12 and a fixing pin provided on the base 11, or vice versa, a second hole 23 in the base 11 and a fixing pin provided on the positioning sensor device 12, which extend along the height direction and can pass through the first hole 22 in the positioning sensor device 12 during assembly of the surgical instrument 10 according to the present disclosure, so as to realize the pin connection between the base 11 and the positioning sensor device 12. The second embodiment of the surgical instrument 10 has fewer individual parts than the first embodiment and eliminates the process of machining the second hole 23 on the base 11. Therefore, it not only reduces the requirements for parts storage, but also reduces the steps for medical personnel to assemble the surgical instrument 10 before operation, avoiding the risk of assembly errors.

[0044] To avoid repetition, the following will be similar to... Figure 1 The similar parts will not be repeated.

[0045] Figure 2 This is a second embodiment of the surgical instrument 10 designed as a reference frame device according to the present disclosure, wherein the base 11 and the positioning sensor device 12 are connected by a first snap-fit ​​connection device. At least one of these two snap-fit ​​connection devices includes a first hole 22 formed in the positioning sensor device 12 and a first snap-fit ​​member 24 disposed on the base 11, which extends particularly in the height direction, and vice versa, that is, a second hole 23 in the base 11 and a first snap-fit ​​member 24 disposed on the positioning sensor device 12, which, in the assembled state of the surgical instrument 10 according to the present disclosure, extend in the height direction and can pass through the second hole 23 in the base 11 to realize the first snap-fit ​​connection between the base 11 and the positioning sensor device 12.

[0046] and Figure 1 Unlike the alternative embodiment with a retaining pin, the second embodiment of the surgical instrument 10 replaces the retaining pin only with the first snap-fit ​​24, while the design of other parts remains the same as the embodiment with the retaining pin. By using the first snap-fit ​​24, in addition to the advantages of the second embodiment—fewer individual parts and eliminating the need to machine the second hole 23 on the base 11, thus avoiding the risk of assembly errors—it is also easier for medical personnel to know whether the base 11 and the positioning sensor device 12 are assembled correctly, because the first snap-fit ​​24 makes a clicking sound when engaged, thereby ensuring the correct assembly of the surgical instrument used for electromagnetic positioning and navigation of orthopedic surgical robots.

[0047] Figure 3 yes Figure 1 The illustrated embodiment is a variation in which the left figure shows a perspective view of the surgical instrument 10 in its assembled state, the upper right figure is a cross-section cut through the base 11, and the lower right figure is a bottom view of the variation.

[0048] like Figure 3 As shown in the left figure, when the positioning sensor device 12 is fixed to the base 11 using an independent pin 13, i.e., a movable pin, a connecting strip 27 is provided on the aforementioned base 11, especially the basin-shaped base 11 with notches 28 on the peripheral sides 19, to restrict the movement of the positioning sensor device 12 along its height direction. This connecting strip 27 is disposed between the preferably radially opposed peripheral sides 19 of the base 11 and extends to the top side 17 of the base 11. Here, the recess 20 of the base 11 is designed such that, in the assembly position of the surgical instrument 10 according to this disclosure, the positioning sensor device 12 is particularly shaped-fitted to the recess 20 of the base 11, ensuring that the positioning sensor device 12 does not move outwards.

[0049] like Figure 3 As shown in the upper right figure, a through hole 29 is also provided on the connecting strip 27, which is aligned with the first hole 22 and the second hole 23 along the height direction of the base, so that the independent pin 13 and / or needle body 14 can pass through. In the assembly position of the surgical instrument 10, the independent pin 13 passes through the through hole 29 on the top side 17 of the base 11 and is inserted into the first hole 22 and the second hole 23 to realize the fixed connection between the base 11 and the positioning sensor device 12, especially the pin connection.

[0050] like Figure 3 As shown in the lower right figure, at least one, preferably two, holes 41 can be provided in the bottom side 18 of the base 11, through which the base 11 can be positioned on the calibration device.

[0051] Figure 4 According to a third embodiment of the surgical instrument 10 with a cover 30 disclosed herein, in this embodiment, the surgical instrument 10 further includes a cover 30, on which a third hole 36 is provided for the needle body 14 to pass through, and the cover 30 is snapped into connection with the base 11 by at least one, for example two, second snap-fit ​​connecting devices to fix the position of the positioning sensor device 12 and the needle body 14. The two second snap-fit ​​connecting devices are diametrically opposed, and each second snap-fit ​​connecting device includes, for example, two second snap-fit ​​members 25 and grooves 26 respectively matching the second snap-fit ​​members 25. The second snap-fit ​​members 25 are provided, for example, on the periphery 34 of the cover 30, and correspondingly, the grooves 26 are provided on the periphery 19 of the base 11, and vice versa. That is, the second snap-fit ​​members 25 may also be provided on the periphery 19 of the base 11, and correspondingly, the grooves 26 are provided on the periphery 34 of the cover 30.

[0052] from Figure 4 As can be seen from the text, this embodiment is similar to... Figure 1 The difference in the embodiment is that the needle body 14 is directly or indirectly fixedly connected to the base 11 by means of the second hole 23 already opened in the base 11 for pin connection, without the need to additionally process a through hole in the base 11 for the needle body 14 to pass through (see below). Figure 7 (Further explanation of the fixed connection method between the needle body 14 and the base 11).

[0053] Figure 5 yes Figure 4 A variant of the surgical instrument 10 according to this disclosure is designed as a bone probe device. In this embodiment, Figures 1-4 The implementation of the needle body in this method involves replacing the Kirschner wire with a bone probe. Therefore, to meet the operational requirements of the bone probe, in... Figure 4corresponding part of the needle body 14, i.e. the blunt end 16 of the needle body 14 is additionally provided with an operating handle 35 and the developing body 21 provided on the base 11 is removed, thus the housing instrument 10 according to the present disclosure can be easily applied to any needle-shaped instrument used in the electromagnetic positioning navigation of the surgical robot, thus having better versatility.

[0054] Figure 6A is a perspective view of one non-limiting embodiment of the needle body 14 according to the present disclosure, Figure 6B is a simplified schematic diagram of the needle body provided with the additional positioning sensor device 42.

[0055] As Figure 6A shown, the needle body 14 of the surgical instrument 10 according to the present disclosure has a pointed end 15 at one end and a blunt end 16 at the other end opposite to the pointed end 15, the pointed end 15 is used to be inserted into the bone tissue to fix the bone tissue, especially the broken bone tissue, or to detect and position the bone, the pointed end 15 of the needle body 14 is designed as a triangular shape so that the needle body 14 is inserted into the bone or bone tissue more stably and less likely to rotate, of course, the pointed end 15 can also be designed as other polygonal shapes. Further, the needle body 14 is also provided with a stepped surface 31 at a position adjacent to the pointed end 15, the length of which can control the depth of the needle body 14 inserted into the bone or bone tissue, and the blunt end 16 of the needle body 14 is held by hand or a corresponding tool. The blunt end 16 of the needle body 14 is also designed to have at least two, preferably two, clamping surfaces 32 extending along the axis of the needle body 14, which are parallel to each other, to facilitate the medical staff or the surgical robot to insert the entire surgical instrument 10 into the bone or bone tissue before the surgical robot works or to pull out the bone or bone tissue after the surgical robot works. As an alternative or supplement, a pin hole 33 can also be provided on the side close to the blunt end 16 for pin connection with the base 11.

[0056] As Figure 6B shown, the additional positioning sensor device 42 can also be provided inside or outside the needle body 14. Since the additional positioning sensor device 42 is closer to the surgical area in the assembled state than the positioning sensor device installed on the base, the surgical instrument 10 designed with the additional positioning sensor device can more accurately perform electromagnetic navigation positioning.

[0057] Figure 7 is a bottom perspective view of two embodiments of the needle body 14 and the base 11 of the surgical instrument 10 according to the present disclosure fixedly connected together, wherein the left drawing illustrates the pin connection mode of the needle body 14 and the base, and the right drawing illustrates the adhesive connection mode or one-piece injection molding mode of the needle body 14 and the base 11.

[0058] As Figure 7As shown, a through-hole 38 for the needle body 14 is provided in the base 11, which is distinguished from the second hole 23, the needle body being so penetrated through the through-hole 38 that the needle body 14 extends perpendicularly to the bottom side 18 or the top side, which is not visible in the figure, of the base 11 in the assembled position of the surgical instrument 10, the needle body 14 being fixedly connected to the base 11 preferably in three ways:

[0059] 1) by an optional third pin connection means, in particular a separate pin, for fixedly connecting the needle body 14 to the base 11 (as shown in the left figure), wherein a pin hole 37 is provided in the interior of the base 11 at a position corresponding to the inserted needle body 14;

[0060] 2) by an adhesive connection means for fixedly connecting the needle body 14 to the base 11 (as shown in the right figure), for example using an adhesive connection means, which can be implemented as glue, in particular medical-grade adhesive glue, at the position where the needle body 14 contacts the base 11, which is particularly suitable for thinner or smaller-diameter needle bodies 14;

[0061] 3) by integrally injection molding the needle body 14 with the base 11 (as shown in the right figure), whereby the number of parts can be reduced, storage and assembly costs can be reduced, and this method is also suitable for thinner or smaller-diameter needle bodies 14.

[0062] Although examples of the present disclosure are provided in the foregoing description, those skilled in the art can modify and change the examples without departing from the scope and spirit of the present disclosure. For example, it should be understood that the features of the embodiments herein can be applicable to other embodiments described herein. Therefore, the description is intended to be illustrative rather than restrictive. The disclosure is defined by the appended claims and all changes falling within the meaning and equivalents of the claims are intended to be included in their scope.

Claims

1. A surgical instrument for use in electromagnetic positioning navigation of a surgical robot, characterized in that, The surgical instrument comprises: a needle body for probing or fixing bone tissue, having a pointed end for insertion into bone tissue and a blunt end for clamping; a positioning sensor device for electromagnetic positioning navigation of a surgical robot; a base for mounting the positioning sensor device, wherein the needle body and the positioning sensor device are fixedly connected to the base, directly or indirectly.

2. The surgical instrument of claim 1, wherein, The base has a top side, a bottom side and a peripheral side, and recesses are provided on at least part of the top side and the peripheral side, the recesses being designed to accommodate the positioning sensor device such that the positioning sensor device is positionally fixed with the needle body.

3. The surgical instrument of claim 1 or 2, wherein, The fixed connection of the positioning sensor device to the base is achieved by at least one first pin connection device.

4. The surgical instrument of claim 3, wherein, The at least one first pin connection device comprises a first hole in the positioning sensor device, a second hole in the base and a separate pin.

5. The surgical instrument of claim 4, wherein, Between opposite peripheral sides of the base, a connecting strip is provided which extends over the top side of the base, and a through hole is provided in the connecting strip which is aligned with the first and second holes in the height direction, for the pin and / or the needle body to pass through.

6. The surgical instrument of claim 3, wherein, The at least one first pin connection device comprises a first hole in the positioning sensor device and a fixed pin provided on the base.

7. The surgical instrument of claim 1 or 2, wherein, The fixed connection of the positioning sensor device to the base is achieved by at least one first snap connection device.

8. The surgical instrument of claim 1 or 2, wherein, The needle body is designed as a Kirschner wire, and a visualization body is provided on the base for registration with an image acquired by a medical imaging device.

9. The surgical instrument of claim 2, wherein, The surgical instrument further comprises a cover for covering the positioning sensor device, a third hole being provided in the cover for the needle body to pass through, the cover being fixedly connected to the base by a second snap connection device.

10. The surgical instrument of claim 1 or 2, wherein, A through hole is provided in the base for the needle body to pass through.

11. The surgical instrument of claim 10, wherein, The needle body is fixedly connected to the base or integrally injection molded with the base by a second pin connection device or a glue connection device.

12. The surgical instrument of claim 1 or 2, wherein, An additional positioning sensor device is provided in or on the outside of the needle body.

13. The surgical instrument of claim 1 or 2, wherein, The pointed end of the needle body is designed as a triangular shape.

14. The surgical instrument of claim 1 or 2, wherein, The blunt end of the needle body is designed with at least two clamping surfaces parallel to each other extending along the axis of the needle body.

15. The surgical instrument of claim 8, wherein: The base is designed as a basin shape with a notch in the peripheral side, and the visualization body is provided at the notch.

16. The surgical instrument of claim 13, wherein: The needle body is provided with a step surface at a position adjacent to the pointed end, such that when the needle body is inserted into the bone tissue along the length direction of the step surface, the surgical instrument serves as a reference frame for electromagnetic positioning navigation.

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