Implantable devices and implantation systems

Abstract

This application relates to an implantation device and implantation system. The implantation device includes an implantation rod, an implantation sleeve, and a tracking mounting platform. The implantation sleeve includes a first sleeve portion and a second sleeve portion. The inner diameter of the first sleeve portion is adapted to the diameter of the implantation rod, and the inner diameter of the second sleeve portion is larger than the diameter of the implantation rod. The implantation rod passes through the first sleeve portion and extends into the second sleeve portion. The inner diameter of the second sleeve portion is adapted to the size of the implant. The implantation rod includes an implantation end and a connecting end. The implantation end and the connecting end are located at opposite ends of the implantation rod and on both sides of the first sleeve portion. The connecting end is used to connect to a structure that provides power to the implantation rod. The implantation end is located within the second sleeve portion and is used for detachable connection to the implant. The implantation rod also passes through the tracking mounting platform. The tracking mounting platform is used to mount a tracking device. The tracking device is used to determine the overall pose of the implantation device after identification. According to the above embodiment, the problem of complex implantation device structures can be solved.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to an implantable device and implantation system. Background Technology

[0002] In related technologies, a large number of patients require spinal trauma surgery every year due to joint wear and tear, accidental injuries, and other reasons. Traditional orthopedic surgery typically involves surgeons using conventional surgical instruments. This process not only demands a high level of skill from the surgeon but also requires the use of auxiliary equipment to determine the placement of implants.

[0003] In robot-assisted orthopedic surgery, the robot handles most of the surgical tasks. The surgeon then primarily uses an implantation device to insert the pre-prepared implant into the patient's target area. However, current methods suffer from the problem of overly complex implantation device structures. Utility Model Content

[0004] To address the aforementioned problems, according to a first aspect of the embodiments of this application, an implantation device is provided, comprising: an implantation rod, an implantation sleeve, and a tracking mounting platform;

[0005] The implantation sleeve includes a first sleeve portion and a second sleeve portion; the inner diameter of the first sleeve portion is adapted to the diameter of the implantation rod, the inner diameter of the second sleeve portion is larger than the diameter of the implantation rod, the implantation rod passes through the first sleeve portion and extends into the second sleeve portion; the inner diameter of the second sleeve portion is adapted to the size of the object to be implanted.

[0006] The implant rod includes an implantation end and a connecting end; the implantation end and the connecting end are located at opposite ends of the implant rod and on both sides of the first sleeve portion; the connecting end is used to connect to a structure that provides power to the implant rod; the implantation end is located inside the second sleeve portion and is used to be detachably connected to the object to be implanted.

[0007] The implant rod also passes through the tracking mounting platform; the tracking mounting platform is used to install the tracking device; the tracking device is used to determine the overall position and orientation of the implant device after it is identified.

[0008] According to the above embodiments, since the implantation rod is the most important and simplest part of the implantation device, by setting the tracking mounting platform on the implantation rod, compared to setting the tracking mounting platform on other more complex structures, such as the handle structure connected to the connection end, the complexity of the structure integrating the tracking mounting platform can be effectively reduced. Thus, the problems of difficult processing and maintenance, increased costs and reduced reliability caused by complex structures can be effectively solved.

[0009] According to a second aspect of the embodiments of this application, an implantation system is provided, including any of the aforementioned implantation devices;

[0010] The implantation system also includes a robotic arm system; the tracking mounting platform is mounted at the end of the robotic arm structure; the end of the robotic arm structure is used to drive the tracking mounting platform to adjust the position of the implantation device through the movement of the robotic arm structure.

[0011] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0012] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0013] Figure 1 This is a schematic diagram of the structure of an implantation device according to an embodiment of this application.

[0014] Figure 2 This is an exploded view of the implantation rod of the implantation device shown in the embodiment of this application.

[0015] Figure 3 As shown in the embodiments of this application Figure 1 A magnified view of a portion of region Q1 in the middle area. Detailed Implementation

[0016] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0017] In existing solutions, to effectively assist doctors in implantation procedures, the implantation device consists of a handle and an implantation structure detachably connected to the handle. The implantation structure is primarily used for the detachable connection to the implant, while the handle provides power to the implantation structure, enabling the implant to be placed into the patient's target site. The handle also includes a tracking device to determine the overall position of the implantation device after being identified by an external system. However, because the tracking device is located in the handle, and the handle itself is more complex than other structures in typical implantation devices, the handle's structure becomes more complex. This complexity leads to difficulties in manufacturing and maintenance, increased costs, and reduced reliability. Therefore, reducing the complexity of the implantation device has become a pressing issue.

[0018] To address the aforementioned problems, this application provides an implantation device 10. Figure 1 This is a schematic diagram of the implantation device 10. Figure 1 As shown, the implantation device 10 includes: an implantation rod 11, an implantation sleeve 12, and a tracking mounting platform 13.

[0019] The implantation sleeve 12 includes a first sleeve portion 121 and a second sleeve portion 122. The inner diameter of the first sleeve portion 121 is adapted to the diameter of the implantation rod 11, and the inner diameter of the second sleeve portion 122 is larger than the diameter of the implantation rod 11. The implantation rod 11 passes through the first sleeve portion 121 and extends into the second sleeve portion 122. The inner diameter of the second sleeve portion 122 is adapted to the size of the object to be implanted.

[0020] The implant rod 11 includes an implantation end 111 and a connecting end 112. The implantation end 111 and the connecting end 112 are located at opposite ends of the implant rod 11 and on both sides of the first sleeve portion 121. The connecting end 112 is used to connect to a structure that provides power to the implant rod 11. The implantation end 111 is located within the second sleeve portion 122 and is used for detachable connection with the object to be implanted.

[0021] By adapting the inner diameter of the second sleeve portion 122 to the size of the implant, the implant can be placed inside the second sleeve portion 122, thus fixing the implant relative to the implantation device 10. Then, by connecting the connecting end 112 to the power-providing structure and connecting the implantation end 111 to the implant, the power-providing structure can apply power to the implant via the implantation rod 11. For example, when the implant is a medical screw, the groove shape of the screw head is adapted to the shape of the implantation end 111. After the implantation end 111 is connected to the medical screw, pressure and rotational force are simultaneously applied to the medical screw via the implantation rod 11.

[0022] Furthermore, the structure connected to the connection end 112 for providing power to the implant can be a handle structure, allowing the user to manually apply force to the implant rod 11. It should be noted that using a handle as the power-providing structure is only one feasible embodiment, but other embodiments are not limited to this. For example, the power-providing structure could also be the power structure of a drill, or a power interface pre-installed on the robotic arm of a surgical robot.

[0023] The implantation rod 11 also passes through the tracking mounting platform 13. The tracking mounting platform 13 is used to mount the tracking device 14. The tracking device 14 is used to determine the overall pose of the implantation device 10 after it is identified.

[0024] Since the implantation rod 11 is the most important and simplest part of the implantation device 10, by setting the tracking mounting platform 13 on the implantation rod 11, compared to setting the tracking mounting platform 13 on other more complex structures, such as the handle structure connected to the connecting end 112, the complexity of the structure integrating the tracking mounting platform 13 can be effectively reduced. Thus, the problems of difficult processing and maintenance, increased costs and reduced reliability caused by complex structures can be effectively solved.

[0025] In some embodiments, such as Figure 1 As shown, the tracking mounting platform 13 is rotatable relative to the implantation rod 11 along its axis and engages with the implantation rod 11. Figure 1 The diagram shows the axis Z1 of the implant rod 11 and the way the tracking mounting stage 13 is mounted on the implant rod 11, that is, the tracking mounting stage 13 is mounted on the implant rod 11 in a way that it can rotate along the axis Z1.

[0026] Furthermore, the tracking mounting platform 13 is also used to maintain its position during the implantation of the implantation device 10. Specifically, the tracking mounting platform 13 remains in a fixed position while the implantation device 10 is in operation. That is, when the implantation device 10 is in operation, the user holds the tracking mounting platform 13 to rotate the implantation rod 11 to achieve the implantation of the object, or the tracking mounting platform 13 is fixedly mounted on the robotic arm of the surgical robot to rotate the implantation rod 11 to achieve the implantation of the object.

[0027] By enabling the tracking mounting platform 13 to rotate relative to the implant rod 11 around axis Z1 and cooperate with the implant rod 11, the tracking mounting platform 13 can be integrated onto the implant rod 11 simultaneously, and the tracking mounting platform 13 can also serve as a fixing point. Thus, the tracking mounting platform 13 can simultaneously install the tracking device 14 and serve as a fixing point. It can also ensure the stable orientation of the tracking device 14 when the implant device 10 is working, so as to facilitate the identification of external structures. Therefore, through the aforementioned settings, the installation of the tracking device 14 and the maintenance of its stable orientation, as well as its function as a fixing point, can be achieved simultaneously, further improving the integration level of the implant device 10 and further avoiding problems such as processing and maintenance difficulties, increased costs, and reduced reliability caused by complex structures.

[0028] In some embodiments, Figure 2 The diagram shown is an exploded view of the implantation rod 11 of the implantation device 10. Figure 1 and Figure 2 As shown, the implantable rod 11 includes an implantable rod body 113 and a connecting rod body 114. The implantable rod body 113 is provided with an implantation end 111, and the connecting rod body 114 is provided with a connecting end 112.

[0029] The implantable segment 113 includes a first implantable segment 1131 and a second implantable segment 1132, wherein the diameter of the first implantable segment 1131 is smaller than the diameter of the second implantable segment 1132. A connecting pin 1133 is provided on the side of the first implantable segment 1131 away from the second implantable segment 1132. The connecting segment 114 includes a connecting hole 1141, the shape of which is adapted to the shape of the connecting pin 1133.

[0030] Since the implantation rod 11 needs to pass through the tracking mounting platform 13, an implantation rod mounting hole 131 is provided inside the tracking mounting platform 13 for the implantation rod 11. The implantation rod mounting hole 131 extends through the tracking mounting platform 13. The diameter of the implantation rod mounting hole 131 can be the same as that of the first implantation segment 1131, or it can be larger than that of the first implantation segment 1131, or the diameter can vary depending on the location. For example, the implantation rod mounting hole 131 can be larger than the diameter of the first implantation segment 1131 in some locations, while in other locations it is the same as or slightly larger than the diameter of the first implantation segment 1131. The length of the implantation rod mounting hole 131 is the same as that of the first implantation segment 1131, so as to enable the tracking mounting platform 13 to be mounted on the implantation rod 11 in a relatively rotatable manner, and to restrict the degree of freedom of the tracking mounting platform 13 in the length direction of the implantation rod 11, that is, to restrict the movement of the tracking mounting platform 13 on the implantation rod 11.

[0031] The second implantable segment 1132 is located outside the tracking mounting platform 13, while the first implantable segment 1131 is located inside the tracking mounting platform 13, and the connecting pin 1133 is fixedly connected to the connecting hole 1141. The diameter of the connecting segment 114 can be larger than the diameter of the implantable rod mounting hole 131. The fixed connection between the implantable segment 113 and the connecting segment 114 is achieved through the engagement of the connecting pin 1133 with the connecting hole 1141.

[0032] Through the aforementioned configuration, the tracking mounting platform 13 can be rotated relative to the implantation rod 11 around axis Z1 to cooperate with the implantation rod 11. Thus, the tracking mounting platform 13 can be used to install the tracking device 14 and serve as a fixed point, ensuring the stable orientation of the tracking device 14 when the implantation device 10 is working, facilitating the identification of external structures. Furthermore, it can simultaneously install the tracking device 14, maintain its stable orientation, and serve as a fixed point, further improving the integration level of the implantation device 10 and avoiding problems such as processing and maintenance difficulties, increased costs, and reduced reliability caused by complex structures.

[0033] In some embodiments, such as Figure 1 and Figure 2 As shown, a bearing 15 is provided between the tracking mounting platform 13 and the first implantation segment 1131. Specifically, one bearing 15 may be provided between the tracking mounting platform 13 and the first implantation segment 1131, or two bearings 15 may be provided between the tracking mounting platform 13 and the first implantation segment 1131, or three bearings 15 may be provided between the tracking mounting platform 13 and the first implantation segment 1131, but it is not limited to these. The number of bearings 15 between the tracking mounting platform 13 and the first implantation segment 1131 can be flexibly set according to actual needs.

[0034] Preferably, two bearing components 15 are provided between the tracking mounting platform 13 and the first implantation segment 1131. The embodiment of providing two bearing components 15 can better balance the effect of the bearing components 15 and the overall cost.

[0035] Through the aforementioned configuration, the tracking mounting platform 13 can be further configured to rotate relative to the implantation rod 11 around axis Z1, thereby enabling it to cooperate with the implantation rod 11. This allows the tracking mounting platform 13 to both mount the tracking device 14 and serve as a fixed point, ensuring a stable orientation of the tracking device 14 during implantation 10 operation for easy identification of external structures. Furthermore, this configuration simultaneously mounts the tracking device 14, maintains its stable orientation, and functions as a fixed point, further improving the integration level of the implantation device 10 and avoiding problems such as processing and maintenance difficulties, increased costs, and reduced reliability caused by complex structures.

[0036] In some embodiments, such as Figure 1 and Figure 2 As shown, a bearing shim 16 is also provided between the tracking mounting platform 13 and the first implantation section 1131. By setting the bearing shim 16, the movement of the bearing component 15 can be restricted, and the frictional resistance experienced by the bearing component 15 can be reduced.

[0037] In some embodiments, such as Figure 1 and Figure 2 As shown, the implantable segment 113 also includes a third implantable segment 1133. The third implantable segment 1133 and the first implantable segment 1131 are located on opposite sides of the second implantable segment 1132. The diameter of the third implantable segment 1133 is larger than the diameter of the second implantable segment 1132.

[0038] The first sleeve portion 121 includes a first inner diameter section 1211 and a second inner diameter section 1212, wherein the diameter of the first inner diameter section 1211 is smaller than the diameter of the second inner diameter section 1212. The second implantation section 1131 mates with the first inner diameter section 1211, and the third implantation section 1133 mates with the second inner diameter section 122.

[0039] The second implanted segment 1131 mates with the first inner diameter segment 1211, meaning the diameter of the second implanted segment 1131 is the same as the diameter of the first inner diameter segment 1211, or the diameter of the second implanted segment 1131 is slightly smaller than the diameter of the first inner diameter segment 1211. Similarly, the third implanted segment 1133 mates with the second inner diameter segment 1212, meaning the diameter of the third implanted segment 1133 is the same as the diameter of the second inner diameter segment 1212, or the diameter of the third implanted segment 1133 is slightly smaller than the diameter of the second inner diameter segment 1212.

[0040] With the aforementioned configuration, the step formed between the second implantation segment 1132 and the third implantation segment 1133 can limit the first sleeve 121. Furthermore, the tracking mounting platform 13 structure on the implantation rod 11 also simultaneously limits the first sleeve 121, thereby restricting its movement on the implantation rod 11. Therefore, through this configuration, the structure within the implantation device 10, namely the implantation rod 11 and the tracking mounting platform 13, can be flexibly utilized to limit the first sleeve 121. This reduces the need for additional limiting structures, further improving the integration level of the implantation device 10. Consequently, it can further avoid problems such as processing and maintenance difficulties, increased costs, and reduced reliability caused by complex structures.

[0041] In some embodiments, such as Figure 1 As shown, the first sleeve portion 121 has a thread on its outer side near the second sleeve portion 122. The second sleeve portion 122 has a corresponding thread on its inner side near the first sleeve portion 121. The second sleeve portion 122 and the first sleeve portion 121 are connected by the thread.

[0042] With the aforementioned configuration, the first sleeve portion 121 and the second sleeve portion 122 can be separated. The corresponding second sleeve portion 122 can be replaced according to the size of different implants. Thus, by replacing the second sleeve portion 122, the implantation device 10 can be effectively adapted to implants of different sizes or shapes, thereby improving the adaptability of the implantation device 10.

[0043] In some embodiments, such as Figure 1 As shown, the tracking device 14 includes a reflective array 17. The reflective array 17 includes an array support 171 and at least three reflective devices 172. The reflective devices 172 are detachably mounted on the same side of the array support 171. Furthermore, on the plane of the array support 171, the reflective devices 172 are located on different straight lines.

[0044] The reflective devices 172 are located on different straight lines. That is, when any two reflective devices 172 form a straight line, the remaining reflective devices 172 are located outside the straight line formed by the two aforementioned reflective devices 172. This arrangement creates multiple different planes through multiple reflective devices 172, thereby increasing the accuracy of determining the pose of the implanted device 10 when external structures identify the reflective array 17.

[0045] The reflector array 17 is detachably mounted on the tracking mounting platform 13.

[0046] This configuration, with the reflector array 17 detachably mounted on the tracking mounting platform 13, allows for timely replacement of the reflector array 17 should it be damaged, thereby effectively improving the reliability of the implantation device 10 during operation. Furthermore, by flexibly replacing different types of reflector arrays mounted on the tracking mounting platform 13 according to different actual needs, the implantation device 10 can be adapted to more scenarios, thus further expanding its applicability.

[0047] In some embodiments, such as Figure 1 As shown, the reflector bracket 171 includes a bracket mating portion 1711 protruding towards the tracking mounting platform 13, and a limit key 1712 is provided on the bracket mating portion 1711. The tracking mounting platform 13 is provided with a mounting mating groove 132 corresponding to the bracket mating portion 1711. The mounting mating groove 132 is provided with a limit groove 1321 corresponding to the limit key 1712.

[0048] in, Figure 3 What is shown is Figure 1 A magnified view of a portion of region Q1 in the middle area. (See image below.) Figure 3 As shown, the structure of the limit key 1712 provided on the bracket mating part 1711 can be understood more clearly.

[0049] The mounting groove 132 has a magnetic attraction structure at its bottom. The bracket mating part 1711 has a corresponding magnetic attraction structure on the side facing the mounting groove 132. The bracket mating part 1711 engages with the mounting groove 132 magnetically.

[0050] Through the aforementioned settings, the reflective array 17 and the tracking mounting platform 13 can be detachably connected, and the degree of freedom of the reflective array 17 in the rotation direction can be limited by the limit key 1712. In this way, the reliability of the implantation device 10 during operation can be improved, and the applicability of the implantation device 10 can be further expanded.

[0051] In some embodiments, such as Figure 1 As shown, the array bracket 171 has a reflective mounting groove 1713 with a magnetic attraction structure installed inside, and the reflective device 172 has a corresponding magnetic attraction structure on the side facing the reflective mounting groove 1713. The reflective device 172 is magnetically mounted in the reflective mounting groove 1713.

[0052] With the aforementioned configuration, when some reflective devices 172 become dirty, only the dirty part of the reflective device 172 can be replaced, thereby further improving the reliability of the implanted device 10 during operation while reducing its operating cost.

[0053] This application also provides an implantation system. The implantation system includes the implantation device 10 of any of the foregoing.

[0054] The implantation system also includes a robotic arm system. A tracking mounting stage 13 is mounted at the end of the robotic arm structure. The end of the robotic arm structure is used to move the tracking mounting stage 13 to adjust the pose of the implantation device 10 through the movement of the robotic arm structure. In a more feasible embodiment, the implantation system can be an orthopedic surgical robot system.

[0055] With this setup, the implantation system equipped with the aforementioned implantation device 10 can achieve automatic implantation of the object to be implanted. Thus, the implantation system can achieve a highly automated implantation procedure to effectively reduce the stress on the user during surgery.

[0056] The above embodiments of this application can complement each other without causing conflict.

[0057] It should be noted that the dimensions of layers and regions may be exaggerated in the accompanying drawings for clarity. Furthermore, it is understood that when an element or layer is referred to as being "on" another element or layer, it can be directly on the other element, or there may be intermediate layers. Additionally, it is understood that when an element or layer is referred to as being "below" another element or layer, it can be directly below the other element, or there may be more than one intermediate layer or element. Furthermore, it is also understood that when a layer or element is referred to as being "between" two layers or two elements, it can be the only layer between the two layers or two elements, or there may be more than one intermediate layer or element. Similar reference numerals throughout indicate similar elements.

[0058] The term “multiple” means two or more, unless otherwise expressly defined.

[0059] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0060] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. An implantable device, characterized in that, include: Implant rod, implant sleeve, and tracking mounting platform; The implantation sleeve includes a first sleeve portion and a second sleeve portion; the inner diameter of the first sleeve portion is adapted to the diameter of the implantation rod, the inner diameter of the second sleeve portion is larger than the diameter of the implantation rod, the implantation rod passes through the first sleeve portion and extends into the second sleeve portion; the inner diameter of the second sleeve portion is adapted to the size of the object to be implanted. The implant rod includes an implantation end and a connecting end; the implantation end and the connecting end are located at opposite ends of the implant rod and on both sides of the first sleeve portion; the connecting end is used to connect to a structure that provides power to the implant rod; the implantation end is located inside the second sleeve portion and is used to be detachably connected to the object to be implanted. The implant rod also passes through the tracking mounting platform; the tracking mounting platform is used to install the tracking device; the tracking device is used to determine the overall position and orientation of the implant device after it is identified.

2. The implantation device according to claim 1, characterized in that, The tracking mounting platform is designed to rotatably relative to the implant rod along its axis, and it also maintains its position during implantation of the object.

3. The implantation device according to claim 2, characterized in that, The implant rod includes an implantable section rod body and a connecting section rod body; the implantable section rod body is provided with the implantable end, and the connecting section rod body is provided with the connecting end; The implantable segment rod includes a first implantable segment and a second implantable segment, wherein the diameter of the first implantable segment is smaller than the diameter of the second implantable segment; a connecting pin is provided on the side of the first implantable segment away from the second implantable segment; the connecting segment rod includes a connecting hole, wherein the shape of the connecting hole is adapted to the connecting pin; The second implant segment is located outside the tracking mounting platform, the first implant segment is located inside the tracking mounting platform, and the connecting pin is fixedly connected to the connecting hole.

4. The implantation device according to claim 3, characterized in that, A bearing is provided between the tracking installation platform and the first implantation segment.

5. The implantation device according to claim 3, characterized in that, The implantable segment also includes a third implantable segment; the third implantable segment and the first implantable segment are located on opposite sides of the second implantable segment; the diameter of the third implantable segment is larger than the diameter of the second implantable segment; The first sleeve portion includes a first inner diameter section and a second inner diameter section, the diameter of the first inner diameter section being smaller than the diameter of the second inner diameter section; the second implantation section mates with the first inner diameter section, and the third implantation section mates with the second inner diameter section.

6. The implantation device according to claim 1, characterized in that, The first sleeve portion has a thread on its outer side near the second sleeve portion; the second sleeve portion has a corresponding thread on its inner side near the first sleeve portion; the second sleeve portion and the first sleeve portion are connected by threads.

7. The implantation device according to claim 1, characterized in that, The tracking device includes a reflective array; the reflective array includes an array support and at least three reflective devices; the reflective devices are detachably mounted on the same side of the array support; and on the plane of the array support, the reflective devices are located on different straight lines. The reflective array is detachably mounted on the tracking mounting platform.

8. The implantation device according to claim 7, characterized in that, The array bracket includes a bracket mating portion protruding toward the tracking mounting platform, and a limiting key is provided on the bracket mating portion; the tracking mounting platform is provided with a mounting mating groove corresponding to the bracket mating portion; the mounting mating groove is provided with a limiting groove corresponding to the limiting key; The bottom of the mounting groove is provided with a magnetic attraction structure; the side of the bracket mating part facing the mounting groove is provided with a corresponding magnetic attraction structure; the bracket mating part is engaged with the mounting groove in a magnetic manner.

9. The implantation device according to claim 7, characterized in that, The array support is provided with a reflective mounting groove with a magnetic attraction structure installed inside. The reflective device is provided with a corresponding magnetic attraction structure on the side facing the reflective mounting groove. The reflective device is magnetically mounted in the reflective mounting groove.

10. An implantation system, characterized in that, Includes the implantable device as described in any one of claims 1 to 9; The implantation system also includes a robotic arm structure; the tracking mounting platform is mounted at the end of the robotic arm structure; the end of the robotic arm structure is used to drive the tracking mounting platform to adjust the position of the implantation device through the movement of the robotic arm structure.

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