Surgical instrument navigation system and clamping device

Abstract

The present invention provides a surgical instrument navigation system comprising a robotic arm, a gripping device, and a navigation mark element. [Solution] The clamping device comprises a main body, a storage section, a sleeve body, a first pressing body, and a multi-connection mechanism. One end of the main body is connected to a robot arm. The storage section is connected to the other end of the main body and has a storage hole. The sleeve body is detachably installed in the storage hole and has a through hole for inserting surgical instruments. A notch is provided on one side of the sleeve body along the axial direction of the through hole, and the notch communicates with the through hole. The sleeve body is further provided with a position regulating section at the edge of the notch. The first pressing body is installed in the main body. The multi-connection mechanism is installed in the main body and the storage section and is connected to the first pressing body and the sleeve body. When the first pressing body is pressed, it drives the multi-connection mechanism, which presses against the position regulating section and narrows the notch, thereby deforming the sleeve body and clamping and fixing the surgical instrument.

Description

Technical Field

[0001] The present invention relates to a surgical instrument navigation system and a clamping device, and particularly to a surgical instrument navigation system and a clamping device that simplify the operation process and can stably clamp surgical instruments.

Background Art

[0002] In minimally invasive spinal fixation surgery, first, a small incision is made on the skin surface, and instruments such as a trocar or a bone drill are inserted into the patient's body. After perforating the pedicle, a guide wire is inserted, and then a hollow pedicle screw is screwed into the pedicle along the guide wire to complete the embedding and fixation of the pedicle screw.

[0003] In the prior art, the embedding of the pedicle screw is performed by combining a robotic arm and a surgical instrument, which requires complicated surgical steps and multiple exchanges of different instruments. When exchanging instruments, it is necessary to repeatedly loosen and tighten bolts to confirm whether the surgical instrument is placed at an appropriate position. However, in the design of the robotic arm of the prior art, the range that can accommodate surgical instruments of different sizes is limited, and it is impossible to ensure that surgical instruments of different sizes can be securely clamped, nor can the clamping force be appropriately adjusted so that the surgical instrument can move freely. Furthermore, in the prior art, generally, a plurality of navigation mark elements are arranged on the robotic arm and the surgical instrument, but during the surgery, some of the navigation mark elements may be blocked by the operator (doctor), which may interfere with the operation of the surgical instrument navigation system.

Summary of the Invention

Problems to be Solved by the Invention

[0004] The technical problem that this invention aims to solve is to provide a surgical instrument navigation system and gripping device that can simplify the operating process and stably grip surgical instruments, in response to the shortcomings of the prior art. [Means for solving the problem]

[0005] To solve the above-mentioned technical problems, the present invention provides a clamping device comprising a main body, a storage section, a sleeve body, a first pressing body, and a multi-connection mechanism. One end of the main body is connected to a robot arm. The storage section is connected to the other end of the main body. The storage section has a storage hole. The sleeve body is detachably installed in the storage hole. The sleeve body has a through hole for inserting surgical instruments. A notch is provided on one side of the sleeve body along the axial direction of the through hole, and the notch communicates with the through hole. The sleeve body is further provided with a position regulating section at the edge of the notch. The first pressing body is installed in the main body. The multi-connection mechanism is installed in the main body and the storage section and is connected to the first pressing body and the sleeve body. When the first pressing body is pressed, it drives the multi-connection mechanism, which presses the position regulating section and narrows the notch, thereby deforming the sleeve body and clamping and fixing the surgical instrument.

[0006] To solve the aforementioned technical problems, another technical means employed by the present invention provides a surgical instrument navigation system comprising a robotic arm, a gripping device, and a navigation mark element. The gripping device is connected to the robotic arm and used to grip surgical instruments. The navigation mark element is placed on the surgical instrument.

[0007] One of the beneficial effects of the present invention is that, due to the design of the notches in the sleeve body, the clamping device according to the present invention deforms when force is applied to the sleeve body. When the sleeve body is installed on the robot arm, the mechanism design of the robot arm is used to compress and deform the sleeve body, thereby allowing it to clamp and fix surgical instruments. Furthermore, the clamping device according to the present invention can control the clamping force for surgical instruments of different sizes by adjusting the amount of deformation of the sleeve body, so it can not only stably clamp surgical instruments but also loosen appropriately to allow the surgical instruments to move freely. In addition, the surgical instrument navigation system according to the present invention simplifies the process and time required to calibrate the robot arm because the robot arm and the surgical instrument share a single navigation mark element.

[0008] To further understand the features and technical content of the present invention, please refer to the following detailed description and drawings of the invention, however, the drawings provided are for reference and illustrative purposes only and are not intended to limit the invention. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic diagram showing how a clamping device according to an embodiment of the present invention clamps a surgical instrument. [Figure 2] A schematic diagram of a clamping device according to an embodiment of the present invention. [Figure 3] A schematic diagram of a clamping device according to an embodiment of the present invention. [Figure 4] This is a schematic plan view of a sleeve body according to an embodiment of the present invention. [Figure 5] This is a schematic side view of a lid according to an embodiment of the present invention. [Figure 6] This is a schematic diagram of the first pressing body, second pressing body, multi-connection mechanism, outer ring portion, and sleeve body according to an embodiment of the present invention. [Figure 7] This is a schematic diagram of the third pressing body, outer ring portion, and sleeve body according to an embodiment of the present invention. [Figure 8] This is a schematic cross-sectional view of the clamping device according to an embodiment of the present invention when it is in the unlocked state. [Figure 9] This is a schematic cross-sectional view of a clamping device according to an embodiment of the present invention when it is in the locked state. [Figure 10] A schematic diagram of a surgical instrument navigation system according to an embodiment of the present invention. [Figure 11] This is an exploded schematic diagram of a surgical instrument, sleeve body, and clamping device according to an embodiment of the present invention. [Figure 12] This is a schematic diagram showing that the guide wire in an embodiment of the present invention penetrates a surgical instrument that is fixed to a clamping device. [Figure 13] This is a schematic diagram showing that the guide wire in an embodiment of the present invention is placed inside the clamping device. [Figure 14] This is a schematic diagram showing that another surgical instrument in an embodiment of the present invention is inserted into the clamping device along a guide wire. [Figure 15] This is a schematic diagram showing how the guide wire in an embodiment of the present invention is removed from the clamping device. [Modes for carrying out the invention]

[0010] The embodiments of the "surgical instrument navigation system and clamping device" disclosed herein will be described below with reference to specific examples. Those skilled in the art will be able to understand the advantages and effects of the present invention from the disclosed content. The present invention can be carried out or applied through other different specific embodiments, and the various detailed descriptions herein can be modified and changed in various ways without departing from the spirit of the invention, based on different perspectives and uses. It should also be noted in advance that the drawings of the present invention are for illustrative purposes only and are not drawn based on actual dimensions. The technical content relating to the present invention will be described in more detail using the following embodiments, but the disclosed content is not intended to limit the scope of protection of the present invention. In addition, terms such as "first," "second," and "third" may be used in the specification to describe various elements, but it should be understood that these elements should not be limited by these terms. These terms are mainly used to distinguish one element from another. Furthermore, the term "or" in this specification should be understood to include any one or more of the items listed in relation to each other, depending on the actual situation.

[0011] As shown in Figures 1 to 3, the present invention provides a clamping device D for clamping a surgical instrument F1. The clamping device D comprises a main body 1, a storage section 2, a sleeve body 3, a first pressing body 4, a multi-connecting mechanism 5, and a second pressing body 6.

[0012] The main body 1 is connected to the robot arm R, and its left and right ends are connected to the storage section 2 (in the figure, only the storage section connected to the upper right end is shown). The storage section 2 has a storage hole 20, and the sleeve body 3 has a through hole 30. The sleeve body 3 is detachably installed in the storage hole 20. The surgical instrument F1 can be fixed to the sleeve body 3 by passing through the through hole 30 of the sleeve body 3. The first pressing body 4 and the second pressing body 6 protrude from the main body 1 and are mainly used to control the clamping force of the sleeve body 3 on the surgical instrument F1. Specifically, the first pressing body 4 and the second pressing body 6 have most of their structure located inside the main body 1, with only the pressing portion 43 of the first pressing body 4 and the pressing portion 62 of the second pressing body 6 exposed outside the main body 1. The multi-connection mechanism 5 is installed between the main body 1 and the storage section 2 and is connected to the first pressing body 4 and the sleeve body 3.

[0013] As shown in Figures 3 to 5, a notch 31 is provided on one side of the sleeve body 3, and the notch 31 extends along the axial direction (Z-axis direction) of the through hole 30. The notch 31 further extends in the Y-axis direction and communicates with the through hole 30. In addition, the sleeve body 3 has two position regulating portions 32 on both side edges of the notch 31, and two position regulating projections 341 on the opposite side of the notch 31. Furthermore, the sleeve body 3 is cylindrical and includes a head portion 33 and a body portion 34. The diameter of the head portion 33 is larger than the diameter of the body portion 34. The through hole 30 and the notch 31 extend from the head portion 33 to the body portion 34 along the axial direction of the through hole 30, but the position regulating portions 32 and position regulating projections 341 are installed on opposing sides of the body portion 34.

[0014] As shown in FIG. 3, the storage part 2 includes a lid body 21 and an outer ring part 22. The lid body 21 is provided with a first cut 211 and two opposing position regulation grooves 212 at the edge of the storage hole 20. The outer ring part 22 is provided with a second cut 221 at the edge of the storage hole 20. Further, the outer ring part 22 is further provided with a concave groove 223 inside at a position corresponding to the second cut 221. Further, the clamping device D further includes a case 7. The case 7 constitutes the main body part 1 and is connected to the storage part 2. The sleeve body 3, the first pressing body 4, the multi-connection mechanism 5 and the second pressing body 6 are all installed inside the case 7. Further, the case 7 has a third cut 71. Furthermore, the lid body 21 is fixed to the case 7, the outer ring part 22 is installed movably inside the case 7, and is located below the lid body 21.

[0015] In the present invention, the sleeve body 3 is a replaceable consumable. For example, the sleeve body 3 is a deformable plastic sleeve cup. Different sleeve bodies 3 can be adapted to surgical instruments with different sizes of their through holes 30. It is necessary that the sleeve body 3 can not only be attached to the storage part 2 but also be removable from the storage part 2. As shown in FIGS. 2, 3 and 6, when the sleeve body 3 is attached to the storage part 2, the position regulating part 32 is installed in the concave groove 223, and the notch 31 is aligned with the second cut 221, so that the position regulating part 32 and the position regulating projection 341 penetrate through the two position regulating grooves 212 in alignment (see FIG. 3). In other words, before the sleeve body 3 is attached to the storage part 2, the second cut 221 is aligned with any one of the two position regulating grooves 212.

[0016] After the sleeve body 3 is attached to the storage part 2, the sleeve body 3 is rotated so that the notch 31 and the second cut 221 are aligned with the first cut 211 and the third cut 71, and the outer ring part 22 is driven by the sleeve body 3 to rotate in the first direction J1 with respect to the lid body 21 (see FIG. 6. In FIG. 6, the lid body 21 is omitted from the storage part 2 for clarity of explanation). At this time, the position regulating part 32 and the position regulating projection 341 are not aligned with the two position regulating grooves 212 and are in a misaligned state with the two position regulating grooves 212, whereby the movement of the sleeve body 3 in the axial direction (Z-axis direction) is restricted. At this time, since the position regulating part 32 of the sleeve body 3 is blocked by the lid body 21, it cannot be pulled out from the storage hole 20. In other words, the sleeve body 3 is fixed to the storage part 2 and will not fall off.

[0017] Note that, as a point to be noted, an object installed on the sleeve body 3, for example, a guide wire W (refer to FIG. 14 above) described later, can be taken out through the passage formed by aligning the notch 31, the first cut 211, and the second cut 221 with each other.

[0018] As shown in FIGS. 3, 6, and 7, the clamping device D further includes a third pressing body 8. For clarity of explanation, in FIG. 7, the first pressing body 4 and the second pressing body 6 are omitted. The third pressing body 8 includes a rod-shaped structure 81 and a pressing part 82. The rod-shaped structure 81 is installed inside the main body part 1, and the pressing part 82 is exposed outside the main body part 1. When the sleeve body 3 is fixed to the storage hole 20, the protruding part 811 of the third pressing body 8 extends to the storage part 2 and is engaged with the recess 224 of the outer ring part 22 (see FIG. 7), whereby the rotation of the outer ring part 22 is restricted.

[0019] On the other hand, when removing the sleeve body 3 from the storage section 2, the third pressing body 8 is pressed to move the rod-shaped structure 81 downwards, separating the protruding portion 811 from the recess 224, thereby releasing the rotation restriction on the outer ring portion 22. Next, the sleeve body 3 is rotated again, and the outer ring portion 22 is driven to rotate relative to the lid body 21 in the second direction J2 (the second direction J2 is the opposite direction to the first direction J1), so that the notch 31 and the second cutout 221 are realigned with the single position regulating groove 212. This operation makes it possible to remove the sleeve body 3 from the storage section 2.

[0020] As shown in Figures 6 and 7, the multi-connection mechanism 5 comprises connecting rods 51 and slide blocks 52 that are connected to each other. The connecting rods 51 are installed in the main body 1, and the slide blocks 52 are installed in the storage section 2. The outer ring section 22 further has a slide groove 222, and the slide blocks 52 are movably installed in the slide groove 222. The first pressing body 4 has a boss 41 and at least one locking groove 42, the boss 41 abuts against the connecting rod 51, and the slide block 52 abuts against the position regulating section 32. The second pressing body 6 has at least one locking section 61.

[0021] The sleeve body 3 can be switched between an unlocked state and a locked state by operating the first pressing body 4 and the second pressing body 6. As shown in Figures 6, 8, and 9, Figure 8 shows the sleeve body 3 in the unlocked state, and Figure 9 shows the sleeve body 3 in the locked state. When the first pressing body 4 is pressed (see Figures 6 and 9 together), the boss 41 pushes the connecting rod 51 forward, and the slide block 52 is driven to push one position restricting part 32 closer to the other position restricting part 32. As a result, the gap between the two position restricting parts 32, i.e., the notch 31, is reduced, which deforms the sleeve body 3 and generates a clamping force to firmly grip the surgical instrument F1. Furthermore, when the first pressing body 4 is pressed, it moves closer to the second pressing body 6 and engages at least one locking part 61 with at least one locking groove 42.

[0022] It should be noted that when the first pressing body 4 is pressed, it comes into contact with a spring member (not shown), and when the first pressing body 4 is released, the elastic restoring force of this spring member causes the first pressing body 4 to return to its original position. Therefore, by designing the device to engage at least one locking portion 61 with at least one locking groove 42, the first pressing body 4 can be restricted and maintained in the pressed position.

[0023] On the other hand, when the second pressing body 6 is pressed, at least one locking portion 61 is driven to disengage from at least one locking groove 42. When the restriction by at least one locking portion 61 is removed, the first pressing body 4 returns to its unpressed position in Figure 8 from the pressed position in Figure 9 (due to the action of the spring member). The multi-connection mechanism 5 stops its interlocking when the first pressing body 4 returns to its original position. That is, the boss 41 retracts and no longer presses the connecting rod 51, so the connecting rod 51 also presses the slide block 52 and no longer compresses the position restricting portion 32 of the sleeve body 3. Consequently, the gap (notch 31) between the two position restricting portions 32 returns to its original dimension, and the sleeve body 3 recovers from deformation and loosens its grip on the surgical instrument F1. This makes it possible to adjust the position and orientation of the surgical instrument F1 or to remove it directly from the sleeve body 3.

[0024] As shown in Figure 10, the clamping device D according to the present invention can be applied to a navigation system for surgical instruments. More specifically, the navigation system comprises a robotic arm R, a clamping device D connected to the robotic arm R, and a plurality of navigation mark elements N. The clamping device D clamps the surgical instrument F1, and the plurality of navigation mark elements N are placed near the surgical instrument F1 and the surgical site S of the patient B. For example, the surgical site S is the spine. The navigation mark elements N comprises a dynamic reference frame (DRF) and a plurality of optical elements provided on the dynamic reference frame. The optical elements may be, for example, reflective spheres or mark elements that emit a perceptible signal.

[0025] The navigation system further comprises a processing unit E1, a display device E2, and an optical tracker E3. The optical tracker E3 and the display device E2 are electrically connected to the processing unit E1. Multiple navigation mark elements N may serve as spatial positioning marker points for establishing a spatial coordinate system. The optical tracker E3 can sense, detect, and record the coordinate positions of multiple optical elements in the navigation mark elements N, and transmit this information to the processing unit E1 for appropriate calculation and / or storage. As a result, the processing unit E1 acquires images of the area near the surgical site S and constructs a three-dimensional virtual model of the area near the surgical site S by combining it with previously acquired medical images, such as computed tomography (CT) or magnetic resonance imaging (MRI). The constructed three-dimensional virtual model may be displayed on the navigation interface of the display device E2.

[0026] It should be noted that in this invention, the robot arm R does not have a navigation mark element N, and one navigation mark element N is shared with the surgical instrument F1. In the prior art, multiple navigation mark elements are generally placed on the robot arm and surgical instrument. During surgery, an excessive number of navigation mark elements are easily obstructed by the surgeon (doctor), which can prevent the optical tracker E3 from detecting the position of the surgical instrument F1 and hinder the operation of the navigation system. Furthermore, if the navigation mark element on the robot arm is obstructed during surgery, the navigation interface will no longer display the accurate position of the robot arm. In addition, due to detection errors, the navigation interface may display the robot arm and surgical instrument as not being coaxial, even though they are mechanically coaxial.

[0027] Therefore, in this invention, the robot arm R and the surgical instrument F1 share one navigation mark element N, and their matching is calibrated by adjusting the mechanism parameters. Since the robot arm R is not provided with additional navigation mark elements, the problem of excessive navigation mark elements obstructing the view, as in the prior art, can be avoided. Furthermore, by having the robot arm R and the surgical instrument F1 share one navigation mark element N, the process and time required to calibrate the robot arm R can be simplified, and the problem of the robot arm and surgical instrument not being accurately displayed on the navigation interface due to detection errors can be eliminated.

[0028] As shown in Figures 10 to 15, for example, the surgical instrument F1 may be a trocar. The surgical instrument F1 is installed in the gripping device D of the robot arm R, and the gripping device D grips and fixes the surgical instrument F1 by pressing the first pressing body 4 (see Figures 10 and 11). When used in conjunction with the navigation interface generated by the navigation system, the surgical instrument F1 forms an accurate surgical path at the surgical site S (not shown). In this way, the user can insert an electric drill into the trocar to make a hole in the surgical site S. The sleeve body 3 is selected to a size that fits the surgical instrument F1.

[0029] Subsequently, the guide wire W is inserted into the perforated hole via the inside of the surgical instrument F1 (see Figure 12). Next, the second pressing body 6 is pressed to release the fixation of the surgical instrument F1 by the clamping device D, and the surgical instrument F1 is removed, leaving only the guide wire W in the storage section 2 (see Figure 13). Next, the fixation of the sleeve body 3 is released by pressing the third pressing body 8, the sleeve body 3 is removed, and another sleeve body 3' of a different size is attached to the storage section 2. Next, another surgical instrument F2 (for example, a screw implantation device equipped with a hollow pedicle screw) is attached to the sleeve body 3' located in the storage section 2 (the sleeve body 3' is selected to a size that fits the surgical instrument F2), and the surgical instrument F2 is supported by pressing the first pressing body 4 again, making the surgical instrument F2 movable up and down. After the surgical instrument F2 is attached to the sleeve body 3', the hollow pedicle screw is rotated and screwed into the surgical site S (i.e., the spinal area) along the guide wire W (see Figure 14) to complete the implantation of the hollow pedicle screw.

[0030] Subsequently, the robot arm R is operated to move it away from the surgical site S (simultaneously removing the surgical instrument F2 and guide wire W). Next, the second pressing body 6 is pressed again to release the support of the surgical instrument F2 by the clamping device D, and the surgical instrument F2 is removed. The guide wire W can also be removed from the third incision 71 (see Figure 15).

[0031] [Beneficial effects from the examples] The clamping device D according to the present invention allows the sleeve bodies 3 and 3' to undergo a certain amount of deformation due to the design of the notches 31 in the sleeve bodies 3 and 3'. Different sleeve bodies 3 can accommodate surgical instruments F1 and F2 with different sizes of through-holes 30. When the sleeve bodies 3 and 3' are installed on the robot arm, the mechanism design of the clamping device D is used to compress and deform the sleeve bodies 3 and 3', thereby allowing the device to clamp and fix the surgical instrument F1 or support the surgical instrument F2. Furthermore, because the clamping device D according to the present invention can control the clamping force on surgical instruments F1 and F2 of different sizes by compressing the sleeve bodies 3 and 3', it can not only stably clamp the surgical instrument F1 and support the surgical instrument F2, but also loosen appropriately so that the user can freely remove the surgical instruments F1 and F2.

[0032] In conventional technology, multiple navigation marker elements are generally placed on robot arms and surgical instruments. During surgery, an excess of navigation marker elements can be obstructed by the surgeon (doctor), leading to a problem where the operation of the navigation system is easily hindered. Furthermore, if the navigation marker elements on the robot arm are obstructed during surgery, the robot arm will not be displayed on the navigation interface. In addition, due to detection errors, the navigation marker elements on the robot arm and the surgical instrument may be displayed as not being coaxial on the navigation interface, even though they are mechanically coaxial. In this invention, the robot arm R and the surgical instrument F1 share one navigation marker element N, and their matching is calibrated by adjusting the mechanical parameters. Since the robot arm R does not have additional navigation marker elements, the problem of excessive navigation marker elements being obstructed, as in conventional technology, can be avoided. Furthermore, by having the robot arm R and the surgical instrument F1 share one navigation marker element N, the process and time required to calibrate the robot arm R can be simplified, and the problem of the robot arm and surgical instrument not being accurately displayed on the navigation interface due to detection errors can be resolved.

[0033] The information disclosed herein represents only preferred embodiments of the present invention and does not limit the scope of the claims. Accordingly, all equivalent technical modifications made using the specification and drawings of the present invention are included within the scope of the claims. [Explanation of Symbols]

[0034] D: Clamping device 1: Main body 2: Storage compartment 21: Lid 211: First cut 212: Positioning groove 22:Outer ring 221: Second cut 222: Slide groove 223: Groove 224: Recess 3, 3': Sleeve body 30: Through hole 31: Notch 32:Position regulation part 33: Head 34: Torso 341:Position regulation protrusion 4: First pressing body 41: Boss 42: Locking groove 43: Pressing part 5:Multi-connection mechanism 51: Connecting rod 52: Slide Block 6: Second pressing body 61: Locking part 62: Pressing part 7: Case 71: Third cut 8: Third pressing body 81: Rod-shaped structure 811:Protrusion 82: Pressing part R: Robot arm N: Navigation Mark Element F1, F2: Surgical instruments S:Surgical site B: Patient E1: Processing Unit E2:Display device E3: Optical Tracker W: Guidewire J1: 1st direction J2:Second direction

Claims

1. The main body, one end of which is connected to a robot arm, A storage section having a storage hole is connected to the other end of the main body, A sleeve body is detachably installed in the aforementioned storage hole, has a through hole for inserting surgical instruments, has a notch on one side along the axial direction of the through hole, the notch communicates with the through hole, and a position regulating portion is further provided on the edge of the notch, The first pressing body installed on the main body, A multi-connecting mechanism is installed in the main body and the storage section and is connected to the first pressing body and the sleeve body, Equipped with, The first pressing body, when pressed, drives the multi-connection mechanism, which in turn presses against the position-regulating portion, narrowing the notch and thereby deforming the sleeve body to clamp and fix the surgical instrument. A clamping device characterized by the following features.

2. The multi-connection mechanism comprises connecting rods and slide blocks that are connected to each other, the connecting rods being installed in the main body, the slide blocks being installed in the storage section, the first pressing body having a boss, the boss contacting the connecting rod, and the slide block contacting the position regulating section. The clamping device according to claim 1.

3. The first pressing body further comprises a second pressing body installed on the main body, the second pressing body having at least one locking portion, and the first pressing body further comprises at least one locking groove. When the first pressing body is pressed, the at least one locking portion is locked into the at least one locking groove, restricting the first pressing body, the boss is driven to push the connecting rod forward, the slide block is driven to push the position restricting portion, and the sleeve body is deformed to clamp and fix the surgical instrument. The clamping device according to claim 2.

4. When the second pressing body is pressed, the first pressing body returns to its original position as the at least one locking portion disengages from the at least one locking groove, and the multi-connection mechanism releases the pressure on the sleeve body in conjunction with the return of the first pressing body, allowing the sleeve body to recover from deformation and loosen its grip on the surgical instrument. The clamping device according to claim 3.

5. The storage section comprises a lid and an outer ring, the outer ring being movably installed below the lid, the lid having a first notch and two opposing position-regulating grooves at the edge of the storage hole, and the outer ring having a second notch at the edge of the storage hole. The clamping device according to claim 2.

6. The outer ring portion has a slide groove, the slide block is movably installed in the slide groove and positioned at the edge of the second notch, and the outer ring portion is further provided with a recessed groove on the inside at a position corresponding to the second notch. When the sleeve body is installed in the storage hole, the position regulating portion is installed corresponding to the groove. The clamping device according to claim 5.

7. The sleeve body is cylindrical and comprises a head and a body, the diameter of the head being larger than the diameter of the body, the position regulating portion being installed on the body, the notch extending from the head to the body along the axial direction of the through hole, and the body having a position regulating projection on the opposite side of the notch. The clamping device according to claim 5.

8. When the sleeve body is installed in the storage hole, the position regulating portion and the position regulating projection align themselves and pass through the two position regulating grooves, and the notch aligns with the second notch. After the sleeve body is installed in the storage hole, the sleeve body is rotated so that the notch and the second notch are aligned with the first notch, the outer ring is driven to rotate in the first direction relative to the lid, and the axial movement of the sleeve body is restricted as the position restricting portion and the position restricting projection become misaligned with the two position restricting grooves. The clamping device according to claim 7.

9. The case further comprises covering the outer ring portion and having a third notch that is aligned with the first and second notches. The clamping device according to claim 8.

10. The main body further comprises a third pressing body installed on the main body, When the sleeve body is fixed in the storage hole, the protrusion of the third pressing body extends to the storage portion and engages with the recess of the outer ring portion, thereby restricting the rotation of the outer ring portion. The clamping device according to claim 8.

11. When the third pressing body is pressed, the protrusion is moved away from the recess, the sleeve body is rotated, and the outer ring is driven to rotate in a second direction opposite to the first direction relative to the lid, thereby aligning the position restricting portion and the position restricting projection with the two position restricting grooves, and releasing the axial position restriction of the sleeve body. The clamping device according to claim 10.

12. A robotic arm and A clamping device according to any one of claims 1 to 11, which is connected to the robot arm and used for clamping surgical instruments, A navigation mark element installed on the surgical instrument, Equipped with, A surgical instrument navigation system characterized by the following features.

Images