A navigation and positioning apparatus and its system for surgical guidance are provided. The surgical guidance system includes an image scanner, a navigator, a surgical catheter and a surgical probe. The image scanner with flexible and slender working tube can be used to capture the image of two-dimensional tissue surface and/or three- or four-dimensional tissue structure at the end of surgical catheter. As a result, it provides a way to differentiate the tissue types and structures along the path of surgery before the catheter tip reach the target tissue. In so doing, the surgical probe can be guided by the surgical catheter and arrive at the best predetermined target position to ensure an accurate surgery.本發明係揭露一種手術影像導引定位裝置及其系統。包含有影像擷取系統、影像掃瞄儀、導航儀、手術導管及手術探針。其中,影像擷取系統具有一細長狀且可撓曲的工作端,可在手術導管前進的過程中,擷取手術導管尚未抵達的前端組織表面影像、3維結構影像或是4維動態結構影像,用於判斷手術導管前端組織的型態與結構。因此能確認手術導管行進在正確路徑,並可到達正確手術位置,再以手術導管輔助手術探針直接到達最佳作業位置,進行精確定位的手術。100...定位架300...手術導管301...中空導軌400...影像擷取系統410...工作端411...激發源412...接收單元420...本體500...手術探針510...施術端520...針體
