JP2003260064A - Tool position presentation system, tool position setting method utilizing the same and tool therefor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a tool position presentation system which can present the position and direction of tools accurately without depending on the positions of the tools and workers, to provide a tool position setting method and a tool therefor. <P>SOLUTION: The tool position presentation system which presents the position of a drill (tool) 12 for surgery at an operation site 11 of a subject (working site of a working body) within a specified space is provided with two laser beam irradiators which individually emit laser beams with a specified expanse planarly and a controller 2 for controlling the angle of irradiation with the two planar beams. The tip part of the tool is presented utilizing laser lines 30a and 30b produced by the planar beams from the two laser light sources, namely, depending on the intersection of the planar beams on one hand and the direction of the tool at least using one of the laser lines on the other, thereby enabling the accurate and simple position setting of the tool. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tool position presenting system for assisting an operator in positioning a tool for performing a predetermined work in a predetermined space, and more particularly to a technique used in a surgical operation or the like. TECHNICAL FIELD The present invention relates to a tool position presentation system that accurately presents the position and direction of a tool (particularly, a drill or a wire) on a work piece (patient), a tool position setting method using the tool position setting system, and a tool therefor.

[0002]

2. Description of the Related Art In general, it is important for an operator (doctor) to accurately position a surgical tool in a surgical operation such as an orthopedic operation. As a solution to this problem, for example, COMPUTER-INTEGRATED SURGERY (THE MIT P
The method described on pages 425-449 of RESS (1996) is already known. In such a method, for example, as shown in FIG. 32.19, a laser as a surgical tool, for example, a laser device mounted on a robot arm, is moved to a predetermined position of a spine as a work piece from a predetermined angle to a laser beam. Is irradiated and the position of the tip and the method of its advance are presented on one laser beam.

[0003]

That is, in the above-mentioned prior art, the laser beam is applied to the target position of the surgical instrument from the target direction and the position is presented on the straight line.
Therefore, for example, this laser beam may be blocked by these surgical instruments or operators, and the position presented by this laser beam may be lost. Was difficult. In particular, the traveling direction of the drill had to be set so that the laser beam was directed to the central portion of the rear end face of the drill, as is clear from Figure 32.19, and even more so. Also, in such cases,
In such a conventional technique, there is also a problem that a mechanism for moving the device for irradiating the laser beam to an appropriate place again is required.

The present invention has been made in view of the above-mentioned problems in the prior art, and an object of the present invention is to make it easy for a light beam indicating a target position and a direction of a tool to be easily detected by the tool or an operator using the tool. The position and direction of the tool can be more accurately determined without being obstructed by the position.
A tool position presentation system capable of presenting on a work piece, and a tool position setting method using the same,
And to provide tools for that.

[0005]

In order to achieve the above object, according to the present invention, a tool position presenting system for presenting the position of a tool on a work in a predetermined space is provided. At least two light sources that are located at different positions in the space and irradiate light rays having a predetermined spread in a planar manner from the point, and a control device that controls the irradiation angle of the planar light rays emitted from the at least two light sources. And a planar light ray from the at least two light sources is utilized to provide a tool position presentation system that presents the position of the tool in the predetermined space.

According to the present invention, in the tool position presentation system, the at least two planar light beams are obtained by vibrating a linear laser beam, and the at least two light sources. Are arranged on both sides of a surface formed by the body axis direction of the operator (operator) and the axial direction of the tool by a predetermined distance, and further, the tip end portion of the tool is The direction of the tool is presented by an intersection of at least two planar rays and at least one of the at least two planar rays.

According to the present invention, the predetermined space in the tool position presentation system described above is an operating room, and the tool is a surgical tool.
It is a surgical drill.

In order to achieve the above-mentioned object,
According to the present invention, there is provided a tool position setting method for setting the position of a tool on a work piece in a predetermined space by using the tool position presentation system described above, the method comprising: Provided is a tool position setting method for setting the position of a tool according to a position presented by using at least two planar light rays emitted.

According to the present invention, in the above-mentioned tool position setting method, in particular, the tip of the tool is set to a point presented by the intersection of the at least two planar rays, and the at least two planes are set. The axial direction of the tool is set in the linear cross-sectional direction of the light beam presented by at least one of the linear light beams.

In addition, according to the present invention, there is provided a tool whose position is set on a work piece in a predetermined space by using the tool position presenting system or the tool position setting method. , A part of the outer peripheral surface of the tool is provided with means for aligning the axial direction of the tool with the direction presented by the linear cross section of at least one of the at least two planar light rays. Provided. The means for aligning the axial direction of the tool with the direction presented by the linear cross section of the light beam is preferably a linear mark formed in the axial direction of the tool.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

FIG. 1 attached herewith shows a structural example of a tool position presentation system according to an embodiment of the present invention. The tool position presentation system shown here is, for example,
In a surgical operation, that is, in a predetermined space that is an operating room, a surgical drill, which is a tool, is used as an example thereof, for example, with respect to a part of a patient's body (for example, a part of a vertebra) exactly. It is used to set the insertion position and direction.

As is apparent from the figure, this system is provided with at least two laser light irradiation devices 1a and 1b, and the irradiation angle (position) of the laser beam emitted from these laser light irradiation devices. ) As a control means for controlling the control unit 2). In FIG. 1, reference numeral 12 is a tool, for example, a surgical drill, and reference numerals 10 and 11 are a body of a patient, which is an object to be worked by the tool, and an operating portion, which is a working portion thereof. It shows a part of it.

Although not shown in the drawing, a doctor who is an operator (operator) using the above tool is located on the front side of the drawing of the drawing, and the two laser light irradiating devices 1a. 1b is the axial direction of the surgeon's body (that is, the axial direction of the doctor's body, which is the vertical direction) and the axial direction of the surgical drill that is the tool (ie, the cylindrical shape behind the tip of the drill). And (a direction of an axis extending toward the main body), and are arranged on both sides of a surface separated by a predetermined distance. In addition, the broken line in this figure indicates the light surface of the laser beam emitted from these two laser light irradiating means 1a and 1b in a planar shape with a predetermined spread (that is, a linear cross section).

Next, FIG. 2 attached herewith shows laser light irradiation devices 1a and 1b for irradiating a laser beam having a predetermined spread in a plane, which is used in the present system.
An example of a more specific configuration will be shown. Since these laser light irradiation devices 1a and 1b have the same structure, a single reference numeral 1 will be simply described below.

The laser light irradiation apparatus 1 shown in FIG.
In principle, anything that can control the irradiation angle of the laser light to be irradiated is used, and for example, it is used for irradiating a wall surface to indicate a point. That is, a laser beam source 21 configured by a laser pointer or the like for outputting a laser beam is provided in the laser beam irradiation device housing 20.
Further, two galvano scanners 22 and 23 for changing the direction of the laser beam emitted from the laser beam source to a desired direction are provided, and are realized by using these.

More specifically, each of the galvano scanners 22 and 23 is constructed by mounting a mirror (a rectangular portion in the drawing) on the rotating shaft of, for example, a motor. The angle can be freely controlled to a desired angle (see arrow A in the figure).
In this example, one galvano scanner 23 is
As shown in the drawing, the axial direction of the laser beam is arranged so as to form a right angle with the output beam of the laser beam source 21, and the mirror changes the output beam of the laser beam source 21 in the vertical plane direction. It is arranged in such a position. The other galvano scanner 22 is separated from the one galvano scanner 23 by a predetermined distance on a plane, that is, is arranged on the upper surface thereof, and the axial direction of the galvano scanner 22 is the same as that emitted from the laser beam source 21. They are arranged in the same direction.

The other galvano scanner 22
As is clear from the figure, the mirror of (1) reflects the laser beam reflected by the one galvano scanner 23 in another direction (see arrow B in the figure). That is, these galvano scanners 22 and 23 can irradiate the emitted light beam from the laser beam source 21 in a predetermined direction in a free direction by changing at least one or both mirror angles (FIG. Inside arrow C
Configured).

Further, in the present invention, as described above, the laser beam radiated from the two laser beam irradiating means 1a and 1b in a plane shape (that is, in a straight section) with a predetermined spread in a plane is as described above. Two galvo scanners 22,
23. At least one or both of the mirror angles 23 are formed by vibrating (scanning) at a predetermined angle at a predetermined frequency (a frequency at which human eyes can see a straight line, for example, a frequency of 50 Hz). There is.

That is, in the present embodiment, by controlling the mirror angles of these two galvanometer scanners, it is possible to irradiate the laser beam at an arbitrary irradiation angle, and by moving these mirrors at high speed, the laser beam can be irradiated. By scanning, it is possible to irradiate a planar laser beam having a predetermined spread in a planar direction in an arbitrary direction.

In the above example, the two laser light irradiating means 1a and 1b are realized by using a laser beam source 21 composed of a laser pointer and two galvano scanners 22 and 23, respectively. However, the present invention is not limited to such a configuration, for example, it is also possible to configure by combining other laser light irradiation means and a cylindrical lens, or a plurality of laser beam sources. It is also possible to form a laser beam which is previously irradiated in a planar shape by utilizing the above, and to change the irradiation direction freely by mounting it on the tip of the robot arm, for example.

Further, in the above embodiment, the two irradiation means 1a and 1b are described as those which irradiate the laser light in particular, but the present invention is not limited to such a constitution. The other light source (visible light source) may be used. However,
As in the above-described embodiment, particularly by using a laser beam, it is possible to realize an excellent tool position presentation (mark) by light, which does not diffuse at the irradiation position, due to its characteristics such as straightness. It becomes possible to do.

As described above, the two laser beam irradiators 1a and 1b have a predetermined distance on both sides of a plane formed by the body axis direction of the operator and the axial direction of the tool, for example. However, without being limited to this, the positions are such that the operative part 11 is always held in a position and a direction that does not become a blind spot, for example, by a stand, or It can be installed by hanging it from the ceiling. In addition, in the example shown in FIG. 1 above, a configuration in which two laser light irradiation devices are arranged is shown, but the number is not limited to two, and two or more laser light irradiation devices may be installed. It will be apparent to those skilled in the art that it may be possible.

Next, the configuration is described in detail above.
A procedure of a method for aligning a surgical drill, which is a tool, with a surgical site 11, which is a part of a body of a subject, which is a work subject, by using the tool position presentation system according to the present invention An example will be described in detail below with reference to FIG. 3 attached hereto and FIG. 4 attached to show the relationship between the drill 12 and the operating portion 11.

First, in the tool position presentation system, the set positions and directions of the two laser light irradiation devices 1a and 1b are measured (step S101). Next, the target position and direction of the surgical instrument are input to the control device 2 (step S102). The target position and the direction of the surgical instrument are input by using a keyboard and a mouse provided in the control device 2, or by a medical navigation system (not shown) connected to the control device. It is also possible to do so. At this time, the control device 2
When given by a coordinate system other than the coordinate system (reference coordinate system) defining the positions and directions of the laser light irradiation devices 1a, 1b, the coordinate conversion to the reference coordinate system is performed.

Then, in the control device 2, the command irradiation angle of the laser beam is obtained from the target position and direction of the surgical instrument and the installation positions and directions of the laser light irradiation devices 1a and 1b which are input in the above steps. (Step S10
3). Specifically, for example, when the laser light irradiation device 1 shown in FIG. 2 is used, the command values of the mirror angles of the galvano scanners 22 and 23 are obtained.

Further, in the tool position presentation system described above, laser light is emitted according to the command value obtained in step S103 (step S104). Specifically, for example, the laser light irradiation device 2 shown in FIG.
When the laser beam is used, a laser beam is emitted from the laser beam source 21 and each galvano scanner 2 is used.
The rotation angles of Nos. 2 and 23 are controlled according to the command value obtained in step S103. That is, according to this, two planar light rays are emitted toward the working portion on the work piece in the predetermined space.

Next, the position and direction of the surgical tool (tool) are set using the above-mentioned two irradiated planar light rays.
The procedure is as follows. In addition, this position setting work is
A description will be given with reference to FIG. 4 attached together with FIG.

First, the above two laser light irradiation devices 1
For the operator, the laser beam surfaces irradiated from a and 1b are, as shown in FIG.
Laser lines 30a, 30 crossing each other on the surface of the
recognized as b. In the present invention, since the intersection of the laser lines 30a and 30b is the target insertion position of the surgical instrument (for example, a surgical drill), the tip of the surgical instrument 12 (for example, the tip of the drill blade) is located at this intersection. Positioning is performed (step S105). More specifically, the alignment of the surgical drill 12 which is the surgical tool shown in FIG. 4 is performed by a doctor who is an operator, for example, while holding the grip 121 in the right hand while drilling with the left hand. It is performed by grasping and guiding the hand portion 131 extending from the guide portion 13 at the tip.

Next, after aligning the tip of the surgical instrument 12 described above, the two laser beam irradiation devices 1a, 1
As shown in FIG. 4 (b), the laser beam emitted from b is applied to the side surface of the surgical instrument 12, specifically, the side surface of the guide portion 13 of the surgical drill 12, that is, the surgical instrument 1
It is recognized as laser lines 30a and 30b on the surface of part of 2.

By the way, in the present invention, the laser beams emitted from the two laser beam irradiators 1a and 1b are each formed in a plane shape with a predetermined spread, and the intersection line of these laser beams is within a predetermined space. , The direction of the tool is determined (step S106). That is, since these laser lines 30a and 30b indicate the target direction of the surgical instrument in the linear cross-sectional direction, the operator has the two laser lines 30a and 30b whose axial direction is the surgical instrument 12. The tool can be set in a desired direction set in advance by setting the tool in parallel with.

Therefore, in the present invention, the position and direction of the tool can be set more easily and surely by using the tool position presentation system described above. A mark for confirming that the axial direction of the tool is parallel to the laser lines 30a and 30b is provided on a part of the tool irradiated with the laser beam emitted from the irradiation devices 1a and 1b. That is, in the case of the surgical drill 12 described above,
Line-shaped plural or singular marks are provided on the side surface of the guide portion 13 near the tip thereof along the axial direction thereof. According to this, the operator can easily and surely set the direction while comparing the laser lines 30a and 30b irradiated on a part of the side surface of the tool with the marks in the axial direction. .

In the above method, the direction of the tool is set by using the two laser lines 30a and 30b formed by the two laser beams emitted from the two laser beam irradiation devices 1a and 1b. However, it is possible to use only one of the laser lines, although the setting accuracy is lowered. In addition,
In this case, the direction can be set only on one plane within a predetermined space presented by one laser line.

Furthermore, in the above-mentioned example, in particular, as a tool for setting the position and direction in a predetermined space, for example, a drill for surgical operation is described in detail, however, the present invention is not limited to this. Others, for example, endoscopes (particularly rigid ones), laparoscopes, arthroscopes,
It is also applicable to the insertion of a wire-shaped surgical instrument such as a catheter into the body.

Furthermore, in the above, especially, the medical tool is described, but the present invention can be widely used for other purposes, for example, for setting the torch position and direction in welding work. It will be apparent to those skilled in the art from the above description that the above can be done.

Further, as described above, in the tool position presentation system of the present invention, two (or more) laser light beams can be used without moving the laser light irradiation means unlike the above-mentioned conventional system. By controlling the irradiation angle of the irradiation device, it becomes possible to present an arbitrary position and direction to the tool. Further, since these laser beams may be irradiated from the lateral direction of the surgical tool which is a tool, the laser line formed on the work piece is
It is possible to always reliably recognize on the surface of the operation part and on the side surface of the operation tool (tool) without being blocked by the operation tool or the operator.

Next, an example of a method for measuring the installation position / direction of the laser light irradiation means, which is indicated by reference numeral S101 in FIG. 3 above, will be described below with reference to the attached FIG.

First, the irradiation position of the laser light when the irradiation angle of the laser light is changed is measured. In this example, the irradiation angle of the laser beam is equivalent to the mirror angle of the galvano scanner 22 and the galvano scanner 23, and therefore is defined by the mirror angle. Irradiation positions of the laser light when the mirror angles of the galvano scanner 23 and the galvano scanner 22 are (0, 0) are P ₁ and P _2, and then irradiation is performed when these mirror angles are (α, 0). The position is P ₃ , and the irradiation position when these mirror angles are (0, β) is P _4, and these coordinates are measured. At this time, these angles α and β may be any angles other than 0,
The maximum mirror angle of the galvano scanner is desirable. The coordinates of the irradiation positions P _{1 to} P ₄ can be measured using a three-dimensional position measuring device.

Next, the installation position and direction of the laser light irradiation device are calculated from the obtained angle and irradiation position of the galvano scanner. The mirror center position of the galvano scanner 22 and O, and to a unit vector indicating the irradiation direction of the laser light when the zero mirror angles of the two galvano scanners are both (0) e _z, it is rotated only galvano scanner 23 A unit vector indicating a direction in which the irradiation direction changes is sometimes referred to as e _x , and a unit vector indicating a direction in which the irradiation direction changes when only the galvano scanner 22 is rotated is referred to as e _y . The distance between the mirrors of the galvano scanner 22 and the galvano scanner 23 is r (however, this r is known). In addition, the galvano scanner 22
The equivalent emission position of the laser beam when the mirror angle is 0 is O ₁ ′, and the equivalent emission position when the mirror angle is β is O ₄ ′.

First, the unit vector e _z is the above P ₁ ,
It is calculated from P ₂ by the following equation.

[Equation 1]

Next, when a perpendicular line drawn from the position P ₃ to the straight line defined by P ₁ and e _z is obtained and the foot of the perpendicular line is P ₃ ′, the unit vector e _x is _calculated by the following equation. Desired.

[Equation 2]

Moreover, obtains a perpendicular line from the position P ₄ to line defined by the above P ₁ and e _z, a foot of the perpendicular line P
₄ ′, the unit vector e _y is _calculated by the following equation.

[Equation 3]

Furthermore, from ∠P ₄ 'OP ₄ = β, P ₄ '
O becomes the following formula,

[Equation 4]

Therefore, O is obtained by the following equation.

[Equation 5]

That is, according to the above, the galvano scanner 22 equivalent to the installation position of the laser light irradiation device is provided.
Mirror position O of the above and e _x , e _y , e _z equivalent to the installation direction
Can ask. If the irradiation position of the laser light at at least three irradiation angles is measured, the installation position / direction of the laser light irradiation means can be obtained in the same manner. How to obtain the irradiation angle shown in this example It goes without saying that the present invention is not limited to the above and arithmetic expressions. Further, even with the configuration of the laser light irradiation device other than the above-mentioned FIG. 2, it is possible to obtain the installation position / direction in the same manner as above, that is, the above method depends on the configuration of the laser light irradiation device. The present invention is not limited.

Next, in the procedure shown in FIG. 3, the target position / direction of the surgical tool and the installation position / position of the laser light irradiation means are set.
An example of the calculation process for obtaining the command irradiation angle of the laser light from the direction will be described with reference to the attached FIG. In addition, this example will be described for the laser light irradiation apparatus shown in FIG.

First, the target position of the surgical tool is P, and the unit vector indicating the target direction is v. To present the position and direction of the surgical tool, on the line defined by P and v,
The line segment P _s P _e containing P may be irradiated with laser light. For this purpose, the mirror angles α _s of the galvano scanners 23 and 22 for irradiating P _s with the laser beam,
beta _s, and the mirror angle for irradiating the _{P e} alpha _e,
β _e is obtained, and (α _s , β _s ) and (α _e , β _e )
The angle can be changed by synchronizing the two galvano scanners.

The mirror angles α and β of the galvano scanners 23 and 22 for irradiating the _Ps are determined by the installation position O of the laser light irradiation means and the installation directions e _x , e _y ,
By using e _z , it is possible to obtain as follows. That is, first, the relationship of the following equation is satisfied (x, y,
z) is calculated.

[Equation 6]

This can be obtained by the following equation.

[Equation 7]

Using this, α and β can be obtained by the following equations.

[Equation 8]

In the same manner, the mirror angle of the galvano scanner for irradiating P _e can be obtained.

With the above arrangement, the command value to the galvano scanner equivalent to the command irradiation angle of the laser light can be calculated from the target position and the direction of the surgical tool which is the tool and the installation position and the direction of the laser light irradiation device. You can ask. Even with the configuration of the light irradiation device other than that shown in FIG. 2, the command irradiation angle can be obtained in the same manner as described above.
Therefore, the present invention is not limited by the configuration of the laser light irradiation device described above.

That is, according to the present invention, there is provided a position presenting system for presenting the position and direction of the tool, wherein at least two laser light irradiating means capable of controlling the irradiation angle of the laser light and control means for controlling the laser light irradiating means. And controlling the irradiation angle of the laser light so that the intersecting line of the laser light surfaces that are planarly irradiated from at least two laser light irradiation means coincides with the straight line defined by the target position and direction of the tool. There is provided a position presentation system that

According to this, the target position / direction of the tool can always be presented easily without moving the laser light irradiation means. In particular, this position presenting system may be used for presenting the position and orientation of the surgical instrument in surgery.

Further, according to the present invention, there is provided a position presenting method for presenting the position and the direction of the tool, in which the installation position and the direction of the laser light irradiation means capable of controlling the irradiation angle of the laser light are measured, and the target of the tool is measured. A position presentation method is provided in which a command irradiation angle of laser light is calculated from the position and direction and the installation position and direction of the laser light irradiation unit and the laser light irradiation unit is controlled based on the command irradiation angle. In particular, this position presenting method may be used for presenting the position / direction of the surgical instrument in a surgical operation.

The installation position and direction of the laser light irradiation means in this position presentation method are measured by measuring the irradiation position of the laser light irradiated at at least three irradiation angles, and measuring at least three irradiation angles and the measured laser light. This is done by calculating the installation position and direction of the laser light irradiation means from the irradiation position.

[0057]

As described in detail above, according to the present invention, the light beam indicating the target position and direction of the tool is not easily blocked by the tool or the position of the operator by the tool, and A tool position presentation system that is capable of more accurately presenting the position and direction of the tool on the work piece and is excellent in practical use, a tool position setting method using the same, and a tool therefor Can be provided.

[Brief description of drawings]

FIG. 1 is a black diagram showing an example of a schematic configuration of a tool position presentation system according to an embodiment of the present invention.

FIG. 2 is a diagram illustrating a specific configuration example of a laser light irradiation device used in the tool position presentation system of FIG.

FIG. 3 is a flowchart showing details of an operation of the tool position presentation system according to the present invention and a tool position setting method using the same.

FIG. 4 is an explanatory diagram including a laser line displayed on a tool for explaining a tool position setting method using the tool position presentation system according to the present invention.

FIG. 5 is an explanatory diagram illustrating an example of a method for measuring the installation position / direction of the laser light irradiation means in the present invention.

FIG. 6 is an explanatory diagram illustrating an example of a method of obtaining a command irradiation angle of laser light from the target position / direction of the surgical instrument and the installation position / direction of the laser light irradiation means in the present invention.

[Explanation of symbols]

1, 1a, 1b Laser light irradiation device 2 controller 10 Workpiece (subject) 11 Working department 12 Surgical tools (surgical drills) 20 Laser light irradiation device housing 21 Laser beam source 22, 23 Galvo Scanner 30a, 30b Laser line

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Yoshinobu Sato             2-1-6 Senriyama Nishi, Suita City, Osaka Prefecture (72) Inventor Yoshikazu Nakajima             32-1-1 Wakazonocho, Ibaraki City, Osaka Prefecture (72) Inventor Kenji Doi             2-6-30 Nakamachi, Setagaya-ku, Tokyo (72) Inventor Ichiro Sakuma             719-24 Kawashima-cho, Hodogaya-ku, Yokohama-shi, Kanagawa (72) Inventor Yasuyuki Momoi             502 Kintatemachi, Tsuchiura City, Ibaraki Japan             Tate Seisakusho Mechanical Research Center

Claims (8)

[Claims] 1. A tool position presenting system for presenting the position of a tool on a work piece in a predetermined space, the tool position presenting system being located at different points in the space and extending a predetermined spread in a plane from the point. At least two light sources for irradiating the light beam and a control device for controlling the irradiation angle of the planar light beam emitted from the at least two light sources are provided.
A tool position presentation system characterized by presenting the position of the tool in the predetermined space by using planar light rays from the at least two light sources. 2. The tool position presentation system according to claim 1, wherein the tip of the tool is presented by an intersection of the at least two planar light rays, and at least the at least two planar light rays. A tool position presentation system characterized by presenting the direction of the tool by one. 3. The tool position presentation system according to claim 1, wherein the predetermined space is an operating room, and the tool is a surgical tool. 4. The tool position presentation system according to claim 1, wherein the tool is a surgical drill. 5. A tool position setting method for setting the position of a tool on a work by using the tool position presentation system according to claim 1 in a predetermined space, the method comprising: A tool position setting method characterized by setting the position of the tool according to a position presented by using at least two planar light rays emitted from a light source. 6. The tool position setting method according to claim 5, wherein the tip of the tool is set to a point presented by an intersection of the at least two planar rays, and the at least two planar rays are set. In the linear cross-section direction of the ray presented by at least one of the rays,
A tool position setting method characterized by setting the axial direction of the tool. 7. The tool position presentation system according to claim 1 or the tool position setting method according to claim 7 is used to set the position on a work piece in a predetermined space. A tool for aligning an axial direction of the tool with a part of an outer peripheral surface of the tool in a direction presented by a linear cross section of at least one of the at least two planar light rays. A tool characterized by having. 8. The tool of claim 7, wherein the means for aligning the axial direction of the tool with the direction presented by the linear cross section of the light beam is formed in the axial direction of the tool. A tool characterized by a linear mark.