A percutaneous connection device to be fixed in an osseous structure of a patient to connect an internal entity located inside the body of the patient to an entity external to said body, the device comprising a percutaneous socket having a first end comprising a percutaneous abutment and a second end opposite to the first end, an elongated extension member designed to be inserted within a hole created into the osseous structure, said extension member having a first end to be removably coupled to the second end of the socket and a second end opposite to the first end, an anchoring mechanism for anchoring the device to the osseous structure by osseointegration and a separate connection running through the device from the first end of the percutaneous socket to the second end of the extension member, and comprising at least a first connector arranged within the percutaneous abutment.