Position tracking device, optical positioning system and surgical robotic arm

Abstract

The application relates to the technical field of medical devices, and discloses a positioning and tracking device, an optical positioning system and a surgical mechanical arm. The positioning and tracking device comprises a base and multiple groups of tracking arrays, the multiple groups of tracking arrays are arranged around the inside of the base, each group of tracking arrays comprises at least three tracking elements, and all the tracking elements in the same group of tracking arrays define a plane corresponding to a current tracking array. Alternatively, all the tracking elements in the same group of tracking arrays define a curved surface corresponding to the current tracking array. The positioning and tracking device, the optical positioning system and the surgical mechanical arm provided by the application can improve the problem in the related art that when the included angle between a tracking element and an optical tracking sensor changes greatly in the process of movement of an end instrument, the optical tracking sensor cannot acquire the position of the tracking element, so that the pose of the end instrument cannot be recognized.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a positioning and tracking device, an optical positioning system, and a surgical robotic arm. Background Technology

[0002] During surgery, an optical positioning system is needed to obtain the pose of the end-effector in the world coordinate system in order to plan the surgical path and perform specific surgical operations. An optical positioning system generally includes a positioning and tracking device and an optical tracking sensor (OTS). The positioning and tracking device is used to connect to the end-effector, and the optical tracking sensor obtains the pose of the end-effector in the world coordinate system by acquiring the position of the tracking element set on the positioning and tracking device.

[0003] In related technologies, when the angle between the tracking element and the optical tracking sensor changes significantly during the movement of the end-effector, the optical tracking sensor may be unable to obtain the position of the tracking element, thus making it impossible to identify the pose of the end-effector. Summary of the Invention

[0004] This application provides a positioning and tracking device, an optical positioning system, and a surgical robotic arm, which can improve the problem in the related technology that when the angle between the tracking element and the optical tracking sensor changes significantly during the movement of the end-effector, the optical tracking sensor may be unable to obtain the position of the tracking element, thus resulting in the inability to identify the pose of the end-effector.

[0005] In a first aspect, embodiments of this application provide a positioning and tracking device, including a base and multiple sets of tracking arrays. The multiple sets of tracking arrays are arranged around the base and connected to the base. Each set of tracking arrays includes at least three tracking elements. All tracking elements in the same set of tracking arrays have the same normal direction. The normal direction of the tracking elements in one set of tracking arrays is different from the normal direction of the tracking elements in any other set of tracking arrays. All tracking elements in the same set of tracking arrays define a plane corresponding to the current tracking array.

[0006] In some embodiments, multiple sets of the tracking arrays are arranged along the circumferential direction of the base.

[0007] In some embodiments, the base is provided with a plurality of grooves for housing the tracking element, the grooves having slots formed on the outer surface of the base.

[0008] In some embodiments, the positioning and tracking device further includes a plurality of bosses that are received within the groove, and the tracking element is connected to the bosses.

[0009] In some embodiments, the normal direction of the tracking element is not parallel to the radial direction of the base, and for the same groove, the clearance portion of the groove on the side where the normal direction of the tracking element is located is larger than the clearance portion of the groove on the side where the radial direction of the base is located.

[0010] Secondly, embodiments of this application provide a positioning and tracking device, including a base and multiple sets of tracking arrays. The multiple sets of tracking arrays are arranged around the base and connected to the base. Each set of tracking arrays includes at least three tracking elements. All tracking elements in the same set of tracking arrays have the same normal direction. The normal direction of the tracking elements in one set of tracking arrays is different from the normal direction of the tracking elements in any other set of tracking arrays. All tracking elements in the same set of tracking arrays define a surface corresponding to the current tracking array.

[0011] In some embodiments, multiple sets of the tracking arrays are arranged along the circumferential direction of the base; and / or, the surface is at least a portion of a cylindrical surface, at least a portion of a frustum surface, or at least a portion of a conical surface.

[0012] In some embodiments, the base is provided with a plurality of grooves for housing the tracking element, the grooves having slots formed on the outer surface of the base.

[0013] In some embodiments, the normal direction of the tracking element is not parallel to the radial direction of the base, and for the same groove, the clearance portion of the groove on the side where the normal direction of the tracking element is located is larger than the clearance portion of the groove on the side where the radial direction of the base is located.

[0014] In some embodiments, the curved surface is coaxially arranged with the outer surface of the base, and the diameter of the curved surface is less than or equal to the diameter of the base.

[0015] In some embodiments, multiple sets of the tracking arrays are arranged at intervals or staggered around the base.

[0016] In some embodiments, the distance between any two tracking elements in the same set of tracking arrays is 30mm-60mm.

[0017] In some embodiments, the distance between the tracking element in one set of the tracking arrays and the tracking element in another set of the tracking arrays adjacent to it is greater than or equal to 25 mm.

[0018] In some embodiments, at least a portion of the surface of the base is set to a matte finish.

[0019] Thirdly, embodiments of this application provide an optical positioning system, including an optical tracking sensor and a positioning tracking device as described in the first aspect or as described in the second aspect.

[0020] Fourthly, embodiments of this application provide a surgical robotic arm, on which a positioning and tracking device as described in the first aspect or as described in the second aspect is provided.

[0021] The positioning and tracking device provided in this application has the following advantages:

[0022] Since the positioning and tracking device includes a base and multiple tracking arrays, which are arranged around the base and connected to it, each tracking array includes at least three tracking elements. All tracking elements in the same tracking array have the same normal direction. However, the normal direction of the tracking elements in one tracking array is different from that in any other tracking array. Therefore, even when the angle between the tracking element and the optical tracking sensor changes significantly, the optical tracking sensor can still obtain the position of the tracking element, thereby accurately identifying the pose of the end effector and solving the problem of end effector tracking loss.

[0023] Meanwhile, when all tracking elements in the same tracking array define a plane corresponding to the current tracking array, the tracking arrays can be solved directly using the plane method. The point coordinates of each tracking element in space can be calculated, and then the line segment length, side length difference, and similar line segment pairs in each tracking array can be calculated to meet the solution rule requirements, making it easier for the tracking elements in the same tracking array to be tracked by OTS.

[0024] When all tracking elements in the same tracking array define a surface corresponding to the current tracking array, the cylindrical coordinate system can be used to solve each tracking array, calculate the point coordinates of each tracking element in space, and then calculate the line segment length, side length difference, and similar line segment pairs in each tracking array to meet the solution rule requirements. This makes the tracking elements in the same tracking array easier to be tracked by OTS, and also makes the structure of the positioning and tracking device more compact, occupies less space, has a lower probability of collision with the patient, and reduces the space occupied by the doctor's operation.

[0025] The advantages of the optical positioning system provided in this application compared to the prior art, and the advantages of the surgical robotic arm provided in this application compared to the prior art, can be found in the description of the advantages of the positioning and tracking device provided in this application compared to the prior art, and will not be repeated here. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a partial structural schematic diagram of the optical positioning system in the first embodiment of this application;

[0028] Figure 2 yes Figure 1 A schematic diagram of the optical positioning system from another perspective;

[0029] Figure 3 yes Figure 1 A partial enlarged view of the positioning and tracking device in the optical positioning system shown;

[0030] Figure 4 yes Figure 3 The diagram shown is a structural schematic of the positioning and tracking device.

[0031] Figure 5 yes Figure 4 The diagram shows the structure of the base and tracking array in the positioning and tracking device.

[0032] Figure 6 yes Figure 4 A schematic diagram of the base and tracking array in the positioning and tracking device from another perspective;

[0033] Figure 7 yes Figure 4 A schematic diagram of the base and tracking array in the positioning and tracking device from another perspective;

[0034] Figure 8 yes Figure 4 A schematic diagram of the normal direction of the tracking array in the positioning and tracking device shown;

[0035] Figure 9 yes Figure 4 A schematic diagram showing the unfolded base and tracking array in the positioning and tracking device;

[0036] Figure 10 yes Figure 4A magnified view of the base and tracking array in the positioning and tracking device shown, with a partial view of the tracking element;

[0037] Figure 11 yes Figure 4 A partial structural diagram of the base and tracking array at the tracking element in the positioning and tracking device shown;

[0038] Figure 12 yes Figure 4 A schematic diagram of the base and tracking array in the positioning and tracking device from another perspective;

[0039] Figure 13 This is a schematic diagram of the base and tracking array in the positioning and tracking device in the second embodiment of this application;

[0040] Figure 14 yes Figure 13 A schematic diagram of the array solution space of the tracking array shown;

[0041] Figure 15 This is a schematic diagram of the base and tracking array in the positioning and tracking device according to the third embodiment of this application;

[0042] Figure 16 This is a schematic diagram showing the unfolded base and tracking array in the positioning and tracking device in the fourth embodiment of this application;

[0043] Figure 17 This is a schematic diagram of the positioning and tracking device in the fifth embodiment of this application;

[0044] Figure 18 yes Figure 17 The diagram shown is an exploded view of the positioning and tracking device.

[0045] Figure 19 This is a schematic diagram of the positioning and tracking device in the sixth embodiment of this application;

[0046] Figure 20 yes Figure 19 A schematic diagram of the normal direction of the tracking array in the positioning and tracking device shown.

[0047] The markings in the diagram mean:

[0048] 1000. Surgical robots;

[0049] 100. Positioning and tracking device;

[0050] 10. Base; 11. Groove; 20. Tracking element; 21. Cable; 22. Reflector disc; 23. Pressure ring; 24. Adhesive layer; 30. Boss; 40. IR receiver; 50. Circuit board; 60. Positioning post;

[0051] 2000, Optical tracking sensor;

[0052] 3000, patients;

[0053] 4000 hospital beds. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0055] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0056] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0057] In this specification, references to "one embodiment," "some embodiments," or simply "embodiment" mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. Furthermore, in one or more embodiments, specific features, structures, or characteristics may be combined in any suitable manner.

[0058] To illustrate the technical solution of this application, the following description is provided in conjunction with specific accompanying drawings and embodiments.

[0059] During surgery, an optical positioning system is needed to obtain the pose of the end-effector in the world coordinate system, in order to plan the surgical path and perform specific surgical operations. An optical positioning system generally includes a positioning and tracking device and an optical tracking sensor. The positioning and tracking device is connected to the end-effector, and the optical tracking sensor obtains the pose of the end-effector in the world coordinate system by acquiring the position of the tracking element set on the positioning and tracking device.

[0060] In related technologies, when the angle between the tracking element and the optical tracking sensor changes significantly during the movement of the end-effector, the optical tracking sensor may be unable to obtain the position of the tracking element, thus making it impossible to identify the pose of the end-effector.

[0061] In view of this, this application provides a positioning and tracking device, an optical positioning system, and a surgical robotic arm. Since the positioning and tracking device includes a base and multiple sets of tracking arrays, the multiple sets of tracking arrays are arranged around the base and connected to the base. Each set of tracking arrays includes at least three tracking elements, and the normal directions of all tracking elements in the same set of tracking arrays are the same. The normal directions of the tracking elements in one set of tracking arrays are different from the normal directions of the tracking elements in any other set of tracking arrays. Therefore, even when the angle between the tracking element and the optical tracking sensor changes significantly, it can still ensure that the optical tracking sensor can obtain the position of the tracking element, thereby accurately identifying the pose of the end effector and solving the problem of end effector tracking loss.

[0062] Meanwhile, when all tracking elements in the same tracking array define a plane corresponding to the current tracking array, the tracking arrays can be solved directly using the plane method. The point coordinates of each tracking element in space can be calculated, and then the line segment length, side length difference, and similar line segment pairs in each tracking array can be calculated to meet the solution rule requirements, making it easier for the tracking elements in the same tracking array to be tracked by OTS.

[0063] When all tracking elements in the same tracking array define a surface corresponding to the current tracking array, the cylindrical coordinate system can be used to solve each tracking array, calculate the point coordinates of each tracking element in space, and then calculate the line segment length, side length difference, and similar line segment pairs in each tracking array to meet the solution rule requirements. This makes the tracking elements in the same tracking array easier to be tracked by OTS, and also makes the structure of the positioning and tracking device more compact, occupies less space, has a lower probability of collision with the patient, and reduces the space occupied by the doctor's operation.

[0064] In this context, all tracking elements in the same tracking array define a plane or surface corresponding to the current tracking array, referring to the reference points of all tracking elements in the same tracking array defining a plane or surface. Tracking elements can be cylindrical, disc-shaped, spherical, or hemispherical, etc. Reference points include, but are not limited to, the optical center point, geometric center point, or other feature points on the tracking element. In one embodiment, the plane defined by the reference points of all tracking elements in the same tracking array is perpendicular to the normal of the tracking elements in that tracking array.

[0065] Please refer to Figures 1 to 4The first embodiment of this application provides a positioning and tracking device 100, which can be used in an optical positioning system. The optical positioning system may include a surgical robot 1000 and an optical tracking sensor 2000. In use, the positioning and tracking device 100 is disposed at the end of the surgical robot 1000, and an end effector is disposed at the end of the surgical robot 1000. The positioning and tracking device 100 can be mounted on the surgical robotic arm of the surgical robot 1000, or directly as part of the surgical robotic arm. The positioning and tracking device 100 can be disposed at the end of the surgical robotic arm or on other devices, and the positioning accuracy of the end effector may not depend on a high-precision surgical robotic arm. Alternatively, the positioning and tracking device 100 can be disposed in the middle section of the surgical robotic arm, such as after a certain joint, and the same effect can be achieved based on the fixed position parameters of the positioning and tracking device 100 and the end effector.

[0066] Patient 3000 is positioned on bed 4000 according to the requirements of different surgical procedures. Optical tracking sensor 2000 obtains the position of the end effector in the world coordinate system by acquiring the position of the tracking element 20 set by positioning and tracking device 100. Positioning and tracking device 100 can be used for various surgeries, including but not limited to orthopedic surgery, neurosurgery, and laparoscopic surgery.

[0067] Please refer to this as well. Figures 5 to 8 The positioning and tracking device 100 includes a base 10 and multiple tracking arrays. The multiple tracking arrays are arranged around the base 10 and connected to the base 10. Each tracking array includes at least three tracking elements 20. All tracking elements 20 in the same tracking array have the same normal direction. The normal direction of the tracking elements 20 in one tracking array is different from the normal direction of the tracking elements 20 in any other tracking array. All tracking elements 20 in the same tracking array define a plane corresponding to the current tracking array.

[0068] All tracking elements 20 in the same tracking array define a plane corresponding to the current tracking array, which can be a tracking surface. Multiple tracking arrays can be arranged around the base 10 in a spaced or staggered manner, such as uniformly spaced or non-uniformly spaced. Alternatively, adjacent tracking arrays may have overlapping portions. For example, the area enclosed by one tracking array may overlap with the area enclosed by an adjacent tracking array.

[0069] Multiple tracking arrays are arranged uniformly and at intervals around the base 10, resulting in a simple layout, easy calibration of the tracking arrays, and efficient use of space. When two adjacent tracking arrays have overlapping portions, the solution space area of ​​each tracking array can be increased within the same diameter of the base 10, thus allowing for more solutions. At the same time, the area occupied by each tracking array is relatively larger, thereby improving tracking accuracy.

[0070] The more tracking elements 20 the optical tracking sensor 2000 tracks, the better the accuracy.

[0071] In the first embodiment, five tracking arrays are evenly and spaced around the base 10. The angle between the normal direction of the tracking element 20 in one tracking array and the normal direction of the tracking element 20 in the adjacent tracking array is 72 degrees. At this point, the number of multifaceted marker points that the optical tracking sensor 2000 needs to identify is moderate, resulting in a good load on the optical tracking sensor 2000. Simultaneously, the five tracking arrays provide extensive angular coverage, preventing the tracking array at the end of the surgical robotic arm from being lost.

[0072] For example, five tracking arrays are designated as group A, group B, group C, group D, and group E. Group A includes four tracking elements 20, namely A1, A2, A3, and A4. Group B includes four tracking elements 20, namely B1, B2, B3, and B4. The normal directions of A1, A2, A3, and A4 are the same, as are the normal directions of B1, B2, B3, and B4. The angle between the normal direction of A1 and the normal direction of B1 is 72 degrees. The angle between the normal direction of A1 and the normal direction of the tracking element 20 in the tracking array of group E (e.g., ...) is... Figure 8 The included angle between the different groups of normals marked in the figure is 72 degrees.

[0073] It is understandable that if four sets of tracking arrays are evenly and spaced apart, then the angle between the normal direction of the tracking element 20 in one set of tracking arrays and the normal direction of the tracking element 20 in the adjacent set of tracking arrays will be 90 degrees.

[0074] It is also understandable that when the optical tracking sensor 2000 is stationary, the more angles at which the positioning and tracking device 100 can simultaneously identify both tracking arrays during the movement of the surgical robotic arm, the higher the accuracy. At certain angles, when the optical tracking sensor 2000 can simultaneously identify two tracking arrays, it can track the tracking array whose normal angle is smaller than that of the optical tracking sensor 2000's position sensor, thereby improving the recognition accuracy. For example, at a certain angle, the optical tracking sensor 2000 can simultaneously see tracking arrays A and B. The optical tracking sensor 2000 automatically calculates the group in groups A / B whose normal angle is smaller than that of the optical tracking sensor 2000's normal, thus improving the tracking accuracy. The normal of the tracking array is the normal direction of the tracking element 20 within it.

[0075] The tracking element 20 can be an active light-emitting element or a passive reflective element. The active light-emitting element can be a light-emitting diode or an infrared emitter that emits infrared light, which is detected and captured by the optical tracking sensor 2000. The passive reflective element typically uses a reflective coating on a reflective mark to reflect light, which is detected and identified by the optical tracking sensor 2000. Examples of passive reflective elements include disposable plastic balls, reflective glass balls, or reflective discs 22. In the first embodiment, the tracking element 20 is an active light-emitting element.

[0076] All tracking elements 20 in the same tracking array define a plane corresponding to the current tracking array (e.g., Figure 6 (The quadrilateral shown).

[0077] The tracking elements 20 in different tracking arrays are arranged in a predetermined distribution pattern. The distribution pattern of the tracking elements 20 in each tracking array is unique and does not repeat with the distribution patterns of the tracking elements 20 in other tracking arrays. When the optical tracking sensor 2000 tracks at least one tracking array at a given time, it can determine which tracking array is currently being tracked based on the different distribution patterns, thereby determining the pose of the end effector at that moment. The plane corresponding to one tracking array is set at an angle to the plane corresponding to an adjacent tracking array. Different tracking arrays satisfy the requirement that similar line segments have an angle greater than 2° to avoid misidentification.

[0078] As can be seen from the above, the positioning and tracking device 100 provided in this application includes a base 10 and multiple tracking arrays arranged around the base 10 and connected to the base 10. Each tracking array includes at least three tracking elements 20. Furthermore, all tracking elements 20 in the same tracking array have the same normal direction, except that the normal direction of the tracking elements 20 in one tracking array is different from the normal direction of the tracking elements 20 in any other tracking array. Therefore, even when the angle between the tracking element 20 and the optical tracking sensor 2000 varies significantly, the optical tracking sensor 2000 can still acquire the position of the tracking element 20, thereby accurately identifying the pose of the end effector and solving the problem of end effector tracking loss.

[0079] Meanwhile, when all tracking elements 20 in the same tracking array define a plane corresponding to the current tracking array, the tracking arrays can be solved directly using the plane method. The coordinates of each tracking element 20 in space can be calculated, and then the line segment length, side length difference, and similar line segment pairs in each tracking array can be calculated to meet the solution rule requirements, making it easier for the tracking elements 20 in the same tracking array to be tracked by OTS.

[0080] The positioning and tracking device 100 provided in this application embodiment can adopt a circumferential full layout to increase the tracking surface. When the OTS can see two sets of tracking arrays at the same time, the OTS defaults to tracking the tracking surface with the smallest angle, which can replace the surface with poor accuracy and improve the tracking accuracy.

[0081] For example, calculations can be performed based on different types of tracking elements 20 as follows:

[0082] When the tracking element 20 is an active light-emitting element, the double-sided tracking array can be seen simultaneously when the number of tracking surfaces is greater than or equal to 360 / 120 = 3.

[0083] When the tracking element 20 is a disc-type light-emitting element, the double-sided tracking array can be seen simultaneously when the number of tracking surfaces is greater than or equal to 360 / 90 = 4.

[0084] When the tracking element 20 is a disposable plastic light-emitting ball, the double-sided tracking array can be seen simultaneously when the number of tracking surfaces is greater than 360 / 180 = 2.

[0085] When the tracking element 20 is a glass ball, the double-sided tracking array can be seen simultaneously when the number of tracking surfaces is greater than or equal to 360 / 120 = 3.

[0086] The positioning and tracking device 100 provided in this application embodiment does not rely on the surgical robotic arm, has high precision, prevents end-effector tracking loss, is suitable for a wide range of surgical types, can solve the pain point of optical navigation often losing tracking during surgery, and can greatly improve the optical navigation accuracy of the surgical robot 1000. It has good precision and economy, and is easy to install.

[0087] It should be noted that each tracking array may also include an IR (Infrared Ray) receiver. The IR receiver 40 is electrically connected to the tracking element 20, such as through a circuit board. In the first embodiment, a total of 5 IR receivers 40 are designed and arranged near each tracking element 20 to ensure that at any given time, at least one IR receiver 40 can receive a specific pulse signal emitted by the position sensor and activate the end tracking element 20, thereby ensuring that the positioning and tracking device 100 is tracked in real time.

[0088] After receiving the start signal, the IR receiver 40 typically employs two strategies to control the illumination of the tracking elements 20. First, if any IR receiver 40 receives the start signal, all tracking elements 20 are illuminated. This control method is simple and avoids loss of field of view during switching. Second, whichever IR receiver 40 receives the start signal illuminates the corresponding group of tracking elements 20. This method avoids energy consumption, reduces heat generation, and extends the lifespan of the tracking elements 20.

[0089] In this embodiment, the base 10 is connected to the end effector via a positioning structure such as a two-pin joint and a combination surface at its distal end, in a detachable or non-detachable manner. The base 10 is securely connected to the end effector via a connection interface at its distal end. The communication, control, and power supply modules of the tracking element 20 are integrated onto a board 50. The board 50 can be fixed to the base 10 or to the hollow structure of the surgical robotic arm connected to the positioning and tracking structure. For ease of replacement and assembly, each tracking element 20 is connected to the board 50 via a cable 21.

[0090] During calibration, the relative pose of the tracking array and the end effector can be determined by setting the raised positioning pin or the recessed positioning hole of the base 10. When the OTS tracks the pose of the tracking array, the device pose can be tracked through the calibration result, thus achieving calibration with the tracking array.

[0091] For example, a reference coordinate system is constructed through the one-sided two-pin structure at the tail of the base 10. By measuring the transformation matrix of each group of tracking elements 20 relative to the reference coordinate system, the specific pose of each tracking array relative to the reference coordinate system is obtained, thereby realizing the separate calibration of the positioning and tracking device 100.

[0092] Please refer to this as well. Figure 9 In the first embodiment, multiple tracking arrays are arranged along the circumferential direction of the base 10.

[0093] By adopting the above solution, the structure of the base 10 can be relatively simple, and its overall shape can match the shape of the surgical robotic arm of the surgical robot 1000. The risk of contact with the patient 3000 is small, and it is not easy to damage the patient 3000. The difficulty of collision detection of the surgical robotic arm is reduced. It is also compact, easy to process, lightweight, convenient to make the corresponding sterile cover, saves end load, and is aesthetically pleasing.

[0094] It should be noted that the base 10 can be cylindrical or other shapes.

[0095] A solution space can be designed, and then each tracking array group can be solved within the solution space. The size of the solution space is strongly related to the diameter D of the base 10. For example, in the first embodiment, the height of the solution space for each tracking array group is equal to the height H of the base 10, and the width L of the solution space for each tracking array group is equal to pi*D / N, where N is the number of tracking array groups. The circumferential angle of each tracking array group on the base 10 is 360 / N degrees.

[0096] It should also be noted that the difference in side length between each tracking element 20 in the same tracking array should be greater than 3.5 mm, and different tracking arrays can have more than 2 pairs of similar line segments, and the arbitrary spacing between different tracking arrays should be greater than 25 mm. In one embodiment, the arbitrary spacing between different tracking arrays can be greater than 25 mm, 30 mm, 35 mm, 40 mm, 45 mm, or 50 mm, etc.

[0097] To reduce the load on the surgical robotic arm, the base 10 can be made of steel, aluminum alloy or polymer materials, etc. As a preferred option, the base 10 is made of aluminum alloy.

[0098] Please refer to this as well. Figure 7 , Figure 10 and Figure 11 The base 10 is provided with a plurality of grooves 11, which are used to set the tracking element 20. The grooves 11 have slots formed on the outer surface of the base 10.

[0099] By adopting the above scheme, it can be ensured that all tracking elements 20 in the same tracking array define a plane corresponding to the current tracking array, and under the premise of satisfying the field of view angle of the tracking element 20, it can effectively avoid blocking light and affecting recognition. At the same time, the amount of processing of the groove 11 is small, and the impact on the appearance of the outer surface of the base 10 is small.

[0100] It is understandable that the clearance angle formed by the groove 11 is set differently depending on the tracking element 20. When the base 10 is set to a cylindrical shape, the groove 11 has a slot formed on the outer circumferential surface of the base 10. The amount of machining of the groove 11 is small, and it has little impact on the appearance of the outer circumferential surface of the base 10.

[0101] For example, there is no structural occlusion within the 60-150 degree field of view of the tracking element 20.

[0102] In one embodiment, at least one tracking element 20 is disposed within a groove 11.

[0103] In one embodiment, at least one tracking element 20 is disposed within the groove 11.

[0104] As one possible approach, multiple grooves 11 and multiple tracking elements 20 can be configured one-to-one, with one tracking element 20 disposed within one groove 11.

[0105] Please refer to this as well. Figure 12 Optionally, the normal direction of the tracking element 20 is not parallel to the radial direction of the base 10, and for the same groove 11, the clearance portion of the groove 11 on the side where the normal direction of the tracking element 20 is located is larger than the clearance portion of the current groove 11 on the side where the radial direction of the base 10 is located.

[0106] This design facilitates the shaping of the groove 11, ensuring that the light corresponding to the tracking element 20 is not blocked within the field of view of the tracking element 20.

[0107] It is understandable that the groove 11 can ensure the field of view of the tracking element 20, thereby ensuring that the OTS can track the target tracking element 20 within a certain angle range. Furthermore, placing the tracking element 20 in the groove 11 can effectively avoid the occlusion problem between different tracking elements 20.

[0108] It should be noted that the clearance portion of the groove 11 is larger in the direction in which the normal direction of the tracking element 20 deflects relative to the radial direction of the base 10. For example, in Figure 11 In the diagram, arrow a indicates the radial direction of base 10, and arrow b indicates the normal direction of tracking element 20. The direction indicated by arrow b is deflected to the upper right compared to the direction indicated by arrow a. Therefore, for the same groove 11, the clearance portion of groove 11 on the upper right side is larger.

[0109] Please refer to Figure 4 , Figure 5 , Figure 6 and Figure 10 In the first embodiment, the positioning and tracking device 100 further includes a plurality of bosses 30, which are housed within the grooves 11, and the tracking elements 20 are connected to the bosses 30. The bosses 30 are used to raise all the tracking elements 20 in the same tracking array to the same height, so that all the tracking elements 20 in the same tracking array define a plane corresponding to the current tracking array.

[0110] This configuration ensures that all tracking elements 20 in the same tracking array define a plane corresponding to the current tracking array, thereby ensuring that their spatial distance meets the theoretical design value, preventing the circumferential surface of the base 10 from decreasing in the radial direction, and preventing the axial dimension of the base 10 from becoming too large, thus saving space. At the same time, it avoids adding too many redundant structures to the circumferential surface of the base 10, which would affect the overall aesthetics, increase the weight too much, and consequently increase the load on the surgical robotic arm.

[0111] It should be noted that all the tracking elements 20 in a tracking array define a plane corresponding to the current tracking array. When this plane is projected onto the outer circumferential surface of the base 10, there will be a height difference in the radial direction of the base 10, which causes the theoretical calculation value to be inconsistent. In order to make the actual value as close as possible to the theoretical calculation value, the tracking element 20 is raised by setting a boss 30 to solve this problem.

[0112] In one embodiment, at least one boss 30 is provided in a groove 11.

[0113] In one embodiment, at least one boss 30 is disposed within the groove 11.

[0114] As one possible implementation method, multiple grooves 11 and multiple bosses 30 can be arranged in a one-to-one correspondence, and multiple bosses 30 can be arranged in a one-to-one correspondence with multiple tracking elements 20. One boss 30 is disposed in one groove 11, and one boss 30 is connected to one tracking element 20.

[0115] Optionally, the projection of the plane corresponding to all tracking arrays onto the plane perpendicular to the axis of base 10 is a "triangle", "quadrilateral", "pentagon" or "pentagon".

[0116] This configuration ensures that even when the angle between the tracking element 20 and the optical tracking sensor 2000 varies significantly, the optical tracking sensor 2000 can still acquire the position of the tracking element 20, thereby accurately identifying the pose of the end effector, solving the problem of end effector tracking loss, and allowing for better setting of the tracking array position.

[0117] For example, the projection of the plane corresponding to all the tracking arrays onto the plane perpendicular to the axis of the base 10 is a "regular pentagon".

[0118] Please refer to Figures 5 to 9 In the first embodiment, the distance between any two tracking elements 20 in the same tracking array is 30mm-60mm, such as 30mm, 35mm, 40mm, 45mm, 50mm, 55mm or 60mm.

[0119] By adopting the above scheme, it is possible to avoid the tracking element 20 in one set of tracking arrays being too close to the tracking element 20 in another adjacent tracking array, which would prevent the optical tracking sensor 2000 from accurately identifying the tracking element 20 in different sets of tracking arrays, and to ensure that the structure of the positioning tracking device 100 is more compact.

[0120] The tracking elements 20 in different tracking arrays are projected from different angles under their field of view. The tracking elements 20 should be distinguishable in image extraction, and the contour spacing of the image extraction needs to be guaranteed.

[0121] Optionally, the distance between the tracking element 20 in one set of tracking arrays and the tracking element 20 in another set of tracking arrays adjacent to it is greater than or equal to 25mm, such as 25mm, 30mm, 35mm, 40mm, 45mm or 50mm.

[0122] This configuration avoids the tracking element 20 in one tracking array being too close to the tracking element 20 in another adjacent tracking array, which would prevent the optical tracking sensor 2000 from accurately identifying the tracking element 20 in different tracking arrays, and also ensures that the positioning tracking device 100 has a more compact structure.

[0123] In related technologies, when the constant-on mode is used, multiple tracking elements 20 emit light simultaneously, which places a large load on the board 50 and causes it to generate a lot of heat.

[0124] Therefore, please refer to Figure 4 , Figure 5 and Figure 12 In the first embodiment, the base 10 is configured as a hollow structure.

[0125] By adopting the above solution, the hollow structure of the base 10 can be used as a heat dissipation space for the tracking element 20, avoiding overheating of the board 50 during operation. It can also effectively reduce the weight of the base 10 while ensuring that the base 10 has a certain strength. Other components can also be set up through the hollow structure, providing effective space for the installation and wiring of the board 50.

[0126] For example, a board 50 can be installed within the hollow structure of the base 10, and the cable 21 of the tracking element 20 can be electrically connected to the board 50. Alternatively, the wires used by the tracking element 20 of the surgical robot 1000's surgical arm can be threaded through the hollow structure of the base 10. If the end effector uses technologies such as RFID (Radio Frequency Identification) or magnetic navigation, the hollow structure of the base 10 also provides a channel for signal transmission and reception.

[0127] It should be noted that positioning posts 60, etc., may also be provided at the end of the base 10.

[0128] The tracking element 20 is usually controlled and powered by the board 50. The tracking element 20 can be directly soldered onto the board 50, but the layout size is usually large due to the array size limitation in space. In order to save the size of the board 50, the tracking element 20 is connected to the board 50 by a cable 21 similar to DuPont wire or flexible flat cable, which facilitates the assembly, maintenance and replacement of the tracking element 20.

[0129] Typically, the actively emitting tracking element 20 communicates with the optical tracking sensor 2000 system via both wired and wireless methods. When using wired communication, the tracking element 20 is connected to the optical tracking sensor 2000 system via cable 21. The tracking element 20 emits infrared light, which is received by the position sensor of the optical tracking sensor 2000 system. When using wireless communication, the position sensor of the optical tracking sensor 2000 system typically first emits a pulse of a specific frequency. After the IR receiver 40 of the active module receives this pulse, the active module activates and illuminates the corresponding tracking element 20. The tracking element 20 then emits infrared light, which is captured by the binocular camera of the optical tracking sensor 2000 system, thereby obtaining the spatial pose information of the target object. Therefore, a corresponding IR window needs to be designed on the end-effector array. For the positioning and tracking device 100 provided in this embodiment, due to different spatial poses and fields of view, a corresponding number of IR receivers 40 are typically required to receive the pulse activation signal.

[0130] Two methods are typically used: overall calibration and separate calibration. When the end effector is not frequently changed, the relative pose transformation matrix between the end effector and the positioning and tracking device 100 can be calibrated as a whole. However, in actual surgical procedures, the end effector is frequently changed, usually using a quick-release method. In this case, separate calibration should be used to calibrate the relative pose between the positioning and tracking device 100 and its corresponding positioning structure.

[0131] Optionally, at least a portion of the surface of the base 10 is set to a matte finish.

[0132] This design avoids surface reflections on the base 10, which could interfere with the identification of the tracking element 20.

[0133] It should be noted that all surfaces of the base 10 can be set to a matte finish, which can be made by sandblasting or other means.

[0134] For example, the inner wall surface of the groove 11, the outer surface of the boss 30, or the circumferential surface of the base 10 can all be set to a matte surface.

[0135] Please refer to Figure 13 and Figure 14 The second embodiment of this application provides a positioning and tracking device 100, including a base 10 and multiple sets of tracking arrays. The multiple sets of tracking arrays are arranged around the base 10 and connected to the base 10. Each set of tracking arrays includes at least three tracking elements 20. All tracking elements 20 in the same set of tracking arrays have the same normal direction. The normal direction of the tracking elements 20 in one set of tracking arrays is different from the normal direction of the tracking elements 20 in any other set of tracking arrays. All tracking elements 20 in the same set of tracking arrays define a surface corresponding to the current tracking array.

[0136] By adopting the above scheme, when the angle between the tracking element 20 and the optical tracking sensor 2000 changes significantly, it can be ensured that the optical tracking sensor 2000 can obtain the position of the tracking element 20, thereby accurately identifying the pose of the end-effector and solving the problem of end-effector tracking loss. Furthermore, a cylindrical coordinate system can be used to solve each group of tracking arrays, calculate the point coordinates of each tracking element 20 in space, and then calculate the line segment length, side length difference, and similar line segment pairs in each group of tracking arrays to meet the solution rule requirements. This makes it easier for the tracking element 20 in the same group of tracking arrays to be tracked by the OTS, eliminates the influence of the height difference of each tracking element 20, and makes the structure of the positioning and tracking device 100 more compact, occupies less space, has a lower probability of collision with the patient 3000, and reduces the space occupied by the doctor's operation.

[0137] Understandably, multiple tracking arrays can be set up around the axis of the curved surface.

[0138] Optionally, multiple tracking arrays are arranged along the circumferential direction of the base 10; and / or, the curved surface is at least a portion of a cylindrical surface, at least a portion of a frustum surface, or at least a portion of a conical surface.

[0139] This design allows the base 10 to have a simpler structure, better compatibility with the surgical robotic arm, an aesthetically pleasing appearance, a compact structure, and easy processing. It also facilitates a smooth transition when installed with the surgical robotic arm. Furthermore, the sterile cover that works with it is more aesthetically pleasing, reducing the design and manufacturing difficulty and further saving costs.

[0140] It should be noted that the base 10 can be set as a cylinder, a frustum, or a cone, etc.

[0141] In the second embodiment, all tracking elements 20 in the same tracking array define a surface corresponding to the current tracking array. The base 10 is set to be cylindrical, the surface is a cylindrical surface, the cylindrical surface is coaxial with the base 10, and the diameter of the surface is smaller than the diameter of the base 10.

[0142] This configuration makes it easier to arrange the positions of each tracking array on the base 10 when the base 10 is cylindrical.

[0143] It should be noted that all tracking elements 20 in the same tracking array define a curved surface corresponding to the current tracking array. There is a certain height difference between the curved surface and the outer circumferential surface of the base 10. The core reason for this is that the groove 11 is formed because the theoretical design value is located on the curved surface. The normal direction of the tracking element 20 in the groove 11 is radially outward along the curved surface, and there is a certain angle with the recognition normal direction required by the array surface. Therefore, it is necessary to reduce part of the height of the base 10 to form the groove 11. The groove 11 can ensure that the overall shape of the base 10 maintains a relatively regular shape, thereby facilitating the installation of the aseptic cover.

[0144] The second embodiment differs from the first embodiment in that the boss 30 is not provided, which makes the structure of the positioning and tracking device 100 simpler and more compact, occupies less space, has a lower probability of colliding with the patient 3000, and reduces the space occupied by the doctor's operation.

[0145] It should be noted that the other structures of the positioning and tracking device 100 in the second embodiment may be similar to those in the first embodiment.

[0146] Please refer to Figure 15 In the third embodiment, all tracking elements 20 in the same tracking array define a surface corresponding to the current tracking array. The base 10 is set to a frustum shape, the surface is a frustum surface, the frustum surface is coaxial with the base 10, and the diameter of the surface is smaller than the diameter of the base 10.

[0147] Please refer to Figure 16 Unlike the first embodiment, in the first embodiment, the projection of the plane corresponding to all tracking arrays onto the plane perpendicular to the axis of the base 10 is a "regular pentagon", while in the fourth embodiment, the projection of the plane corresponding to all tracking arrays onto the plane perpendicular to the axis of the base 10 is a "pentagon".

[0148] By adopting the above scheme, not only can the optical tracking sensor 2000 obtain the position of the tracking element 20 when the angle between the tracking element 20 and the optical tracking sensor 2000 changes significantly, but each tracking array can also be directly calculated using a planar method. Furthermore, the tracking array can be distributed more compactly, thereby making the structure of the positioning and tracking device 100 simpler, more compact, and occupying less space.

[0149] It should be noted that in the fourth embodiment, the circumferential angle of each tracking array on the base 10 can be 144 degrees, which can ensure that the calculation space of each tracking array is larger and the number of feasible solutions is increased. At the same time, the area occupied by each tracking array is relatively larger, thereby improving the tracking accuracy. Furthermore, the structure of the positioning and tracking device 100 can be designed to be more compact.

[0150] Please refer to Figure 17 and Figure 18 Unlike the first embodiment, in the first embodiment the base 10 is cylindrical, while in the fifth embodiment the base 10 is polygonal prism, wherein the polygonal prism is a pentagonal prism.

[0151] By adopting the above scheme, not only can the optical tracking sensor 2000 obtain the position of the tracking element 20 when the included angle between the tracking element 20 and the optical tracking sensor 2000 changes significantly, but each tracking array can also be directly calculated using a planar method. In addition, it is also convenient to arrange the relative positions of the tracking element 20 and the base 10.

[0152] Unlike the first embodiment, in the first embodiment, the tracking element 20 is an active light-emitting element, while in the fifth embodiment, the tracking element 20 is a passive reflective element.

[0153] For example, the tracking element 20 includes a reflective disc 22, a retaining ring 23, and an adhesive layer 24.

[0154] Please refer to Figure 19 and Figure 20 Unlike the first embodiment, in the first embodiment, the base 10 is set as a cylinder and the tracking array is set as 5 groups. In the sixth embodiment, the base 10 is set as a cylindrical polyhedron, wherein the tracking array is set as M groups, and M is equal to the number of faces of the cylindrical polyhedron.

[0155] By adopting the above scheme, not only can the optical tracking sensor 2000 obtain the position of the tracking element 20 when the included angle between the tracking element 20 and the optical tracking sensor 2000 changes significantly, but each tracking array can also be directly calculated using a planar method. In addition, it is also convenient to arrange the relative positions of the tracking element 20 and the base 10.

[0156] Each tracking array has four tracking elements 20. The top two tracking arrays can be used for spinal surgery and support optical tracking sensors 2000 on both sides. The bottom two tracking arrays can be used for trauma surgery and support optical tracking sensors 2000 on both sides.

[0157] Please refer to Figures 1 to 20 This application also provides an optical positioning system, including an optical tracking sensor 2000 and the positioning and tracking device 100 described above.

[0158] The optical positioning system provided in this application includes a positioning and tracking device 100 comprising a base 10 and multiple tracking arrays arranged around the base 10 and connected to it. Each tracking array includes at least three tracking elements 20. Furthermore, all tracking elements 20 within the same tracking array share the same normal direction, except that the normal direction of tracking elements 20 in one tracking array differs from that in any other tracking array. Therefore, even when the angle between the tracking element 20 and the optical tracking sensor 2000 varies significantly, the optical tracking sensor 2000 can still acquire the position of the tracking element 20, thereby accurately identifying the pose of the end effector and solving the problem of end effector tracking loss.

[0159] Meanwhile, when all tracking elements 20 in the same tracking array define a plane corresponding to the current tracking array, the tracking arrays can be solved directly using the plane method. The coordinates of each tracking element 20 in space can be calculated, and then the line segment length, side length difference, and similar line segment pairs in each tracking array can be calculated to meet the solution rule requirements, making it easier for the tracking elements 20 in the same tracking array to be tracked by OTS.

[0160] When all tracking elements 20 in the same tracking array define a surface corresponding to the current tracking array, the cylindrical coordinate system can be used to solve each tracking array, calculate the point coordinates of each tracking element 20 in space, and then calculate the line segment length, side length difference, and similar line segment pairs in each tracking array to meet the solution rule requirements. This makes it easier for the tracking elements 20 in the same tracking array to be tracked by OTS, and also makes the structure of the positioning and tracking device 100 more compact, occupies less space, has a lower probability of collision with the patient 3000, and reduces the space occupied by the doctor's operation.

[0161] Please refer to Figures 1 to 20 This application embodiment also provides a surgical robotic arm, on which the above-mentioned positioning and tracking device 100 is provided.

[0162] The surgical robotic arm provided in this application includes a positioning and tracking device 100 comprising a base 10 and multiple tracking arrays arranged around and connected to the base 10. Each tracking array includes at least three tracking elements 20. All tracking elements 20 within the same tracking array share the same normal direction, except that the normal direction of tracking elements 20 in one tracking array differs from that in any other tracking array. Therefore, even when the angle between the tracking element 20 and the optical tracking sensor 2000 varies significantly, the optical tracking sensor 2000 can still acquire the position of the tracking element 20, thereby accurately identifying the pose of the end effector and solving the problem of end effector tracking loss.

[0163] Meanwhile, when all tracking elements 20 in the same tracking array define a plane corresponding to the current tracking array, the tracking arrays can be solved directly using the plane method. The coordinates of each tracking element 20 in space can be calculated, and then the line segment length, side length difference, and similar line segment pairs in each tracking array can be calculated to meet the solution rule requirements, making it easier for the tracking elements 20 in the same tracking array to be tracked by OTS.

[0164] When all tracking elements 20 in the same tracking array define a surface corresponding to the current tracking array, the cylindrical coordinate system can be used to solve each tracking array, calculate the point coordinates of each tracking element 20 in space, and then calculate the line segment length, side length difference, and similar line segment pairs in each tracking array to meet the solution rule requirements. This makes it easier for the tracking elements 20 in the same tracking array to be tracked by OTS, and also makes the structure of the positioning and tracking device 100 more compact, occupies less space, has a lower probability of collision with the patient 3000, and reduces the space occupied by the doctor's operation.

[0165] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A positioning and tracking device, characterized in that, The system includes a base (10) and multiple tracking arrays arranged around the base (10) and connected to the base (10). Each tracking array includes at least three tracking elements (20). All tracking elements (20) in the same tracking array have the same normal direction. The normal direction of the tracking elements (20) in one tracking array is different from the normal direction of the tracking elements (20) in any other tracking array. All tracking elements (20) in the same tracking array define a plane corresponding to the current tracking array.

2. The positioning and tracking device according to claim 1, characterized in that, Multiple sets of the tracking arrays are arranged along the circumferential direction of the base (10).

3. The positioning and tracking device according to claim 2, characterized in that, The base (10) is provided with a plurality of grooves (11) for setting the tracking element (20), and the grooves (11) have slots formed on the outer surface of the base (10).

4. The positioning and tracking device according to claim 3, characterized in that, The positioning and tracking device (100) also includes a plurality of bosses (30), which are housed in the groove (11), and the tracking element (20) is connected to the bosses (30).

5. The positioning and tracking device according to claim 3, characterized in that, The normal direction of the tracking element (20) is not parallel to the radial direction of the base (10), and for the same groove (11), the clearance portion of the groove (11) on the side where the normal direction of the tracking element (20) is located is larger than the clearance portion of the groove (11) on the side where the radial direction of the base (10) is located.

6. A positioning and tracking device, characterized in that, The system includes a base (10) and multiple tracking arrays arranged around the base (10) and connected to the base (10). Each tracking array includes at least three tracking elements (20). All tracking elements (20) in the same tracking array have the same normal direction. The normal direction of the tracking elements (20) in one tracking array is different from the normal direction of the tracking elements (20) in any other tracking array. All tracking elements (20) in the same tracking array define a surface corresponding to the current tracking array.

7. The positioning and tracking device according to claim 6, characterized in that, Multiple sets of the tracking arrays are arranged along the circumferential direction of the base (10); and / or, the surface is at least a portion of a cylindrical surface, at least a portion of a frustum surface, or at least a portion of a conical surface.

8. The positioning and tracking device according to claim 7, characterized in that, The base (10) is provided with a plurality of grooves (11) for setting the tracking element (20), and the grooves (11) have slots formed on the outer surface of the base (10).

9. The positioning and tracking device according to claim 8, characterized in that, The normal direction of the tracking element (20) is not parallel to the radial direction of the base (10), and for the same groove (11), the clearance portion of the groove (11) on the side where the normal direction of the tracking element (20) is located is larger than the clearance portion of the groove (11) on the side where the radial direction of the base (10) is located.

10. The positioning and tracking device according to claim 7, characterized in that, The curved surface is coaxially arranged with the outer side of the base (10), and the diameter of the curved surface is less than or equal to the diameter of the base (10).

11. The positioning and tracking device according to any one of claims 1-5 or 6-10, characterized in that, Multiple sets of the tracking arrays are arranged at intervals or in an interleaved manner around the base (10).

12. The positioning and tracking device according to any one of claims 1-5 or 6-10, characterized in that, The distance between any two tracking elements in the same set of tracking arrays is 30mm-60mm.

13. The positioning and tracking device according to any one of claims 1-5 or 6-10, characterized in that, The distance between the tracking element (20) in one set of the tracking array and the tracking element (20) in another set of the tracking array adjacent to it is greater than or equal to 25 mm.

14. The positioning and tracking device according to any one of claims 1-5 or 6-10, characterized in that, At least a portion of the surface of the base (10) is set to a matte finish.

15. An optical positioning system, characterized in that, It includes an optical tracking sensor (2000) and a positioning tracking device (100) as described in any one of claims 1 to 5 or as described in any one of claims 6 to 14.

16. A surgical robotic arm, characterized in that, The surgical robotic arm is equipped with a positioning and tracking device (100) as described in any one of claims 1 to 5 or as described in any one of claims 6 to 14.

Images