Stent system and pose adjustment method of tracking device

Abstract

The application discloses a support system and a pose adjustment method of a tracking device, and relates to the technical field of medical instruments.The pose adjustment method of the tracking device comprises the following steps: obtaining initial pose information of the tracking device; obtaining at least one set of pose information of a first marker in the tracking device; obtaining expected pose information of the tracking device according to the optimal recognition space of the tracking device and the pose information of the first marker in the tracking device; and controlling the tracking device to move from the initial pose to the expected pose based on the initial pose information of the tracking device and the expected pose information of the tracking device, so that the optimal recognition space of the tracking device can envelop the first marker when the tracking device is in the expected pose. The application can solve the problem that the camera support cannot be automatically adjusted to the tracking device in multiple degrees of freedom to better recognize the target.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a support system and a method for adjusting the posture of a tracking device. Background Art

[0002] Currently, during hard tissue surgery in hospitals and other medical facilities, cameras may be used to capture video of the surgical process for recording the surgical situation, or to capture real-time video during surgery through a remote surgical machine platform and transmit it to the surgeon for remote control of surgical instruments. Generally, the camera is mounted on a bracket, and the posture of the bracket can be adjusted accordingly so that the camera can better identify the target. In actual use, the camera bracket needs to be repeatedly adjusted manually and judged by humans to achieve effective target recognition. Moreover, during the operation, changes in the target posture during the operation may require manual readjustment of the camera bracket. This process is cumbersome and inconvenient and urgently needs to be improved. Summary of the Invention

[0003] In order to overcome the above-mentioned defects of the prior art, the technical problem to be solved by the embodiments of the present invention is to provide a method for adjusting the posture of a bracket system and a tracking device, which can solve the problem that the bracket cannot automatically adjust the multiple degrees of freedom to better identify the target of the tracking device.

[0004] The specific technical solution of the embodiment of the present invention is:

[0005] A method for adjusting the posture of a tracking device, the method comprising:

[0006] Acquiring initial position information of the tracking device;

[0007] Acquiring position information of at least one set of first markers in the tracking device;

[0008] Obtaining desired posture information of the tracking device according to the optimal recognition space of the tracking device and the posture information of the first marker in the tracking device;

[0009] The tracking device is controlled to move from the initial pose to the expected pose based on the initial pose information of the tracking device and the expected pose information of the tracking device. When the tracking device is in the expected pose, the optimal recognition space of the tracking device envelopes the first marker.

[0010] Preferably, the step of obtaining the expected posture information of the tracking device according to the optimal recognition space of the tracking device and the posture information of the first marker in the tracking device includes:

[0011] According to the first marked pose, the maximum and minimum values of the coordinates in the first direction are obtained to determine the coordinate range of the envelope space in the first direction, the first direction being a horizontal direction towards the tracking device;

[0012] The poses of the first face and the second face, which have the same angle and the same distance with the upper end face and the lower end face of the best identified space, are adjusted so that the space between the first face and the second face envelopes the first marks at the two ends in the second direction, and the first face and the second face are respectively located near the first marks at the two ends in the second direction, the second direction being a vertical direction;

[0013] The poses of the third face and the fourth face, which have the same angle and the same distance with the left end face and the right end face of the best identified space, are adjusted so that the space between the third face and the fourth face envelopes the first marks at the two ends in the third direction, and the third face and the fourth face are respectively located near the first marks at the two ends in the third direction, the third direction being perpendicular to the first direction and the second direction;

[0014] According to the adjusted poses of the third face and the fourth face, the adjusted poses of the first face and the second face, and the coordinate range of the envelope space in the first direction, the expected pose information of the tracking device is determined.

[0015] Preferably, in the step of obtaining the initial pose information of the tracking device, the step comprises:

[0016] The pose information of a second mark in the pose detection device is obtained by the pose detection device, the second mark having a fixed preset relative pose relationship with the tracking device;

[0017] According to the pose information of the second mark in the pose detection device and the preset relative pose relationship between the second mark and the tracking device, the initial pose information of the tracking device in the pose detection device is obtained.

[0018] Preferably, in the step of obtaining the pose information of at least one set of first marks in the tracking device, the step comprises:

[0019] The pose information of at least one of the first marks in the pose detection device is obtained by the pose detection device;

[0020] According to the initial pose information of the tracking device in the pose detection device and the pose information of the first marks in the pose detection device, the pose information of the first marks in the tracking device is obtained through coordinate conversion.

[0021] Preferably, in the step of obtaining the initial pose information of the tracking device,

[0022] In the state that the tracking device and the tool holder are in cooperation, the pose information of the second marker in the tracking device is obtained by the tracking device, and the tracking device has a fixed preset relative pose relationship with the second marker in the state that the tracking device and the tool holder are in cooperation;

[0023] The initial pose information of the tracking device is obtained based on the pose information of the second marker in the tracking device and the fixed preset relative pose relationship of the tracking device with the second marker, and the initial pose of the tracking device is the pose of the tracking device in the state that the tracking device and the tool holder are in cooperation.

[0024] Preferably, in the step of obtaining the pose information of the at least one group of first markers in the tracking device,

[0025] The relative pose information between the at least one first marker and the second marker is obtained by the tracking device;

[0026] In the state that the tracking device and the tool holder are in cooperation, the pose information of the first marker in the tracking device is obtained according to the relative pose information between the at least one first marker and the second marker and the pose information of the second marker in the tracking device.

[0027] Preferably, the second marker comprises a pose-identifiable target, and the first marker comprises a pose-identifiable target.

[0028] A support system, comprising:

[0029] A first support mechanism and a tracking device arranged on the first support mechanism, the first support mechanism having an adjusting mechanism to enable the tracking device to be tilted up and down, rotated horizontally, moved up and down, moved left and right, and moved forward and backward;

[0030] A control unit for obtaining desired pose information of the tracking device according to the optimal recognition space of the tracking device and the pose information of the first marker in the tracking device, and controlling the first support mechanism based on the initial pose information of the tracking device and the desired pose information of the tracking device to adjust the first support mechanism to a state in which the tracking device is in an expected pose, and in which the optimal recognition space of the tracking device envelopes the first marker.

[0031] Preferably, the adjustment mechanism includes: a horizontal adjustment mechanism for realizing left-right and front-back movement of the tracking device, the horizontal adjustment mechanism includes: a connecting member, a first rod body connected to the connecting member at one end, and a second rod body connected to the other end of the first rod body, the first rod body and the connecting member can be rotated about a first axis in the vertical direction, the second rod body and the first rod body can be rotated about a second axis in the vertical direction, and the first rod body and the second rod body have a tendency to extend in the horizontal direction.

[0032] Preferably, the adjustment mechanism includes: an up and down movement adjustment mechanism for realizing the up and down movement of the tracking device, the up and down movement adjustment mechanism includes: a third rod, a fourth rod connected to the third rod, and a fifth rod connected to the fourth rod, the third rod and the fourth rod can be rotated about a third axis in the horizontal direction, the fifth rod and the fourth rod can be rotated about a fourth axis in the horizontal direction, the third axis and the fourth axis are parallel, and the third rod and the fifth rod always remain parallel.

[0033] Preferably, the fourth rod includes a first section of the fourth rod and a second section of the fourth rod, and the first section of the fourth rod and the second section of the fourth rod are capable of relative movement in the extension direction of the fourth rod.

[0034] Preferably, the control unit is used to obtain the position information of the second mark in the tracking device through the tracking device when the tracking device and the tool holder are in a coordinated state, and the tracking device has a fixed preset relative position relationship with respect to the second mark when the tracking device and the tool holder are in a coordinated state; obtain the initial position information of the tracking device based on the position information of the second mark in the tracking device and the fixed preset relative position relationship of the tracking device with respect to the second mark; obtain the relative position information between at least one first mark and the second mark through the tracking device when the tracking device and the tool holder are in a coordinated state; obtain the relative position information between at least one first mark and the second mark through the tracking device; obtain the position information of the first mark in the tracking device according to the relative position information between at least one first mark and the second mark and the position information of the second mark in the tracking device when the tracking device and the tool holder are in a coordinated state.

[0035] Preferably, a first positioning portion is provided on the tool holder, and the first bracket mechanism or the tracking device has a second positioning portion that cooperates with the first positioning portion of the tool holder; when the first positioning portion cooperates with the second positioning portion, the tracking device and the tool holder are in a cooperative state.

[0036] Preferably, the support system further comprises: a second support mechanism, and a posture detection device provided on the second support mechanism; a second mark is provided on the first support mechanism;

[0037] The control unit is used to obtain the posture information of the second marker in the posture detection device through the posture detection device, and the second marker has a fixed preset relative posture relationship with the tracking device; obtain the initial posture information of the tracking device in the posture detection device according to the posture information of the second marker in the posture detection device and the preset relative posture relationship between the second marker and the tracking device; obtain the posture information of at least one of the first markers in the posture detection device through the posture detection device; obtain the posture information of the first marker in the tracking device through coordinate transformation according to the initial posture information of the tracking device in the posture detection device and the posture information of the first marker in the posture detection device.

[0038] The technical solution of the present invention has the following significant beneficial effects:

[0039] The posture adjustment method of the tracking device in the present application can solve the problem of poor robustness of manual adjustment and manual judgment of the position and posture of the bracket mechanism. After obtaining the initial posture information of the tracking device and the posture information of the first marker in the tracking device, the position and posture of the tracking device 1 are automatically adjusted, so that the tracking device 1 is in the expected posture, that is, the relatively optimal position adapted to the surgery, so that the optimal recognition space 11 of the tracking device 1 envelops all the first markers that meet the preset conditions during the surgery, such as enabling the tracking device 1 to capture the best video of the surgery in real time. The entire adjustment method can effectively improve the efficiency and accuracy of the posture planning of the tracking device 1. It can not only be adjusted before the surgery, but also can be adjusted in real time during the surgery according to the changes in the actual situation.

[0040] With reference to the following description and drawings, specific embodiments of the present invention are disclosed in detail, indicating how the principles of the present invention can be employed. It should be understood that the embodiments of the present invention are not limited in scope thereby. Features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, combined with features in other embodiments, or substituted for features in other embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present invention in any way. In addition, the shapes and proportional dimensions of the various components in the drawings are merely illustrative and are used to help understand the present invention, and are not intended to specifically limit the shapes and proportional dimensions of the various components of the present invention. Those skilled in the art can select various possible shapes and proportional dimensions to implement the present invention according to specific circumstances under the guidance of the present invention.

[0042] Figure 1 A schematic diagram of a partial structure of a support system according to an embodiment of the present invention;

[0043] Figure 2 Schematic diagram of a knee replacement surgical system including a stent system according to an embodiment of the present invention;

[0044] Figure 3 This is a schematic structural diagram of a support system in a second embodiment of the present invention;

[0045] Figure 4 Schematic diagram of the structure of the support system in the third embodiment of the present invention;

[0046] Figure 5 A schematic diagram of a rotary joint in a support system according to an embodiment of the present invention;

[0047] Figure 6 Schematic diagram of the optimal recognition space of the tracking device in an embodiment of the present invention;

[0048] Figure 7 Flowchart of the steps of the posture adjustment method of the tracking device in an embodiment of the present invention;

[0049] Figure 8 Schematic diagram of the structure of the optimal recognition space in an embodiment of the present invention;

[0050] Figure 9 is a schematic diagram of another embodiment of a knee joint replacement surgical system including a stent system according to an embodiment of the present invention;

[0051] Figure 10 is a schematic diagram of a knee replacement surgical system including a stent system in another embodiment of the present invention;

[0052] Figure 11 for Figure 10 A partial enlarged view of the . DETAILED DESCRIPTION

[0053] The specific embodiments of the present application described herein are presented for purposes of illustration and description. They are not intended to be exhaustive of or to limit this application to the precise forms described. Many alternatives, modifications, and variations will be apparent to those skilled in the art in light of the above teachings. Accordingly, this application is intended to embrace all alternatives, modifications, and variations which fall within the scope of this application. It is to be understood that before the application can be practiced, those skilled in the art will have to addapt the teaching of this application to their specific implementation. Such a task can be performed by those skilled in the art, in light of the present disclosure, without undue experimentation to them. It is understood that where elements are referred to as being "on" another element, they can be directly on the element or intervening elements can also be present. Where an element is referred to as being "connected," "coupled" or "attached" to another element, it can be directly connected, coupled or attached to the element or intervening elements can also be present. The terms "connected," "coupled," "attach" or "connect" should not be interpreted as being exhaustive or limiting, as they can have both direct connections as well as indirect connections through intervening elements. The terms "mounted," "connected," "coupled," "attached" or "connect" should be interpreted broadly to encompass a variety of connections, such as mechanical connections, electrical connections, magnetic connections, and connections through intermediate elements. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are made only for purposes of illustration, and do not connote or imply absolute orientation.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this description, the terms "and / or" includes any and all combinations of one or more of the associated listed items.

[0055] In order to solve the problem that the support cannot automatically adjust to the tracking device to better identify the target, a support system and a pose adjustment method of a tracking device are provided in the application. Figure 1 Part structure diagram of the support system in the embodiment of the application, Figure 2 Surgical system schematic diagram of the knee replacement including the support system in the embodiment of the application, Figure 3 Structure schematic diagram of the support system in the second embodiment of the application, Figure 4 Structure schematic diagram of the support system in the third embodiment of the application, and Figures 1 to 4As shown, the support system may include: a first support mechanism 2, a tracking device 1 arranged on the first support mechanism 2, the first support mechanism 2 having an adjustment mechanism 21 to enable the tracking device 1 to pitch up and down, rotate horizontally, move up and down, move left and right, and move forward and backward; a control unit, the control unit is used to obtain the expected posture information of the tracking device 1 based on the optimal recognition space of the tracking device 1 and the posture information of the first marker in the tracking device 1, and control the first support mechanism 2 based on the initial posture information of the tracking device 1 and the expected posture information of the tracking device 1 to adjust the first support mechanism 2 to the tracking device 1 in the expected posture, and when the tracking device 1 is in the expected posture, the optimal recognition space of the tracking device 1 envelopes the first marker.

[0056] The first bracket mechanism 2 in the present application has an adjustment mechanism 21, so it can be electrically adjusted in pitching up and down, rotating horizontally, moving up and down, moving left and right, and moving forward and backward. When the desired posture information of the tracking device 1 is obtained based on the optimal recognition space of the tracking device 1 and the posture information of the first marker in the tracking device 1, the control unit can then control the first bracket mechanism 2 based on the initial posture information of the tracking device 1 and the desired posture information of the tracking device 1, so that the first bracket mechanism 2 is adjusted to the tracking device 1 in the expected posture. When the tracking device 1 is in the expected posture, the optimal recognition space of the tracking device 1 envelops the first marker. In the above manner, there is no need to manually adjust the bracket before or during the operation, so that the adjustment mechanism 21 in the first bracket mechanism 2 can be adjusted in five degrees of freedom by the control unit, so that the optimal recognition space 11 of the tracking device 1 envelops all the first markers, so that the video image captured by the tracking device 1 can be in a better state.

[0057] In order to better understand the stent system in this application, it will be further explained and illustrated below. The stent system in this application can be used in various surgeries, such as hard tissue surgery, dental surgery, etc. Figure 2As shown, the support system can be used in knee replacement surgery. Patient 14 lies on a hospital bed 15 for knee replacement surgery. A femoral target 6 is mounted on the patient's body at the corresponding surgical location, specifically on the patient's femur, and a tibial target 7 is mounted on the patient's tibia. A robotic arm trolley 12 and an imaging trolley 13 can be positioned around the patient's bed 15. The robotic arm trolley 12 can be mounted with a robotic arm 11, which can be equipped with a tool target 9. The end of the robotic arm 11 can be equipped with a surgical tool, such as an osteotomy plate 8. Furthermore, a base target 10 can be mounted on the robotic arm trolley 12. The imaging trolley 13 can be equipped with a display 16, a keyboard 17, and a mouse for medical personnel to operate. Furthermore, a control unit, such as a computer or processor, can be located within the imaging trolley 13. The imaging trolley 13 can also be equipped with a support system. The support system can be fixedly mounted on the imaging trolley 13 for easy movement. Of course, the support system can also be installed on the robot arm trolley 12 or other equipment that can fix itself. Furthermore, the equipment can be a movable device.

[0058] like Figures 1 to 4 As shown, the support system may include: a first support mechanism 2, a tracking device disposed on the first support mechanism 2, and a control unit. The first support mechanism 2 may be mounted on a base, which is used to support and secure the first support mechanism 2. The base may be a separate component, or the imaging trolley 13, the robotic arm trolley 12, or other equipment capable of securing the first support mechanism 2 may serve as the base.

[0059] The first bracket mechanism 2 may have an adjustment mechanism 21 so that the tracking device 1 can pitch up and down, rotate horizontally, move up and down, move left and right, and move forward and backward. The adjustment mechanism 21 can be used to adjust the first camera bracket mechanism 2 in five degrees of freedom, thereby satisfying the change of any position and posture of the tracking device 1. The adjustment mechanism 21 for achieving the above-mentioned five-degree-of-freedom adjustment can be electrically controlled without manual operation. The control unit is used to obtain the desired posture information of the tracking device 1 based on the optimal recognition space of the tracking device 1 and the posture information of the first marker in the tracking device 1, and control the first bracket mechanism 2 based on the initial posture information of the tracking device 1 and the desired posture information of the tracking device 1, so that the first bracket mechanism 2 is adjusted to the tracking device 1 in the expected posture. When the tracking device 1 is in the expected posture, the optimal recognition space of the tracking device 1 envelopes the first marker.

[0060] In this application, a first marker is a device used to mark various objects requiring positioning, allowing the tracking device and the position detection device to scan and identify their position. For example, the first marker may include various targets located in the surgical operating space for positioning during surgery, such as the femoral target 6, tibia target 7, tool target 9, and base target 10 described above. The first marker includes a target capable of identifying position.

[0061] In order to enable the first bracket mechanism 2 to achieve vertical, horizontal, and forward and backward movement adjustment, the adjustment mechanism 21 may include: an vertical adjustment mechanism 212 for achieving vertical movement of the tracking device; a horizontal adjustment mechanism 21 for achieving horizontal movement of the tracking device; and a forward and backward movement adjustment mechanism 21 for achieving forward and backward movement of the tracking device. The vertical adjustment mechanism 212, the horizontal adjustment mechanism 21, and the forward and backward movement adjustment mechanism 21 may be specifically implemented in various ways, such as using a linear motor for linear movement adjustment, using a lead screw 2125 for linear movement adjustment, or using a synchronous belt drive, a toothed chain drive, or a lead screw 2125 nut drive to achieve linear movement adjustment.

[0062] like Figure 4 As shown, in this embodiment, the up-down adjustment mechanism 212 adopts the mode of transmission of lead screw 2125 to carry out linear movement adjustment, and the up-down adjustment mechanism 212 can include: support assembly 2124; lead screw 2125 arranged on support assembly 2124; drive unit 2126 that drives lead screw 2125 to rotate; movable member 2127 that is sleeved on lead screw 2125 and is threadedly connected with lead screw 2125, under the rotation of lead screw 2125, movable member 2127 can move along support assembly 2124. Support assembly 2124 limits movable member 2127, and the two cannot rotate. After drive unit 2126 drives lead screw 2125 to rotate, movable member 2127 can move linearly on lead screw 2125, like this, realize linear movement adjustment. Left-right movement adjustment mechanism 21 and front-back movement adjustment mechanism 21 can adopt the mode of linear movement to realize left-right movement and front-back movement respectively, for example, also can adopt above-mentioned structure, and will not be described in detail here. The vertical movement adjustment mechanism 212, the left-right movement adjustment mechanism 21, and the front-back movement adjustment mechanism 21 can be connected to each other. For example, the support assembly 2124 of the front-back movement adjustment mechanism 21 is connected to the moving member 2127 of the vertical movement adjustment mechanism 212, or the two are integrally provided. The support assembly 2124 of the left-right movement adjustment mechanism 21 is connected to the moving member 2127 of the front-back movement adjustment mechanism 21, or the two are integrally provided. In this way, the first bracket mechanism 2 can achieve adjustment of vertical movement, left-right movement, and front-back movement.

[0063] In order to enable the first bracket mechanism 2 to achieve adjustment of left-right movement and front-back movement, it is feasible to Figure 1 As shown, the adjustment mechanism 21 may include: a horizontal adjustment mechanism 211 for realizing the left-right and front-back movement of the tracking device 1. Figure 1 As shown, the horizontal adjustment mechanism 211 may include: a connecting member 2111, a first rod 2112 having one end connected to the connecting member 2111, and a second rod 2113 connected to the other end of the first rod 2112. The first rod 2112 and the connecting member 2111 can rotate about a first vertical axis, and the second rod 2113 and the first rod 2112 can rotate about a second vertical axis. The first rod 2112 and the second rod 2113 tend to extend horizontally. A rotary joint 215 is provided between the first rod 2112 and the connecting member 2111 to enable rotation. Similarly, a rotary joint 215 is also provided between the second rod 2113 and the first rod 2112 to enable rotation. There are many ways to realize the rotating joint 215, such as gear transmission, worm gear transmission, synchronous belt transmission, friction wheel transmission, wire transmission, worm gear transmission, slewing bearing, etc. One or a combination of these methods can be adopted and equipped with a servo motor, closed-loop control sensor and brake.

[0064] For example, Figure 5 FIG. 1 is a schematic diagram of a rotary joint in a support system according to an embodiment of the present invention. Figure 5 As shown, the right end of the rotary joint 215 is the output end, which can rotate relative to the main body. The output end can be connected to other components via screws, snaps, threaded connections, etc. The main body of the rotary joint 215 can include components such as a motor, a harmonic reducer, a brake, a low-speed shaft encoder, a high-speed shaft encoder, and a drive unit. Based on the control signal received, the rotary joint 215 can achieve controlled rotation according to demand.

[0065] like Figure 1 As shown, when the first rod 2112 and the connecting member 2111 are able to rotate about the first vertical axis A, and the second rod 2113 and the first rod 2112 are able to rotate about the second vertical axis B, the right end (i.e., the end facing the Y direction) of the second rod 2113 in the horizontal direction is adjusted to the left and right position (i.e., the position in the Y direction) and the front and back position (i.e., the position in the X direction). By controlling the respective rotation angles between the two rotations, the right end of the second rod 2113 can be adjusted to the desired horizontal position.

[0066] As a feasible method, other vertical movement adjustment mechanisms 212 can also be used to realize the vertical movement of the tracking device 1, such as Figure 3As shown, the up-down movement adjusting mechanism 212 can include a third rod body 2121, a fourth rod body 2122 connected with the third rod body 2121, and a fifth rod body 2123 connected with the fourth rod body 2122, the third rod body 2121 and the fourth rod body 2122 can rotate along a third axis in horizontal direction, the fifth rod body 2123 and the fourth rod body 2122 can rotate along a fourth axis in horizontal direction, the third axis and the fourth axis are parallel, and the third rod body 2121 and the fifth rod body 2123 can always keep parallel. Further, the third rod body 2121 and the fifth rod body 2123 can extend along vertical direction. The rotation angle between the third rod body 2121 and the fourth rod body 2122 can be the same as the rotation angle between the fifth rod body 2123 and the fourth rod body 2122. The distance of the up-down movement of the fifth rod body 2123 can be controlled by controlling the rotation angle between the third rod body 2121 and the fourth rod body 2122. Of course, during the up-down movement, the distance between the third rod body 2121 and the fifth rod body 2123 in horizontal direction also changes, which can be corrected by the left-right movement adjusting mechanism 21 and the front-back movement adjusting mechanism 21.

[0067] Further, as shown, Figure 3 The fourth rod body 2122 can include a first section fourth rod body 21221 and a second section fourth rod body 21222, the first section fourth rod body 21221 and the second section fourth rod body 21222 can move relative to each other along the extending direction of the fourth rod body 2122. The relative movement between the first section fourth rod body 21221 and the second section fourth rod body 21222 can also be controlled by electric mode, so that the changed distance between the third rod body 2121 and the fifth rod body 2123 in horizontal direction can be directly corrected during the up-down movement adjusting.

[0068] In other possible embodiments, the second rod body 2113 can include a first section second rod body 2113 and a second section second rod body 2113, the first section second rod body 2113 and the second section second rod body 2113 can move relative to each other along the extending direction of the second rod body 2113. The relative movement between the first section second rod body 2113 and the second section second rod body 2113 can also be controlled by electric mode, by the extension and contraction of the second rod body 2113, the adjusting range of the horizontal adjusting mechanism 211 can be wider, especially when the sizes of the first rod body 2112 and the second rod body 2113 are different, the problem that some dead points cannot be reached can be solved, in addition, the horizontal adjusting mechanism 211 can be more easily adjusted to the required position.

[0069] As shown, Figure 3As shown, as a feasible embodiment, the vertical movement adjustment mechanism 212 can be connected and used in conjunction with the horizontal adjustment mechanism 211, and the vertical movement adjustment mechanism 212 can be equivalent to the second rod 2113, that is, the third rod 2121 and the first rod 2112 can rotate along the second axis in the vertical direction.

[0070] like Figure 1 As shown, the adjustment mechanism 21 may include: a horizontal rotation adjustment mechanism 213 for realizing horizontal rotation of the tracking device 1; and an up-down pitch adjustment mechanism 214 for realizing up-down pitch (i.e., pitch in the Z direction) of the tracking device 1. The horizontal rotation adjustment mechanism 213 may also include a rotary joint 215, which rotates around the vertical direction, and the up-down pitch adjustment mechanism 214 may also include a rotary joint 215, which rotates around the horizontal direction. In a specific embodiment, the horizontal rotation adjustment mechanism 213 may be connected to the end of the horizontal adjustment mechanism 211, or the end of the left-right movement adjustment mechanism 21 or the end of the front-back movement adjustment mechanism 21, and the up-down pitch adjustment mechanism 214 may be connected to the end of the horizontal rotation adjustment mechanism 213, and the tracking device is installed at the end of the up-down pitch adjustment mechanism 214.

[0071] like Figure 1 and Figure 2 As shown, the tracking device is mounted on the first bracket mechanism 2, which can be used for tracking during surgery, such as realizing the video acquisition function, etc. In addition, before and during surgery, it can also be used to obtain the position information of the marker, so that the control unit can determine the position of the marker. When the marker is a target that can recognize the posture, the position of the marker can also be determined. Since there are differences between the types, models, performances, etc. of the tracking devices 1, different tracking devices 1 have their own optimal recognition spaces 11. Therefore, during surgery, for example, when the tracking device needs to realize the real-time video acquisition function, the position and posture of the tracking device 1 need to be adjusted through the first bracket mechanism 2, so that the optimal recognition space 11 of the tracking device 1 envelops the first marker and adjusts as the first marker moves, so that the optimal recognition space 11 of the tracking device 1 always envelops the required first marker. Figure 6 Schematic diagram of the optimal recognition space of the tracking device in the embodiment of the present invention. When the tracking device 1 is a common binocular camera device, its optimal recognition space 11 is as follows: Figure 6 As shown in , the spatial area of ​​the optimal recognition space 11 of the tracking device 1 relative to the coordinate system of the tracking device 1 can be easily obtained through similar schematic diagrams.

[0072] The control unit can be electrically connected with the tracking device 1, the first support mechanism 2, etc., to obtain the pose information of the markers collected by the tracking device 1, and also can control the adjustment of the first support mechanism 2. The control unit can be used to obtain the expected pose information of the tracking device 1 according to the optimal recognition space of the tracking device 1 and the pose information of the first marker in the tracking device 1, control the first support mechanism 2 based on the initial pose information of the tracking device 1 and the expected pose information of the tracking device 1, so that the first support mechanism 2 is adjusted to the expected pose of the tracking device 1, and when the tracking device 1 is in the expected pose, the optimal recognition space of the tracking device 1 envelopes the first marker. After the initial pose information of the tracking device 1 and the expected pose information of the tracking device 1 are determined, the control unit can control the first support mechanism 2 to adjust in up-down tilt, horizontal rotation, up-down movement, left-right movement and forward-backward movement, so that finally the optimal recognition space 11 of the tracking device 1 installed on the first support mechanism 2 envelopes all the first markers satisfying the preset condition. The first markers satisfying the preset condition can be understood as the first markers set by the medical staff and required to be enveloped by the optimal recognition space 11 of the tracking device 1. There can be other first markers not required to be enveloped by the optimal recognition space 11 in the data of the first markers collected by the tracking device 1. Of course, if all the first markers in the pose information of the first markers collected by the tracking device 1 are the first markers required to be enveloped by the optimal recognition space 11, then the first markers satisfying the preset condition are all the first markers.

[0073] In a feasible implementation manner, as shown in Figure 10 and Figure 11 illustrated, the control unit can be used to obtain the pose information of the second marker 5 in the tracking device 1 by the tracking device 1 when the tracking device 1 and the tool seat 18 are in the cooperating state, the tracking device 1 has a fixed preset relative pose relationship with the second marker 5 when the tracking device 1 and the tool seat 18 are in the cooperating state; obtain the initial pose information of the tracking device 1 based on the pose information of the second marker 5 in the tracking device 1 and the fixed preset relative pose relationship of the tracking device 1 with the second marker 5; obtain the relative pose information between at least one of the first markers and the second marker 5 by the tracking device 1 when the tracking device 1 and the tool seat 18 are in the cooperating state; obtain the relative pose information between at least one of the first markers and the second marker 5 by the tracking device 1; obtain the pose information of the first marker in the tracking device according to the relative pose information between at least one of the first markers and the second marker 5, and the pose information of the second marker 5 in the tracking device 1 when the tracking device 1 and the tool seat 18 are in the cooperating state. The second marker 5 can be installed on the tool seat 18. Similarly, the second marker includes a target capable of recognizing the pose.

[0074] In another feasible embodiment, the support system may further include a second support mechanism 4 and a posture detection device 3 provided on the second support mechanism 4. A second marker 5 is provided and installed on the second support mechanism 4. The control unit can be electrically connected to the second support mechanism 4 and the posture detection device 3, and can control the second support mechanism 4 so that the posture detection device 3 obtains the posture information of the second marker 5 in the posture detection device 3, wherein the second marker 5 has a fixed preset relative posture relationship with the tracking device 1; the initial posture information of the tracking device 1 in the posture detection device 5 is obtained according to the posture information of the second marker 5 in the posture detection device 3 and the preset relative posture relationship between the second marker 5 and the tracking device 1; the posture information of at least one of the first markers in the posture detection device 3 is obtained through the posture detection device 3; the posture information of the first marker in the tracking device 1 is obtained through coordinate transformation according to the initial posture information of the tracked device 1 in the posture detection device 3 and the posture information of the first marker in the posture detection device 3. Similarly, the second marker includes a target that can identify posture.

[0075] As a feasible target capable of identifying position, an optical marker is used as an example. A target may include at least three non-collinear reflective spheres. By identifying the position coordinates of the three reflective spheres, a corresponding coordinate system is formed, and then the position information relative to the tracking device or position detection device in this coordinate system is obtained. A method for adjusting the position of the tracking device is also proposed in this application. Figure 7 FIG. 1 is a flowchart of a method for adjusting the posture of a tracking device according to an embodiment of the present invention. Figure 7 As shown, the posture adjustment method of the tracking device may include the following steps:

[0076] S101: Acquire initial posture information of the tracking device 1.

[0077] S102: Acquire position information of at least one set of first markers in the tracking device 1.

[0078] S103 : Obtaining expected posture information of the tracking device 1 according to the optimal recognition space of the tracking device 1 and the posture information of the first marker in the tracking device 1 .

[0079] S104: Based on the initial posture information of the tracking device 1 and the expected posture information of the tracking device 1, the tracking device 1 is controlled to move from the initial posture to the expected posture. When the tracking device 1 is in the expected posture, the best recognition space envelope of the tracking device 1 is the first marker.

[0080] In one possible implementation, Figure 9FIG. 1 is a schematic diagram of another embodiment of a knee replacement surgical system including a stent system according to an embodiment of the present invention. Figure 9 As shown, obtaining the position information of at least one set of first markers in the tracking device may include the following steps:

[0081] The tracking device 1 is used to scan and identify the position information of at least one group of first markers in the tracking device 1. In this embodiment, the tracking device has a position scanning and identification function, which can scan and identify multiple first markers used in the operation and determine their positions. The tracking device 1 can be moved by the first support mechanism 2, so that the positions of the multiple first markers used in the operation can be better scanned. The movement of the first support mechanism 2 effectively avoids the problem of mutual occlusion between the multiple first markers. When the tracking device 1 identifies the position information of the multiple first markers in the tracking device, the relative position relationship between the multiple first markers is obtained.

[0082] The steps for obtaining the initial posture information of the tracking device 1 can be specifically as follows: the posture at which the tracking device 1 finally stops after scanning and identifying the first marker is the initial posture of the tracking device 1. In this initial posture, the tracking device 1 can convert the posture information of the two first markers scanned and identified in the tracking device 1 to obtain the posture information of all the first markers previously scanned in the tracking device 1 in this initial posture. Since the tracking device 1 cannot directly obtain its own posture information, the posture at which the tracking device 1 finally stops after scanning and identifying the first marker needs to be a preset fixed posture relative to a first marker. For example, in the posture at which the tracking device 1 finally stops, one first marker completely blocks the other first marker, so that it can be determined that the posture of the tracking device 1 is located on a straight line between the two first markers, and the tracking device 1 is completely facing the two first markers, that is, the axis of the tracking device 1 is on the above straight line. The initial posture information of the tracking device 1 is obtained in the above manner.

[0083] In another possible embodiment, Figure 10 FIG. 1 is a schematic diagram of a knee replacement surgical system including a stent system in another embodiment of the present invention, as shown in FIG. Figure 10 As shown, a second marker 5 may be mounted and fixed on the tool holder 18. When the tracking device 1 and the tool holder 18 are in a mating state, the tracking device 1 has a fixed preset relative posture relationship with respect to the second marker 5.

[0084] In this embodiment, obtaining the initial position information of the tracking device 1 can be specifically performed as follows: when the tracking device 1 and the tool holder 18 are in a mating state, the position information of the second marker 5 in the tracking device 1 is obtained by the tracking device 1. The initial position information of the tracking device 1 is obtained based on the position information of the second marker 5 in the tracking device 1 and the fixed preset relative position relationship of the tracking device 1 with respect to the second marker 5. The initial position of the tracking device 1 is the position of the tracking device 1 when the tracking device 1 and the tool holder 18 are in a mating state. By having the tracking device 1 and the tool holder 18 in a mating state, the tracking device 1 obtains its own initial position information, especially the posture information at its initial position.

[0085] Further, Figure 11 for Figure 10 A partial enlarged view of Figure 11 As shown, the tool holder 18 may be provided with a first positioning portion 181, and the first support mechanism 2 or tracking device 1 may be provided with a second positioning portion 12 that mates with the first positioning portion 181 of the tool holder 18. When the first positioning portion 181 mates with the second positioning portion 12, the relative position and posture of the tracking device 1 and the second marker 5 in this position of the first support mechanism 2 are fixed and known. Thus, when the first positioning portion 181 mates with the second positioning portion 12, the tracking device 1 can obtain its initial position and posture information relative to the second marker 5.

[0086] In this embodiment, obtaining the position information of at least one set of first markers in the tracking device can be specifically performed as follows: the tracking device obtains relative position information between at least one first marker and a second marker. When the tracking device is in a mating state with the tool holder, coordinate transformation is performed based on the relative position information between the at least one first marker and the second marker and the position information of the second marker in the tracking device to obtain the position information of the first marker in the tracking device 1. In other words, before the tracking device 1 is mated with the tool holder 18, the first support mechanism 2 can be moved so that the tracking device 1 obtains the relative position information between all first markers. The relative position information between the at least one first marker and the second marker obtained by the tracking device 1, combined with the relative position information between all first markers, can then be used to obtain the relative position information between all first markers and second markers 5 through coordinate transformation. When the tracking device 1 is mated with the tool holder 18, coordinate transformation is performed based on the relative position information between all first markers and second markers 5 and the position information of the second marker 5 in the tracking device 1 to obtain the position information of the first marker in the tracking device 1.

[0087] In another feasible embodiment, the support system may further include: a second camera support mechanism 4 having a posture detection device 3 mounted thereon. The second support mechanism 4 may have the same structure as the first support mechanism 2 and will not be further described here. The second marker 5 may be mounted on the first camera support mechanism 2, so that the second marker 5 and the tracking device have a fixed, predetermined relative posture relationship.

[0088] like Figure 2 As shown, the step of obtaining the initial posture information of the tracking device 1 may include: obtaining the posture information of the second marker 5 in the posture detection device 3 through the posture detection device 3, where the second marker 5 has a fixed preset relative posture relationship with the tracking device 1. The initial posture information of the tracking device 1 in the posture detection device 3 is obtained based on the posture information of the second marker 5 in the posture detection device 3 and the preset relative posture relationship between the second marker 5 and the tracking device 1. In this manner, the second marker 5 may include a target, so that the posture detection device 5 can obtain the posture information of the second marker 5 in the posture detection device 3.

[0089] Acquiring the pose information of at least one set of first markers 5 in the tracking device 1 may specifically include: acquiring the pose information of at least one set of first markers 5 in the pose detection device 3 via the pose detection device 3. The pose information of the first markers in the tracking device 1 is obtained through coordinate conversion based on the initial pose information of the tracking device 1 in the pose detection device 3 and the pose information of the first markers in the pose detection device 3. Since the initial pose information of the tracking device 1 in the pose detection device 3 has been determined, the initial pose information of the tracking device 1 relative to the first markers can also be determined through coordinate conversion.

[0090] In the above manner, with the help of the second support mechanism 4 having a posture detection device 3, the posture of the first marker used in the operation relative to the tracking device 1 installed on the first support mechanism 2, and the posture of the second marker 5 are obtained. During the operation, even if the posture of the first marker used in the operation changes, the posture detection device 3 can still instantly obtain the position and posture of the tracking device 1 installed on the first support mechanism 2 relative to the first marker used in the operation, so that the control unit can continuously control the first support mechanism 2 so that the first support mechanism 2 is always adjusted to the optimal recognition space 11 of the tracking device 1 to envelop all first markers that meet the preset conditions.

[0091] In the above three embodiments, in the process of the tracking device 1 scanning and collecting the first marker or the posture detection device 3 scanning and collecting the first marker and the second marker 5, generally the tracking device 1 or the posture detection device 3 needs to move several positions for scanning and collecting in order to collect all the first markers and / or second markers 5 that meet the preset conditions.

[0092] Furthermore, in order to ensure the reliability of the scanning and acquisition process, the tracking device 1 or the posture detection device 3 can be controlled to move in the first direction and identify the first marker and / or the second marker 5, and the coordinates of the tracking device 1 or the posture detection device 3 when it moves in the first direction until it cannot identify the two farthest and closest markers in the first direction can be recorded. For example, the first direction can be the horizontal direction toward which the tracking device 1 or the posture detection device 3 is facing, which can be expressed as the Y direction, and the coordinates of the two farthest and closest markers in the first direction when it cannot identify can be recorded as Y1 and Y2. The tracking device 1 or the posture detection device 3 is controlled to move in the second direction and identify the markers, and the coordinates of the tracking device 1 or the posture detection device 3 when it moves in the second direction until it can identify the two farthest and closest markers in the second direction can be recorded. For example, the second direction can be the vertical direction, which can be expressed as the Z direction, and the coordinates of the two farthest and closest markers in the second direction when it can identify can be recorded as Z1 and Z2. The control tracking device 1 or the posture detection device 3 moves in the third direction and identifies the target, and records the coordinates of the control tracking device 1 or the posture detection device 3 when it moves in the third direction to the point where it can identify the two farthest and closest marks in the third direction. For example, the third direction is perpendicular to the first direction and the second direction and can be expressed as the X direction. The coordinates when it can identify the two farthest and closest targets in the third direction can be recorded as X1 and X2.

[0093] During the subsequent scanning and acquisition process, the coordinates of the tracking device 1 or the posture detection device 3 in the Y direction can be between Y1 and Y2. Since the recognition space of the tracking device 1 or the posture detection device 3 is the longest in this direction, generally speaking, as long as the position of the tracking device 1 or the posture detection device 3 is reasonable, all required markers can be covered in this direction. Therefore, under any of the above coordinates, the tracking device 1 or the posture detection device 3 is sufficient to cover all targets in the Y direction. For the area between X1 and X2, N points can be taken, and scanning and acquisition are performed along Z1 to Z2 for each point. At least 2 markers need to be identified in a position scanning and acquisition to determine the corresponding postures between each other. When the description is completed, all markers have a corresponding posture with any other marker in at least one position, and the scanning and acquisition is completed. The corresponding postures of all markers can be obtained later through coordinate conversion. If one target among all the markers does not have a corresponding pose with any other marker at all scan positions, it is necessary to increase the value of N, such as doubling it, and then scan and capture each point along Z1 to Z2 until all target markers have a corresponding pose with any other marker at at least one position. After that, the scanning and capture is completed. With this method, during the process of scanning and capturing markers by the camera device, it can be fully guaranteed that the pose of the scanned markers meets the requirements of subsequent use.

[0094] In obtaining the desired pose information of the tracking device 1 based on the optimal recognition space of the tracking device 1 and the pose information of the first marker in the tracking device 1, the optimal recognition space of the tracking device 1 encompasses the first marker when the tracking device 1 is in the desired pose in the desired pose information. Based on the initial pose information of the tracking device 1 and the desired pose information of the tracking device 1, the first support mechanism 2 can be controlled to move and adjust, thereby moving the tracking device 1 from the initial pose to the desired pose.

[0095] Furthermore, when the tracking device 1 is in the desired position, it is necessary to make the edge surface of the optimal identification space 11 as close as possible to the first mark at the outermost edge of the first marks used in the operation, or the distance between the edge surface of the optimal identification space 11 and the first mark at the outermost edge of the first marks used in the operation is basically equal, so that the optimal identification space 11 can be fully utilized.

[0096] In a feasible manner, the optimal recognition space 11 of the tracking device 1 can be realized by the following method: Figure 8 is a schematic diagram of the structure of the optimal recognition space in an embodiment of the present invention, such as Figure 8 As shown, the specific process is as follows:

[0097] The maximum and minimum values ​​of the coordinates in the first direction are obtained according to the position of the first marker to determine the coordinate range of the envelope space in the first direction. The first direction is the horizontal direction facing the tracking device 1, that is, the Y direction.

[0098] Adjust the positions of the first and second surfaces at the same angle and the same distance as the upper end surface 111 and the lower end surface 112 of the optimal recognition space 11 so that the space between the first and second surfaces envelops the first marks at the outermost edges of the two ends in the second direction, and the first and second surfaces are respectively located near the first marks at the outermost edges of the two ends in the second direction, and the second direction is the vertical direction. For example, the adjustment can be performed by rotating around the X-axis. Further, the first and second surfaces can be adjusted to be tangent to the outer sides of the first marks at the outermost edges of the two ends in the second direction, that is, the first surface is tangent to a first mark at the uppermost edge, and the second surface is tangent to a first mark at the lowermost edge. This method can maximize the use of the space of the optimal recognition space 11 in the second direction. By using the above method, not only can the optimal recognition space 11 of the tracking device 1 be made to envelop all the first marks in the second direction when the position that the tracking device 1 needs to be in is determined later, but the space of the optimal recognition space 11 in the second direction can also be fully utilized. Generally speaking, the upper end surface 111 and the lower end surface 112 are symmetrical.

[0099] Adjust the positions of the third and fourth surfaces at the same angle and distance from the left end face 113 and the right end face 114 of the optimal recognition space 11 so that the space between the third and fourth surfaces envelops the first mark at the extreme edges of the two ends in the third direction, and the third and fourth surfaces are respectively located near the first marks at the extreme edges of the two ends in the third direction, and the third direction is perpendicular to the first and second directions. For example, the adjustment can be performed by rotating around the Z axis. Further, the third and fourth surfaces can be adjusted to be tangent to the outer sides of the first marks at the extreme edges of the two ends in the third direction, that is, the third surface is tangent to a first mark at the extreme edge on the left, and the fourth surface is tangent to a first mark at the extreme edge on the right. This method can maximize the use of the space of the optimal recognition space 11 in the third direction. Similarly, this method can not only determine the desired position information of the tracking device 1 at a later stage, but also make the optimal recognition space 11 of the tracking device 1 envelop all the first marks in the third direction, and can also fully utilize the space of the optimal recognition space 11 in the third direction. When the tracking device 1 is a binocular camera device, the left end surface 113 of the optimal recognition space 11 may include a first left end surface 113 and a second end surface having a certain angle. Similarly, the right end surface 114 of the optimal recognition space 11 may also include a first right end surface 114 and a second right end surface 114 having a certain angle. Generally speaking, the left end surface 113 and the right end surface 114 are symmetrical.

[0100] The desired posture of the tracking device 1 is determined based on the posture of the adjusted third and fourth surfaces, the posture of the adjusted first and second surfaces, and the coordinate range of the envelope space in the first direction. The straight line formed by the intersection of the symmetry planes of the adjusted third and fourth surfaces and the symmetry planes of the adjusted first and second surfaces can determine the posture orientation of the tracking device 1, and the position of the tracking device 1 needs to be located on this straight line. Since the relative position and posture relationship between the optimal recognition space 11 of the tracking device 1 and the position of the tracking device 1 itself is known, the feasible and reasonable position range of the position of the tracking device 1 on the above-mentioned straight line can be determined based on the coordinate range of the envelope space in the first direction. Under the feasible and reasonable position range of the tracking device 1 on the above-mentioned straight line, the optimal recognition space 11 corresponding to the tracking device 1 can cover the first marking range of the envelope space in the first direction.

[0101] After calculating the desired posture information of the tracking device 1, the control unit can control the first bracket mechanism 2 and perform electric adjustment through the adjustment mechanism 21 of the first bracket mechanism 2, so that the tracking device 1 installed on the first bracket mechanism 2 can be adjusted in up and down pitch, horizontal rotation, up and down movement, left and right movement, and forward and backward movement. The posture of the tracking device 1 can be changed by electric control and finally adjusted to the desired posture of the tracking device 1. In this way, the optimal recognition space 11 corresponding to the tracking device 1 can always encompass all the first marks that meet the preset conditions during the surgical process. Even if the posture of the first mark changes arbitrarily during the surgical process, the control unit can always adjust the tracking device 1 to the desired posture, so that the optimal recognition space 11 corresponding to the tracking device 1 always encompasses all the first marks that meet the preset conditions during the surgical process.

[0102] The posture adjustment method of the tracking device in the present application can solve the problem of poor robustness of manual adjustment and manual judgment of the position and posture of the bracket mechanism. After obtaining the initial posture information of the tracking device 1 and the posture information of the first marker in the tracking device 1, the posture of the tracking device 1 is automatically adjusted, so that the tracking device 1 is in the expected posture, that is, the relatively optimal position adapted to the operation, so that the optimal recognition space 11 of the tracking device 1 envelops all the first markers that meet the preset conditions during the operation, such as enabling the tracking device 1 to capture the best video of the operation in real time. The entire adjustment method can effectively improve the efficiency and accuracy of the posture planning of the tracking device 1. It can not only be adjusted before the operation, but also can be adjusted in real time during the operation according to the changes in the actual situation.

[0103] All articles and references disclosed, including patent applications and publications, are incorporated herein by reference for all purposes. The term "essentially consisting of..." describing a combination should include the identified elements, ingredients, parts or steps and other elements, ingredients, parts or steps that do not substantially affect the basic novel features of the combination. The use of the terms "comprising" or "including" to describe the combination of elements, ingredients, parts or steps herein also contemplates an embodiment that is essentially composed of these elements, ingredients, parts or steps. By using the term "may", it is intended to illustrate that any attribute described that "may" include is optional. Multiple elements, ingredients, parts or steps can be provided by a single integrated element, ingredient, part or step. Alternatively, a single integrated element, ingredient, part or step can be divided into separate multiple elements, ingredients, parts or steps. The disclosure "one" or "an" used to describe an element, ingredient, part or step is not intended to exclude other elements, ingredients, parts or steps.

[0104] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. The above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the scope of protection of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for adjusting the posture of a tracking device, characterized in that: The posture adjustment method of the tracking device includes: Obtaining initial position information of the tracking device, comprising: when the tracking device and the tool holder are in a mating state, obtaining, by the tracking device, position information of a second mark in the tracking device, wherein the tracking device has a fixed preset relative position relationship with respect to the second mark in the mating state of the tracking device and the tool holder; obtaining initial position information of the tracking device based on the position information of the second mark in the tracking device and the fixed preset relative position relationship of the tracking device with respect to the second mark, wherein the initial position of the tracking device is the position of the tracking device when the tracking device and the tool holder are in a mating state; Acquiring position information of at least one set of first markers in the tracking device; Obtaining desired posture information of the tracking device according to the optimal recognition space of the tracking device and the posture information of the first marker in the tracking device; The tracking device is controlled to move from the initial pose to the expected pose based on the initial pose information of the tracking device and the expected pose information of the tracking device. When the tracking device is in the expected pose, the optimal recognition space of the tracking device envelopes the first marker.

2. The method for adjusting the posture of a tracking device according to claim 1, wherein: The step of obtaining expected posture information of the tracking device according to the optimal recognition space of the tracking device and the posture information of the first marker in the tracking device includes: Acquire a maximum value and a minimum value of coordinates in a first direction according to the posture of the first marker to determine a coordinate range of the envelope space in the first direction, where the first direction is a horizontal direction toward which the tracking device is facing; Adjusting the positions of the first surface and the second surface at the same angle and distance from the upper end surface and the lower end surface of the optimal recognition space so that the space between the first surface and the second surface envelops the first mark at the outermost edges of both ends in the second direction, and the first surface and the second surface are respectively located near the first mark at the outermost edges of both ends in the second direction, where the second direction is a vertical direction; Adjusting the positions of a third surface and a fourth surface at the same angle and distance from the left and right end surfaces of the optimal recognition space so that the space between the third surface and the fourth surface envelops the first mark at the outermost edges in the third direction, and the third surface and the fourth surface are respectively located near the first mark at the outermost edges in the third direction, where the third direction is perpendicular to the first direction and the second direction; Desired position information of the tracking device is determined according to the adjusted positions of the third and fourth surfaces, the adjusted positions of the first and second surfaces, and the coordinate range of the envelope space in the first direction.

3. The method for adjusting the posture of a tracking device according to claim 1, wherein: The second mark is mounted and fixed on the tool seat.

4. The method for adjusting the posture of a tracking device according to claim 1, wherein: In the step of obtaining the position information of at least one group of first markers in the tracking device, Acquiring relative position information between at least one first marker and the second marker by the tracking device; When the tracking device and the tool holder are in a mating state, the posture information of the first marker in the tracking device is obtained based on the relative posture information between at least one of the first marker and the second marker and the posture information of the second marker in the tracking device.

5. The method for adjusting the posture of a tracking device according to claim 4, wherein: In the step of obtaining relative position information between at least one first marker and the second marker by the tracking device, Before the tracking device is in a mating state with the tool holder, the tracking device obtains the relative posture information between all the first marks by moving, and obtains the relative posture information between at least one of the first marks and the second mark by the tracking device, plus the relative posture information between all the first marks, so that the tracking device obtains the relative posture information between all the first marks and the second mark.

6. The method for adjusting the posture of a tracking device according to claim 3, wherein: The second marker includes a target capable of recognizing a posture, and the first marker includes a target capable of recognizing a posture.

7. A support system, characterized in that: The support system comprises: a first support mechanism, and a tracking device disposed on the first support mechanism, wherein the first support mechanism has an adjustment mechanism to enable the tracking device to pitch up and down, rotate horizontally, move up and down, move left and right, and move forward and backward; A control unit, the control unit is used to obtain the expected posture information of the tracking device based on the optimal recognition space of the tracking device and the posture information of the first mark in the tracking device, and control the first bracket mechanism based on the initial posture information of the tracking device and the expected posture information of the tracking device, so that the first bracket mechanism is adjusted to the tracking device in the expected posture, when the tracking device is in the expected posture, the optimal recognition space of the tracking device envelopes the first mark; the control unit is also used to obtain the posture information of the second mark in the tracking device through the tracking device when the tracking device and the tool holder are in a matched state, and when the tracking device and the tool holder are in a matched state, the tracking device is relative to the second mark Having a fixed preset relative posture relationship; obtaining the initial posture information of the tracking device based on the posture information of the second mark in the tracking device and the fixed preset relative posture relationship of the tracking device relative to the second mark; obtaining the relative posture information between at least one first mark and the second mark through the tracking device when the tracking device and the tool holder are in a coordinated state; obtaining the relative posture information between at least one first mark and the second mark through the tracking device; obtaining the posture information of the first mark in the tracking device according to the relative posture information between at least one first mark and the second mark and the posture information of the second mark in the tracking device when the tracking device and the tool holder are in a coordinated state.

8. The support system according to claim 7, wherein: The adjustment mechanism includes: a horizontal adjustment mechanism for realizing left-right and front-back movement of the tracking device, the horizontal adjustment mechanism includes: a connecting member, a first rod body connected to the connecting member at one end, and a second rod body connected to the other end of the first rod body, the first rod body and the connecting member can be rotated about a first axis in the vertical direction, the second rod body and the first rod body can be rotated about a second axis in the vertical direction, and the first rod body and the second rod body have a tendency to extend in the horizontal direction.

9. The support system according to claim 7, wherein: The adjustment mechanism includes: an up and down movement adjustment mechanism for realizing the up and down movement of the tracking device, the up and down movement adjustment mechanism includes: a third rod, a fourth rod connected to the third rod, and a fifth rod connected to the fourth rod, the third rod and the fourth rod can rotate about a third axis in the horizontal direction, the fifth rod and the fourth rod can rotate about a fourth axis in the horizontal direction, the third axis and the fourth axis are parallel, and the third rod and the fifth rod always remain parallel.

10. The support system according to claim 9, wherein: The fourth rod includes a first section of the fourth rod and a second section of the fourth rod. The first section of the fourth rod and the second section of the fourth rod are relatively movable in the extending direction of the fourth rod.

11. The support system according to claim 7, wherein: The tool holder is provided with a first positioning portion, and the first bracket mechanism or the tracking device has a second positioning portion that cooperates with the first positioning portion of the tool holder; when the first positioning portion cooperates with the second positioning portion, the tracking device and the tool holder are in a cooperative state.

12. The support system according to claim 7, wherein: The support system further includes: a second support mechanism, and a posture detection device provided on the second support mechanism; a second mark is provided on the first support mechanism; The control unit is used to obtain the posture information of the second marker in the posture detection device through the posture detection device, and the second marker has a fixed preset relative posture relationship with the tracking device; obtain the initial posture information of the tracking device in the posture detection device according to the posture information of the second marker in the posture detection device and the preset relative posture relationship between the second marker and the tracking device; obtain the posture information of at least one of the first markers in the posture detection device through the posture detection device; obtain the posture information of the first marker in the tracking device through coordinate transformation according to the initial posture information of the tracking device in the posture detection device and the posture information of the first marker in the posture detection device.

Images