Magnetic navigation relay station structure and magnetic navigation system

Abstract

The invention provides a magnetic navigation relay station structure and a magnetic navigation system.The magnetic navigation relay station structure comprises a shell, a battery, a wireless power supply transmitting module, a first wireless communication module and a second wireless communication module, the magnetic navigation relay station structure obtains sensor data of the instrument through the first wireless communication module and transmits the sensor data to the wireless data receiving end through the second wireless communication module. Through the arrangement of the magnetic navigation relay station structure, a connecting cable does not need to be arranged to be connected to a data receiving unit, no exposed electrical interface exists outside an instrument, the risk of poor sealing does not exist, disinfection and use are convenient, meanwhile, a battery does not need to be arranged inside the instrument, charging and battery replacing do not need to be conducted, and the cost is low. And daily operation and management are easier. In addition, the relative position of the magnetic navigation relay station structure and the instrument is kept fixed, and the wireless energy supply efficiency and the sensor data transmission quality can be guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and more specifically, relates to a magnetic navigation relay station structure and a magnetic navigation system. Background Art

[0002] Electromagnetic Navigation System (EMTS) is one of the mainstream surgical navigation system technology solutions. The most typical EMTS basic principle is to generate a time-varying magnetic field through a magnetic field transmitter, detect the time-varying magnetic field through a magnetic sensor, and then perform posture calculation of the magnetic sensor. In this system, the magnetic field transmitter is placed near the working area, and the magnetic sensor is fixed / integrated with the object to be located. The magnetic sensor is used to transmit the detected magnetic signal to an external processing unit, and then perform posture calculation.

[0003] Each tracked object (such as an instrument) requires a data cable to connect to the processing unit. When there are many tracked objects and the working range is large, the cable will inevitably interfere with the operator's actions. Moreover, the cable may be connected from the sterile processing area (such as a trolley) to the surgical instrument in the sterile area, which may introduce infection risks and increase the difficulty of control. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a magnetic navigation relay station structure and a magnetic navigation system to solve the technical problems in the prior art of inconvenient operation and easy infection caused by cable connection devices and processing units.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: to provide a magnetic navigation relay station structure for detachably connecting with an instrument, the magnetic navigation relay station structure also includes a shell, a battery, a wireless power supply transmitter module, a first wireless communication module and a second wireless communication module, the battery, the wireless power supply transmitter module, the first wireless communication module and the second wireless communication module are all arranged in the shell, the wireless power supply transmitter module is electrically connected to the battery, and the battery wirelessly supplies power to the instrument through the wireless power supply transmitter module, the first wireless communication module is used to obtain sensor data in the instrument, the second wireless communication module is electrically connected to the first wireless communication module, and the second wireless communication module is used to transmit the sensor data to a wireless data receiving end.

[0006] In the above scheme, by setting up the magnetic navigation relay station structure, the device does not need to be equipped with a connecting cable to the data receiving unit, and there is no exposed electrical interface on the outside of the device, so there is no risk of poor sealing, and it is easy to disinfect and use. At the same time, the device does not need to be equipped with a battery inside, and does not need to be charged or replaced, making daily operation and management easier. Moreover, the relative position of the magnetic navigation relay station structure and the device remains fixed, and its wireless energy supply efficiency and sensor data transmission quality can be guaranteed.

[0007] Optionally, the operating frequencies of the wireless power transmission module and the first wireless communication module are both in the first frequency band, the operating frequency of the second wireless communication module is in the second frequency band, and the first frequency band and the second frequency band are different. The second frequency band is different from the first frequency band, ensuring that the gap between the first frequency band and the second frequency band is large, and avoiding signal interference caused by frequency band overlap.

[0008] Optionally, the magnetic navigation relay station structure also includes a wireless power supply chip, and the wireless power supply transmitter module and the first wireless communication module are both fixed and electrically connected to the wireless power supply chip. The wireless power supply transmitter module and the first wireless communication module are both integrated on the wireless power supply chip, which can simplify the production and processing of the magnetic navigation relay station structure and reduce the production cost of the magnetic navigation relay station structure. The wireless power supply chip can realize wireless power supply and data transmission from the device to the first wireless communication module at the same time, and the wireless power supply transmitter module and the first wireless communication module can share the 13.56MHz frequency band.

[0009] Optionally, the first wireless communication module is an NFC module, and / or the second wireless communication module is a Bluetooth module. The operating frequency band of NFC is 13.56MHz, the operating frequency band of the Bluetooth module is 2.4GHz, and the time-varying magnetic field frequency of magnetic navigation (10-1000Hz) is far different from the operating frequency bands of the NFC module, the Bluetooth module, and the magnetic navigation. Therefore, when magnetic navigation, obtaining sensor data from the device, and transmitting the sensor data to the wireless data receiving end through the Bluetooth module are working, they do not interfere with each other.

[0010] The present invention also provides a magnetic navigation system, including the above-mentioned magnetic navigation relay station structure, and also includes an instrument, a magnetic field transmitting end and a wireless data receiving end. The instrument includes a magnetic sensor, which is located within the magnetic field coverage area of ​​the magnetic field transmitting end and is used to obtain sensor data. The magnetic navigation relay station structure is wirelessly connected to the instrument and is detachably connected.

[0011] In the above scheme, by setting up the magnetic navigation relay station structure, there is no need to set up a connection cable to the data receiving unit, and there is no exposed electrical interface on the outside of the device, so there is no risk of poor sealing, and it is easy to disinfect and use. At the same time, there is no need to set up batteries inside the device, and there is no need for charging or replacement, making daily operation and management easier. Moreover, the relative position of the magnetic navigation relay station structure and the device remains fixed, and its wireless energy supply efficiency and sensor data transmission quality can be guaranteed.

[0012] Optionally, the device further includes a wireless power receiving module and a third wireless communication module, wherein the wireless power receiving module is used to wirelessly connect to the wireless power transmitting module to power the device, the third wireless communication module is connected to the magnetic sensor, and the third wireless communication module is used to wirelessly connect to the first wireless communication module to transmit the sensor data to the first wireless communication module through the third wireless communication module. The wireless power receiving module is used to wirelessly connect to the wireless power transmitting module to power the device, and the wireless power transmitting module and the wireless power receiving module are used to wirelessly charge the device, thereby solving the problem that the device needs to be equipped with a power supply. The third wireless communication module is also used to wirelessly connect to the first wireless communication module, so that the sensor data is transmitted to the first wireless communication module through the third wireless communication module. Through the setting of the third wireless communication module, one is to realize the effective transmission of sensor data, and the other is to make a certain distance between the magnetic navigation relay station and the magnetic sensor to prevent electromagnetic interference.

[0013] Optionally, the device further includes a magnetic positioning module for acquiring device coordinate data. The magnetic positioning module can be used to identify device information of the device, such as device ID, device calibration information, and more specifically, the coordinate position relationship between the magnetic sensor and the working end of the device. By setting up the magnetic positioning module, the device information can be transmitted to the wireless data receiving end through the magnetic navigation relay station, so that the position and posture of the working end of the device and other parts can be solved.

[0014] Optionally, the magnetic navigation relay station structure is snap-connected, threadedly connected, or magnetically connected to the instrument to achieve a detachable connection between the magnetic navigation relay station structure and the instrument.

[0015] Optionally, a positioning groove is provided on the device, and the magnetic navigation relay station structure is located in the positioning groove; or, the magnetic navigation relay station structure is connected to the end of the device away from the magnetic sensor. The positioning groove can provide installation space for the magnetic navigation relay station structure, making it easier for users to find the installation position, and the positioning groove can also play a role in limiting the magnetic navigation relay station structure.

[0016] Optionally, the distance between the magnetic sensor and the battery is S, the maximum size of the battery is L, and S>5L. The outer surface of the battery in the magnetic navigation relay station structure is wrapped by a metal layer, and metal products will affect the magnetic field around it, reducing the accuracy of magnetic navigation positioning. Therefore, S>5L is set to make the distance between the battery and the magnetic sensor large enough to reduce battery interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0018] Figure 1 A schematic diagram of the structure of a magnetic navigation relay station provided in an embodiment of the present invention;

[0019] Figure 2 A schematic diagram of the structure of a magnetic navigation system (a magnetic navigation relay station is installed on a device) provided in an embodiment of the present invention;

[0020] Figure 3 A schematic diagram of the structure of a magnetic navigation relay station and an apparatus provided in an embodiment of the present invention;

[0021] Figure 4 A schematic diagram of the principle of data transmission of a magnetic navigation system provided by an embodiment of the present invention;

[0022] Figure 5 A first installation structure diagram of a magnetic navigation relay station and a device provided in an embodiment of the present invention;

[0023] Figure 6 A second installation structure diagram of the magnetic navigation relay station and the device provided in an embodiment of the present invention.

[0024] Among them, the reference numerals in the figure are:

[0025] 1-magnetic navigation relay station structure; 11-housing; 12-battery; 13-wireless power transmission module; 14-first wireless communication module; 15-second wireless communication module; 16-positioning column; 2-magnetic field transmitting end; 3-equipment; 31-housing; 32-magnetic sensor; 33-wireless power receiving module; 34-third wireless communication module; 35-integrated circuit bus; 4-wireless data receiving end. DETAILED DESCRIPTION

[0026] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0027] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0028] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0029] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0030] The electromagnetic navigation system (EMTS) is one of the technical solutions of the mainstream surgical navigation system. The electromagnetic navigation system is mainly used to perform posture calculation (position and attitude calculation) for the object to be positioned. The object to be positioned can be a surgical tool, such as a surgical instrument, a scalpel, etc. In the following, the object to be positioned is collectively referred to as the instrument 3. The basic principle of the most typical electromagnetic navigation system is to generate a time-varying magnetic field through the magnetic field transmitting end 2, and after the magnetic sensor 32 detects the time-varying magnetic field, the posture of the magnetic sensor 32 is calculated. Specifically, the time-varying magnetic field generated by the magnetic field transmitting end 2 has a magnetic field strength and a magnetic field direction that change with time. The magnetic field strength and magnetic field direction corresponding to positions at different distances from the magnetic field transmitting end 2 are different. The posture of the magnetic sensor 32 can be obtained according to the magnetic field strength and magnetic field direction detected by the magnetic sensor 32. In this electromagnetic navigation system, the magnetic field transmitting end 2 is placed near the magnetic sensor 32, and the magnetic sensor 32 is fixed or integrated with the instrument 3. The magnetic sensor 32 can be a coil sensor, a Hall sensor, or a magnetoresistive sensor. The magnetic sensor 32 transmits the detected magnetic signal to the external data receiving end, and then performs posture calculation on the magnetic sensor 32. Since the magnetic sensor 32 and the instrument 3 are relatively fixed, after the posture of the magnetic sensor 32 is solved, the posture of the instrument 3 can also be obtained through coordinate conversion.

[0031] Each tracked device 3 needs to be connected to an external data receiving end through a data cable for data processing. When there are many tracked devices 3 and the working range is large, the cable will inevitably interfere with the operator's actions. Moreover, the cable may be connected from the sterile processor area (such as a trolley) to the device 3 in the sterile area, which may introduce infection risks and increase the difficulty of management and control. In order to overcome the above technical problems, the present invention proposes a magnetic navigation relay station and a magnetic navigation system.

[0032] The magnetic navigation relay station structure 1 provided in the embodiment of the present invention is now described. The magnetic navigation relay station structure 1 is detachably connected to the instrument 3, that is, the magnetic navigation relay station structure 1 is an independent, integral structure, which can be removed from the instrument 3. The magnetic navigation relay station can be used once or multiple times. Since it is an independent, integral structure, it is also convenient to disinfect and clean it. The magnetic navigation relay station structure 1 is also wirelessly connected to the instrument 3, so that neither the magnetic navigation relay station structure 1 nor the instrument 3 need to be provided with an electrical interface, and the outer surface thereof is closed. Specifically, the magnetic navigation relay station structure 1 can power part of the structure of the instrument 3, and can also communicate and transmit data with the instrument 3.

[0033] See also Figure 1 The magnetic navigation relay station structure 1 includes a shell 11, a battery 12, a wireless power transmission module 13, a first wireless communication module 14 and a second wireless communication module 15.

[0034] The outer shell 11 is the external wrapping structure of the magnetic navigation relay station structure 1. The outer shell 11 can be composed of one component or connected by multiple components. The outer shell 11 can be in a sealed state to prevent blood, tissue fluid, etc. from entering the magnetic navigation relay station structure 1 and affecting the normal work. That is to say, there is no electrical interface on the outer surface of the magnetic navigation relay station structure 1, which makes the working state of the magnetic navigation relay station structure 1 more stable. After its use, it can be regularly recycled and processed by the manufacturer, and can be a disposable consumable.

[0035] The battery 12 is disposed inside the housing 11, and the battery 12 can power the device 3. In this way, there is no need to design the battery 12 inside the device 3, and the device 3 can be a passive device 3, and there is no need to charge, replace, clean, disinfect, sterilize, etc. the device 3. Of course, the battery 12 also powers the wireless power transmission module 13, the first wireless communication module 14, and the second wireless communication module 15 inside the housing 11.

[0036] The wireless power transmission module 13 is an important component module of wireless charging. The wireless power transmission module 13 is electrically connected to the battery 12. The battery 12 wirelessly supplies power to the device 3 through the wireless power transmission module 13. The battery 12 can be a button battery 12, a cylindrical battery 12, a block battery 12, etc.

[0037] The first wireless communication module 14 is electrically connected to the battery 12, and is wirelessly connected to the device 3 to obtain sensor data in the device 3. The sensor data may be data detected by the magnetic sensor 32, specifically, the magnetic field strength and magnetic field direction corresponding to the magnetic sensor 32. At the same time, the sensor data obtained by the first wireless communication module 14 can be transmitted to the second wireless communication module 15.

[0038] The second wireless communication module 15 is electrically connected to the battery 12, and the second wireless communication module 15 is wirelessly connected to the wireless data receiving terminal 4, so that the second wireless communication module 15 can wirelessly transmit the sensor data to the external wireless data receiving terminal 4. The wireless data receiving terminal 4 can solve the sensor data to obtain the posture corresponding to the magnetic sensor 32, and thus can convert it to obtain the posture corresponding to the working end of the instrument 3 and other positions.

[0039] The magnetic navigation relay station structure 1 in the above embodiment includes a housing 11, a battery 12, a wireless power transmission module 13, a first wireless communication module 14 and a second wireless communication module 15. The magnetic navigation relay station structure 1 is detachably connected to the device 3, and the device 3 is powered by the wireless power transmission module 13. The sensor data of the device 3 is obtained by the first wireless communication module 14, and transmitted to the wireless data receiving end 4 by the second wireless communication module 15. Through the setting of the magnetic navigation relay station structure 1, there is no need to set a connecting cable to the data receiving unit, and there is no exposed electrical interface on the outside of the device 3, there is no risk of poor sealing, and it is also easy to disinfect and use. At the same time, there is no need to set a battery 12 inside the device 3, and there is no need to charge or replace the battery, and daily operation and management are easier. Moreover, the relative position of the magnetic navigation relay station structure 1 and the device 3 remains fixed, and its wireless power supply efficiency and sensor data transmission quality can be guaranteed.

[0040] In some embodiments of the present invention, see Figure 1 The operating frequencies of the wireless power transmission module 13 and the first wireless communication module 14 are both in the first frequency band, so that the wireless power transmission module 13 and the first wireless communication module 14 can work at the same time, that is, wireless charging of the device 3 and acquisition of sensor data from the device 3 can be performed at the same time. The operating frequency band of the second wireless communication module 15 is the second frequency band, which is different from the first frequency band, ensuring that the gap between the first frequency band and the second frequency band is large, avoiding signal interference caused by frequency band overlap.

[0041] In some embodiments, the wireless power transmission module 13 includes a wireless power supply chip, and the wireless power transmission module 13 and the first wireless communication module 14 are integrated on the wireless power supply chip. First, the production and processing of the magnetic navigation relay station structure 1 can be simplified, and second, the production cost of the magnetic navigation relay station structure 1 can be reduced. For example, the wireless power supply chip can realize wireless power supply and data transmission from the device 3 to the first wireless communication module 14 at the same time. The wireless power transmission module 13 and the first wireless communication module 14 can share the 13.56MHz frequency band, which can provide 1W of power supply power and a data transmission rate of hundreds of kb / s, which fully meets the working requirements of the magnetic navigation positioning module in the device 3. Among them, the time-varying magnetic field frequency (10-1000Hz) of magnetic navigation is far enough away from the 13.56MHz frequency band, so magnetic navigation, wireless power supply and data transmission do not interfere with each other during operation.

[0042] Optionally, the second wireless communication module 15 is another chip independent of the wireless power supply chip, and the first wireless communication module 14 and the second wireless communication module 15 are electrically connected, so that sensor data can be transmitted from the first wireless communication module 14 to the second wireless communication module 15 .

[0043] In some embodiments, the first wireless communication module 14 is a near field communication (NFC) module, the working frequency band of the NFC module is 13.56MHz, and the NFC module is a short-range, high-frequency wireless communication module that can realize simple communication and data transmission between devices. The transmission distance of the NFC module is generally within 10 cm, and the distance between the first wireless communication module 14 and the corresponding communication module in the device 3 is relatively short, also within 10 cm, and only sensor data needs to be transmitted, so the NFC module is suitable for this transmission scenario.

[0044] In some embodiments, the second wireless communication module 15 is a Bluetooth module, and the operating frequency band of the Bluetooth module is 2.4 GHz. The Bluetooth module can be used for short-range transmission, and can realize simple communication and data transmission between devices. The maximum transmission distance of the Bluetooth module is between 10 meters and 100 meters, so the data transmission between the magnetic navigation relay station structure 1 and the wireless data receiving terminal 4 (the distance between the wireless data receiving terminal 4 and the device 3 is usually several meters) can be realized through the Bluetooth module. The Bluetooth module can also be understood as a basic circuit set of a chip with integrated Bluetooth function, which is used for wireless network communication. Among them, the time-varying magnetic field frequency (10 to 1000 Hz) of magnetic navigation is far enough away from the 2.4 GHz frequency band, so magnetic navigation and data transmission do not interfere with each other during operation.

[0045] Among them, NFC module and Bluetooth module are both commonly used wireless communication modules. The R&D cost of using these two modules is relatively low, and the debugging and programming workload is also relatively small.

[0046] In some embodiments, the first wireless communication module 14 is an NFC module, the operating frequency band of the NFC module is 13.56 MHz, the second wireless communication module 15 is a Bluetooth module, the operating frequency band of the Bluetooth module is 2.4 GHz, the time-varying magnetic field frequency of magnetic navigation (10-1000 Hz), the operating frequency bands of the NFC module, the Bluetooth module and the magnetic navigation are quite different, therefore, the magnetic navigation, obtaining sensor data from the device 3, and transmitting the sensor data to the wireless data receiving terminal 4 through the Bluetooth module do not interfere with each other when working.

[0047] In some embodiments of the present invention, the wireless power transmission module 13 includes a wireless power transmission chip and a transmission induction coil, which is electrically connected to the wireless power chip, and energy transfer is achieved by energy coupling between the transmission induction coil and the receiving induction coil in the device 3. Wireless charging through the transmission induction coil and the receiving induction coil is a special power supply method, which does not require a power cord, relies on electromagnetic wave propagation, and then converts electromagnetic wave energy into electrical energy, ultimately achieving wireless charging.

[0048] In some embodiments of the present invention, the housing 11 may be a one-piece housing or a multi-piece housing. The housing 11 may be made of non-metallic materials such as silicone, rubber, plastic, etc., which will not affect the normal operation of components such as the magnetic sensor 32 and the magnetic field transmitting end 2.

[0049] In some embodiments of the present invention, a status indicator light is provided on the magnetic navigation relay station structure 1 to prompt the user of the power level, communication quality, etc. of the magnetic navigation relay station structure 1 .

[0050] See also Figures 2 to 4 The present invention further provides a magnetic navigation system, which includes the magnetic navigation relay station structure 1 in any of the above embodiments. The magnetic navigation system also includes an instrument 3, a magnetic field transmitting end 2 and a wireless data receiving end 4.

[0051] The magnetic field transmitting end 2 is used to generate a magnetic field. The magnetic field generated by the magnetic field transmitting end 2 can be a time-varying magnetic field or other types of magnetic fields. At least the area where the magnetic sensor 32 of the instrument 3 is located is located within the coverage area of ​​the magnetic field, so that the magnetic sensor 32 of the instrument 3 can detect the magnetic field strength and direction there.

[0052] The device 3 includes a magnetic sensor 32, which is located inside the housing of the device 3 and is used to obtain sensor data. The device 3 is wirelessly connected to the magnetic navigation relay station structure 1, so that the sensor data detected by the magnetic sensor 32 can be transmitted to the first wireless communication module 14 of the magnetic navigation relay station structure 1.

[0053] The device 3 is detachably connected to the magnetic navigation relay station structure 1, so that the magnetic navigation relay station structure 1 can be recycled by the manufacturer after power consumption, or can be used again after charging and cleaning, disinfection and sterilization, so that the device 3 is a passive device. At the same time, the device 3 does not need to be equipped with an electrical interface, and the sensor data is transmitted to the wireless data receiving terminal 4 through the magnetic navigation relay station structure 1.

[0054] The wireless data receiving terminal 4 is wirelessly connected to the magnetic navigation relay station structure 1. The second wireless communication module 15 in the magnetic navigation relay station structure 1 transmits the sensor data to the wireless data receiving terminal 4. The wireless data receiving terminal 4 can analyze and calculate the sensor data to obtain the posture of the magnetic sensor 32. Since the positional relationship between the magnetic sensor 32 and any component of the instrument 3 is determined, the posture of any component of the instrument 3 can also be obtained.

[0055] See also Figure 4The magnetic field transmitting end 2 generates a magnetic field, and the magnetic sensor 32 in the device 3 collects the magnetic field information (such as magnetic field strength, magnetic field direction, etc.) at its corresponding position. The magnetic field information is the above-mentioned sensor data. The sensor data in the device 3 is obtained through the first wireless communication module 14 of the magnetic navigation relay station structure 1, and then the sensor data is transmitted to the external wireless data receiving end 4 through the second wireless communication module 15, and the wireless data receiving end 4 performs posture solution on the sensor data.

[0056] The magnetic navigation system provided by the present invention adopts the above-mentioned magnetic navigation relay station structure 1. The magnetic navigation relay station structure 1 is detachably connected to the device 3, and the device 3 is powered by the wireless power transmission module 13. The sensor data of the device 3 is obtained through the first wireless communication module 14, and transmitted to the wireless data receiving terminal 4 through the second wireless communication module 15. Through the setting of the magnetic navigation relay station structure 1, the device 3 does not need to be provided with a connection cable to the data receiving unit, and there is no exposed electrical interface on the outside of the device 3, there is no risk of poor sealing, and it is also convenient for disinfection and use. At the same time, the battery 12 does not need to be set inside the device 3, and there is no need to charge or replace the battery, and daily operation and management are easier. Moreover, the relative position of the magnetic navigation relay station structure 1 and the device 3 remains fixed, and its wireless power supply efficiency and sensor data transmission quality can be guaranteed.

[0057] When it is necessary to perform magnetic navigation tracking on the instrument 3, the operator takes out a new magnetic navigation relay station structure 1 or a magnetic navigation relay station structure 1 that has been cleaned, disinfected, and sterilized, starts it, and installs it to the corresponding position of the instrument 3. At this time, the magnetic navigation relay station structure 1 starts to power the instrument 3, the instrument 3 starts to work, and transmits real-time sensor data to the external wireless data receiving terminal 4 through the magnetic navigation relay station structure 1. At this time, the magnetic navigation system can obtain the information that the instrument 3 has been started, without the user selecting or inputting in the magnetic navigation system. The data of the magnetic sensor 32 is continuously transmitted to the wireless data receiving terminal 4 through the magnetic navigation relay station structure 1, and the magnetic navigation system can track and display the posture of the instrument 3 in real time.

[0058] When there is no need to track the device, the magnetic navigation relay station structure 1 can be turned off or removed. When another instrument 3 needs to be positioned, it can be driven by the same magnetic navigation relay station structure 1, or a new magnetic navigation relay station structure 1 can be reused. After the operation is completed, the used magnetic navigation relay station structure 1 can be centrally processed, such as discarded or recycled by the manufacturer. The magnetic navigation relay station structure 1 used by the user each time can be independently and sterilely packaged and can be used after being disassembled.

[0059] In some embodiments of the present invention, see Figure 2 and Figure 3The device 3 also includes a wireless power receiving module 33. The wireless power receiving module 33 is used to wirelessly connect with the wireless power transmitting module 13 to power the device 3. Wireless charging of the device 3 is achieved through the wireless power transmitting module 13 and the wireless power receiving module 33, which solves the problem that the device 3 needs to be equipped with a power supply.

[0060] In some embodiments, the wireless power receiving module 33 and the wireless power transmitting module 13 are arranged opposite to each other, which can improve the energy coupling efficiency of the two modules and achieve stable power supply to the device 3.

[0061] In some embodiments, the wireless power receiving module 33 includes a wireless power receiving chip and a receiving induction coil, the receiving induction coil is electrically connected to the wireless power receiving chip, and energy transfer is achieved by energy coupling between the transmitting induction coil and the receiving induction coil. When the magnetic navigation relay station is installed on the device 3, the transmitting induction coil and the receiving induction coil are arranged opposite to each other, which can improve the coupling efficiency of the two coils.

[0062] In some embodiments of the present invention, see Figure 2 and Figure 3 The device 3 also includes a third wireless communication module 34, which is connected to the magnetic sensor 32 in communication, so that the sensor data acquired by the magnetic sensor 32 can be transmitted to the third wireless communication module 34. The third wireless communication module 34 is also used for wireless communication connection with the first wireless communication module 14, so that the sensor data is transmitted to the first wireless communication module 14 through the third wireless communication module 34. Through the setting of the third wireless communication module 34, firstly, the effective transmission of sensor data is realized, and secondly, a certain distance can be set between the magnetic navigation relay station and the magnetic sensor 32 to prevent electromagnetic interference.

[0063] In some embodiments, the first wireless communication module 14 and the third wireless communication module 34 are both NFC modules. The operating frequency band of NFC is 13.56 MHz. The NFC module is a short-distance, high-frequency wireless communication module that can realize simple communication and data transmission between devices. The transmission distance of the NFC module is generally within 10 cm. The distance between the first wireless communication module 14 and the third wireless communication module 34 is relatively short, also within 10 cm, so the NFC module is suitable for this transmission scenario.

[0064] In some embodiments, the magnetic sensor 32 and the third wireless communication module 34 are both disposed inside the housing of the device 3, and the magnetic sensor 32 and the third wireless communication module 34 can be connected by a cable, and the data transmission of the wired connection is more stable. For example, the magnetic sensor 32 and the third wireless communication module 34 are connected by an integrated circuit bus 35 (abbreviated as IIC).

[0065] Optionally, the cable connecting the magnetic sensor 32 and the third wireless communication module 34 is extended along the length direction of the instrument 3. Firstly, the space of the instrument 3 can be effectively utilized, and secondly, the distance between the magnetic sensor 32 and the magnetic navigation relay station structure 1 can be long enough.

[0066] In some embodiments of the present invention, the instrument 3 further includes a magnetic positioning module for acquiring coordinate data of the instrument 3, and the magnetic positioning module can be used to identify device information of the instrument 3, such as device ID, calibration information of the instrument 3, and more specifically, coordinate position relationship between the magnetic sensor 32 and the working end of the instrument 3. The magnetic positioning module is connected to the third wireless communication module 34 for communication, and can transmit device information of the instrument 3 to the third wireless communication module 34, and then to the wireless data receiving end 4. By setting the magnetic positioning module, the device information can be transmitted to the wireless data receiving end 4 through the magnetic navigation relay station, so that the posture of the working end of the instrument 3 and other parts can be solved.

[0067] Specifically, when the magnetic navigation relay station structure 1 is started and installed on the instrument 3, power will be supplied to the instrument 3, and the magnetic positioning module will transmit device information such as the device ID and the calibration information of the instrument 3 to the magnetic navigation relay station structure 1, and then transmit it to the wireless data receiving terminal 4. The position and posture of the corresponding parts of the instrument 3 can be obtained without calibrating the instrument 3.

[0068] In some embodiments, the magnetic positioning module is communicatively connected to the third wireless communication module 34 , so that device information can be transmitted to the magnetic navigation relay station structure 1 through the cooperation of the first wireless communication module 14 and the third wireless communication module 34 .

[0069] In some embodiments of the present invention, the wireless data receiving terminal 4 is arranged outside the device 3 and can wirelessly communicate with the magnetic navigation relay station structure 1. The wireless data receiving terminal 4 includes an antenna, a data processing unit, etc., and can be a part of the EMTS. The wireless data receiving terminal 4 is used to receive sensor data, device information, device status (whether it is started, whether it is working normally), etc. sent by the magnetic navigation relay station structure 1, so that its data processing unit can solve the posture of the device 3.

[0070] In some embodiments of the present invention, the wireless data receiving terminal 4 and the magnetic field transmitting terminal 2 are integrated, which can be understood as the wireless data receiving terminal 4 and the magnetic field transmitting terminal 2 are fixedly arranged, or arranged on the same chip. In this way, the composition structure of the magnetic navigation system can be made simpler, and the difficulty of building the magnetic navigation system is also reduced accordingly.

[0071] In some embodiments of the present invention, the magnetic navigation relay station structure 1 is snap-connected with the instrument 3 to achieve a detachable connection between the magnetic navigation relay station structure 1 and the instrument 3. The housing 11 of the magnetic navigation relay station structure 1 is provided with a first snap-connecting portion, and the housing of the instrument 3 is provided with a second snap-connecting portion, and the first snap-connecting portion and the second snap-connecting portion are snap-connected. Among them, one of the first snap-connecting portion and the second snap-connecting portion is a snap-connecting portion, and the other is a snap-connecting hole or a snap-slot.

[0072] In some embodiments of the present invention, the magnetic navigation relay station structure 1 is threadedly connected to the instrument 3 to achieve a detachable connection between the magnetic navigation relay station structure 1 and the instrument 3. The housing 11 of the magnetic navigation relay station structure 1 is provided with a first threaded portion, and the housing of the instrument 3 is provided with a second threaded portion, and the first threaded portion and the second threaded portion are threadedly connected, so that the magnetic navigation relay station structure 1 can be rotatably tightened on the instrument 3. Among them, one of the first threaded portion and the second threaded portion is an internal thread, and the other is an external thread.

[0073] In some embodiments of the present invention, the magnetic navigation relay station structure 1 is magnetically connected to the device 3 to achieve a detachable connection between the magnetic navigation relay station structure 1 and the device 3. A first magnetic part is provided in the magnetic navigation relay station structure 1, and a second magnetic part is provided in the device 3. The first magnetic part and the second magnetic part can attract each other, so that the magnetic navigation relay station structure 1 can be magnetically fixed on the device 3. At least one of the first magnetic part and the second magnetic part is a permanent magnet, and the permanent magnet used has weak magnetism and will not affect the magnetic positioning system.

[0074] In some embodiments of the present invention, the magnetic navigation relay station structure 1 is connected to the instrument 3 by interference fit to achieve a detachable connection between the magnetic navigation relay station structure 1 and the instrument 3. The outer shell 11 of the magnetic navigation relay station structure 1 and the shell of the instrument 3 are pressed against each other during assembly, and at least one of the outer shell 11 and the shell can be deformed to a certain extent, so that the magnetic navigation relay station structure 1 can be tightly fitted on the instrument 3.

[0075] In some embodiments of the present invention, see Figure 5 A positioning groove is provided on the device 3, and the magnetic navigation relay station structure 1 is located in the positioning groove. The setting of the positioning groove can provide an installation space for the magnetic navigation relay station structure 1, making it easier for the user to find the installation position. The positioning groove can also play a role in limiting the magnetic navigation relay station structure 1.

[0076] In some embodiments of the present invention, a positioning hole is provided on the instrument 3, and a positioning column 16 is provided on the magnetic navigation relay station structure 1. The positioning column 16 is inserted into the positioning hole to enable the instrument 3 and the magnetic navigation relay station structure 1 to be positioned relative to each other.

[0077] In some embodiments of the present invention, see Figure 6The magnetic navigation relay station structure 1 is connected to the end of the instrument 3 away from the magnetic sensor 32. The end of the instrument 3 away from the magnetic sensor 32 can be a mounting surface, and the magnetic navigation relay station structure 1 is connected to the mounting surface. In this embodiment, there is no need to destroy the surface structure of the instrument 3, so that the appearance of the instrument 3 is more complete.

[0078] In some embodiments of the present invention, the magnetic navigation relay station structure 1 may be square, such as with a side length of 20-30 mm and a height of 10-20 mm. Alternatively, the magnetic navigation relay station structure 1 may be cylindrical, such as with a diameter of 20-30 mm and a height of 10-20 mm.

[0079] In some embodiments of the present invention, see Figure 5 , the distance between the magnetic sensor 32 and the battery 12 is S, the maximum size of the battery 12 is L, and S>5L. The outer surface of the battery 12 of the magnetic navigation relay station structure 1 is wrapped by a metal layer. Metal products will affect the magnetic field around it and reduce the accuracy of magnetic navigation positioning. The maximum size L of the battery 12 can be understood as the largest size value of the battery 12 in all dimensional directions. For example, the battery 12 is a rectangular parallelepiped, and the maximum size L of the battery 12 is the length of the battery 12. Therefore, S>5L is set so that the distance between the battery 12 and the magnetic sensor 32 is large enough to reduce interference with the battery 12.

[0080] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A magnetic navigation relay station structure, used for detachable connection with an apparatus (3), characterized in that: The device comprises a housing (11), a battery (12), a wireless power transmission module (13), a first wireless communication module (14) and a second wireless communication module (15); the battery (12), the wireless power transmission module (13), the first wireless communication module (14) and the second wireless communication module (15) are all arranged in the housing (11); the wireless power transmission module (13) is electrically connected to the battery (12), and the battery (12) wirelessly supplies power to the device (3) through the wireless power transmission module (13); the first wireless communication module (14) is used to obtain sensor data in the device (3); the second wireless communication module (15) is electrically connected to the first wireless communication module (14), and the second wireless communication module (15) is used to transmit the sensor data to a wireless data receiving end (4).

2. The magnetic navigation relay station structure according to claim 1, characterized in that: The operating frequencies of the wireless power transmission module (13) and the first wireless communication module (14) are both in a first frequency band, the operating frequency of the second wireless communication module (15) is in a second frequency band, and the first frequency band and the second frequency band are different.

3. The magnetic navigation relay station structure as claimed in claim 2, characterized in that: The magnetic navigation relay station structure (1) also includes a wireless power supply chip, and the wireless power supply transmitting module (13) and the first wireless communication module (14) are both fixed and electrically connected to the wireless power supply chip.

4. The magnetic navigation relay station structure according to claim 1, characterized in that: The first wireless communication module (14) is an NFC module, and / or the second wireless communication module (15) is a Bluetooth module.

5. A magnetic navigation system, characterized in that: The invention comprises a magnetic navigation relay station structure (1) as described in any one of claims 1 to 4, and also comprises an apparatus (3), a magnetic field transmitting end (2) and a wireless data receiving end (4), wherein the apparatus (3) comprises a magnetic sensor (32), wherein the magnetic sensor (32) is located within the magnetic field coverage area of ​​the magnetic field transmitting end (2) and is used to obtain sensor data, and the magnetic navigation relay station structure (1) is wirelessly connected to the apparatus (3) and is detachably connected.

6. The magnetic navigation system according to claim 5, characterized in that: The device (3) also includes a wireless power receiving module (33) and a third wireless communication module (34), wherein the wireless power receiving module (33) is used to wirelessly connect to the wireless power transmitting module (13) to supply power to the device (3), and the third wireless communication module (34) is communicatively connected to the magnetic sensor (32), and the third wireless communication module (34) is used to wirelessly connect to the first wireless communication module (14) to transmit the sensor data to the first wireless communication module (14) through the third wireless communication module (34).

7. The magnetic navigation system according to claim 5, characterized in that: The device (3) also includes a magnetic positioning module for acquiring coordinate data of the device (3).

8. The magnetic navigation system according to claim 5, characterized in that: The magnetic navigation relay station structure (1) is snap-connected, threadedly connected, or magnetically connected to the device (3).

9. The magnetic navigation system according to claim 5, characterized in that: The device (3) is provided with a positioning groove, and the magnetic navigation relay station structure (1) is located in the positioning groove; or, the magnetic navigation relay station structure (1) is connected to an end of the device (3) away from the magnetic sensor (32).

10. The magnetic navigation system according to claim 5, characterized in that: The distance between the magnetic sensor (32) and the battery (12) is S, the maximum size of the battery is L, and S>5L.

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