Positioning device and medical equipment

Abstract

The invention relates to a positioning device and medical equipment, and relates to the technical field of dynamic positioning. The positioning device comprises a static positioning module, a displacement detection module and a processor. The static positioning module is used for being connected with the fixing assembly and obtaining static positioning information. The displacement detection module is used for being connected with the movable assembly and obtaining displacement information under the condition that the movable assembly moves relative to the fixed assembly. The processor is in communication connection with the static positioning module and the displacement detection module, and the processor is used for determining dynamic positioning information according to the relative pose information between the static positioning module and the displacement detection module, the static positioning information and the displacement information. The processor in the positioning device can perform high-dynamic and high-precision positioning on the movable assembly by combining the relative pose information, the static positioning information and the displacement information, so that accurate positioning of a high-dynamic target is completed.

Description

Technical Field

[0001] This application relates to the field of dynamic positioning technology, and in particular to a positioning device and medical equipment. Background Technology

[0002] With the development of medical technology, medical devices equipped with positioning technology have emerged. Positioning technology allows for real-time tracking of the movement trajectory of medical devices, enabling automatic control or assisted medical treatment. However, some types of medical devices may undergo highly dynamic movements (such as high-frequency vibration or high-frequency extension / retraction) during operation. In such cases, certain positioning technologies, such as electromagnetic positioning, cannot accurately locate highly dynamic targets. Summary of the Invention

[0003] Therefore, it is necessary to provide a positioning device and medical equipment capable of accurately locating highly dynamic targets in response to the above-mentioned technical problems.

[0004] In a first aspect, this application proposes a positioning device, comprising: a static positioning module for connecting to a fixed component and acquiring static positioning information; a displacement detection module for connecting to a movable component and acquiring displacement information when the movable component is displaced relative to the fixed component; and a processor for communicatively connecting to both the static positioning module and the displacement detection module, wherein the processor is configured to determine dynamic positioning information based on the relative pose information between the static positioning module and the displacement detection module, the static positioning information, and the displacement information.

[0005] In one embodiment, the static positioning module includes: a transmitter for generating a first time-varying magnetic field; and a receiver for being fixedly connected to the fixed component and acquiring a first magnetic field signal in the first time-varying magnetic field; the static positioning information includes the first magnetic field signal.

[0006] In one embodiment, the displacement detection module includes a movable part and a fixed part, the movable part being fixedly connected to the movable component, the fixed part being fixedly connected to the static positioning module, and the displacement detection module being used to detect the displacement between the movable part and the fixed part and obtain the displacement information.

[0007] In one embodiment, the displacement detection module further includes at least one displacement detection unit, which includes: at least one permanent magnet and at least one magnetic field sensor, wherein the permanent magnet and the magnetic field sensor are respectively disposed in one of the fixed part and the other of the movable part; the permanent magnet is used to generate a second static magnetic field; the magnetic field sensor is used to acquire a second magnetic field signal in the second static magnetic field; and the displacement information includes the second magnetic field signal.

[0008] In one embodiment, the movable part is capable of displacement relative to the fixed part along at least one target direction, and the displacement detection module includes displacement detection units corresponding one-to-one with each of the target directions.

[0009] In one embodiment, in the displacement detection unit: the permanent magnet is disposed on the fixed part, and there are at least two permanent magnets, with the magnetic poles of two adjacent permanent magnets having opposite directions, and the magnetic poles of the permanent magnets being perpendicular to the target direction. The permanent magnets are spaced apart along the target direction.

[0010] In one embodiment, the magnetic field sensor is disposed on the movable part, and at least two magnetic field sensors are provided. The magnetic field sensors are spaced apart along the target direction, and during the displacement of the movable part relative to the fixed part, at least one of the magnetic field sensors is between the two permanent magnets.

[0011] In one embodiment, the movable part includes an elastic member and a clamping member, the elastic member surrounding and fixedly connected to the clamping member, the clamping member being fixedly connected to the movable component, the elastic member being retractable relative to the fixed part, and the clamping member being movable relative to the fixed part under the action of the elastic member.

[0012] Secondly, this application proposes a medical device comprising: a fixed component and a movable component, wherein the fixed component is connected to the movable component via the positioning device described in the first aspect embodiment above.

[0013] In one embodiment, the fixed component is a robotic arm, and the movable component is a medical assistive tool.

[0014] The aforementioned positioning device and medical equipment acquire static positioning information by connecting a static positioning module to a fixed component to achieve local positioning of the fixed component. Simultaneously, it acquires displacement information by connecting a displacement detection module to a moving component to achieve displacement detection of the moving component. Since the relative pose information between the static positioning module and the displacement detection module is known, the processor can perform highly dynamic and high-precision positioning of the moving component by combining the relative pose information, static positioning information, and displacement information, thereby achieving precise positioning of highly dynamic targets. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the positioning device in one embodiment;

[0017] Figure 2 This is a schematic diagram of the positioning device module in another embodiment;

[0018] Figure 3 This is a schematic diagram of the positioning device in one embodiment;

[0019] Figure 4 This is a schematic diagram of the displacement detection module in one embodiment;

[0020] Figure 5 This is a schematic diagram of the positioning device in another embodiment;

[0021] Figure 6 This is a schematic diagram of the displacement detection module in another embodiment;

[0022] Figure 7 This is a schematic diagram of the displacement detection module in another embodiment;

[0023] Figure 8 This is a schematic diagram of the structure of the active part in one embodiment;

[0024] Explanation of reference numerals in the attached figures:

[0025] Static positioning module 100, displacement detection module 200, processor 300, fixed component 400, movable component 500, transmitter 110, receiver 120, movable part 210, fixed part 220, displacement detection unit 230, permanent magnet 231, magnetic field sensor 232, elastic element 211, clamping element 212. Detailed Implementation

[0026] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0027] 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 herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0028] It is understood that the terms “first,” “second,” etc., used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.

[0029] Spatial relation terms such as “below,” “under,” “below,” “below,” “above,” “above,” etc., are used herein to describe the relationship between one element or feature shown in the figure and other elements or features. It should be understood that, in addition to the orientation shown in the figure, spatial relation terms also include different orientations of the device in use and operation. For example, if the device in the figure is flipped, an element or feature described as “below,” “below,” or “below” will be oriented “above” the other element or feature. Therefore, the exemplary terms “below” and “under” can include both above and below orientations. Furthermore, the device may also include other orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptive terms used herein will be interpreted accordingly.

[0030] It should be noted that when one element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediary element. Furthermore, in the following embodiments, "connection" should be understood as "electrical connection," "communication connection," etc., if there is transmission of electrical signals or data between the connected objects.

[0031] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having,” etc., specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. Meanwhile, the term “and / or” as used in this specification includes any and all combinations of the associated listed items.

[0032] As described in the background section, existing positioning technologies cannot accurately capture the real-time pose of highly dynamic targets when locating certain types of medical devices, thus failing to achieve precise positioning of the medical devices. Positioning technologies can be one of several indoor positioning technologies, such as electromagnetic positioning, optical positioning, ultrasonic positioning, RFID (Radio Frequency Identification) positioning, infrared positioning, and Bluetooth positioning. Depending on their positioning principles, these technologies exhibit different dynamic positioning characteristics and positioning accuracy.

[0033] Taking electromagnetic positioning technology as an example, the magnetic field strength and gradient decrease rapidly with increasing distance. This leads to a rapid decrease in the signal-to-noise ratio of the magnetic field signal as the distance between the receiver and the transmitter increases, increasing the positioning uncertainty and causing the positioning results to exhibit a "jittering" phenomenon. To address this issue, filtering processes, such as sliding smoothing, can be added to the positioning algorithm to average the positioning results over a certain period, thereby reducing positioning uncertainty. However, this inevitably reduces the real-time performance of electromagnetic positioning, causing some delay. Furthermore, electromagnetic positioning technology has a relatively large data acquisition window, similar to the shutter in optical positioning technology. Optical positioning captures a momentary image with a very short shutter exposure time, typically between tens of microseconds and milliseconds. Therefore, in most cases, the object can be considered relatively stationary within this time, resulting in better dynamic positioning performance (depending on the scene). However, most electromagnetic positioning transmitters emit periodic magnetic field signals. The receiver needs to capture and process the signal within a certain period to obtain the corresponding positioning information. The length of this data acquisition time can vary depending on the frequency, strength, and signal processing capabilities of the magnetic field signal. The longer the acquisition time, the lower the uncertainty of static positioning, but the worse the dynamic positioning performance, and the more severe the "motion blur" caused by the movement of objects. For example, when using a time-varying magnetic field of 0.1kHz to 10kHz as the positioning signal, the data acquisition window is generally on the order of 10ms to 100ms, making it difficult to accurately capture the real-time positioning information of highly dynamic targets.

[0034] For the reasons mentioned above, this application provides a positioning device and medical equipment that can accurately capture the real-time positioning information of highly dynamic targets, thereby achieving precise positioning of highly dynamic targets.

[0035] In one embodiment, such as Figure 1 As shown, a positioning device is provided, comprising: a static positioning module 100, a displacement detection module 200, and a processor 300. The static positioning module 100 is used to connect to a fixed component 400 and acquire static positioning information; the displacement detection module 200 is used to connect to a movable component 500 and acquire displacement information when the movable component 500 is displaced relative to the fixed component 400; the processor 300 is communicatively connected to both the static positioning module 100 and the displacement detection module 200, and is used to determine dynamic positioning information based on the relative pose information between the static positioning module 100 and the displacement detection module 200, the static positioning information, and the displacement information.

[0036] Specifically, the static positioning module 100 is connected to the fixed component 400 and is used to acquire static positioning information at the fixed component 400. This static positioning information is used to characterize or calculate the pose information of the static positioning module 100 or the pose information of the fixed component 400. The static positioning module 100 has a large positioning range and high static positioning accuracy, but its dynamic positioning performance is poor. In some embodiments, the static positioning module 100 has a pose positioning function of 5 to 6 degrees of freedom. In some embodiments, the static positioning module 100 is one of an electromagnetic positioning module, an optical positioning module, an ultrasonic positioning module, an RFID positioning module, an infrared positioning module, or a Bluetooth positioning module. Depending on the positioning principle of the static positioning module 100, it has different dynamic positioning characteristics and positioning accuracy.

[0037] The displacement detection module 200 is connected to the movable component 500 and obtains displacement information when the movable component 500 moves relative to the fixed component 400, thereby determining the displacement of the movable component 500. Compared to the static positioning module 100, the displacement detection module 200 has a smaller positioning range but higher positioning accuracy and dynamic positioning performance. That is, the positioning range of the static positioning module 100 is larger than that of the displacement detection module 200, but the dynamic positioning performance of the static positioning module 100 is lower than that of the displacement detection module 200. In some embodiments, the displacement detection module 200 has a displacement positioning function of 1 to 3 degrees of freedom. In some embodiments, the displacement detection module 200 includes one of the following: an optical grating ruler, a magnetic grating ruler, a resistance strain gauge, a linear displacement sensor, and a micro-strain gauge, all of which have the function of measuring small displacements.

[0038] The processor 300 is communicatively connected to the static positioning module 100 and the displacement detection module 200 to acquire static positioning information and displacement information, respectively. In some embodiments, the static positioning module 100 and the displacement detection module 200 are fixedly connected, and their relative poses are determined. In this case, the relative pose information can be pre-stored in the processor 300, which is convenient for use. In some other embodiments, the static positioning module 100 and the displacement detection module 200 are not fixedly connected. When the static positioning module 100 is connected to the fixed component 400 and the displacement detection module 200 is connected to the movable component 500, their relative poses are fixed. In this case, other position calibration instruments can be used to calibrate the relative pose relationship between the two, thereby obtaining the relative pose information, which is then sent to the processor 300. This non-fixed connection method makes the positioning device more flexible and adaptable, and can be adapted to different equipment structures.

[0039] The processor 300 combines the static positioning information and displacement information based on the acquired relative pose information to obtain dynamic positioning information with a large positioning range, high positioning accuracy, and good dynamic positioning performance. This enables the positioning device of this application to accurately locate highly dynamic targets. The dynamic positioning information is used to characterize the pose information of the active component 500. It is understood that the processor 300 can be a single processor 300 or multiple discrete processors 300. When only a single processor 300 is used in the positioning device, the static positioning information and displacement information can be unprocessed raw data. After processing them separately, the processor 300 combines them with the relative pose information to determine the dynamic positioning information. When the processor 300 includes multiple discrete processors 300, the static positioning information and displacement information can be processed position data. The static positioning module 100 can complete the corresponding data processing through the first processor to obtain the static positioning information. The displacement detection module 200 can complete the corresponding data processing through the second processor to obtain the displacement information. The first processor, the second processor, or an additional third processor can perform corresponding data processing on the relative pose information, static positioning information, and displacement information to obtain the final dynamic positioning information.

[0040] The aforementioned positioning device acquires static positioning information by connecting the static positioning module 100 to the fixed component 400 to achieve local positioning of the fixed component 400. Simultaneously, it acquires displacement information by connecting the displacement detection module 200 to the movable component 500 to achieve displacement detection of the movable component 500. Since the relative pose information between the static positioning module 100 and the displacement detection module 200 is known, the processor 300 can perform high-dynamic and high-precision positioning of the movable component 500 by combining the relative pose information, static positioning information, and displacement information, thereby achieving precise positioning of a highly dynamic target.

[0041] In one embodiment, such as Figure 2 As shown, the static positioning module 100 includes a transmitter 110 and a receiver 120. The transmitter 110 is used to generate a first time-varying magnetic field. The receiver 120 is used to be fixedly connected to the fixed component 400 and to collect a first magnetic field signal in the first time-varying magnetic field. The static positioning information includes the first magnetic field signal.

[0042] Specifically, in this embodiment, the static positioning module 100 is an electromagnetic positioning module, and the transmitter 110 in the static positioning module 100 is used to emit a first time-varying magnetic field. The transmitter 110 is fixedly set at a certain reference position (such as the ground, wall, equipment base, etc.), and the transmitter 110 can continuously or intermittently emit the first time-varying magnetic field, which is changing (such as an alternating magnetic field). In some other embodiments, the transmitter 110 can also emit a static magnetic field (such as a gradient magnetic field). The receiver 120 in the static positioning module 100 is used to collect the first time-varying magnetic field from the transmitter 110 in real time, thereby obtaining the first magnetic field signal. At this time, the static positioning information includes the first magnetic field signal. The receiver 120 typically includes sensors, such as magnetoresistive sensors, Hall effect sensors, etc., to detect parameters such as the intensity or direction of the first magnetic field signal. After acquiring static positioning information including the first magnetic field signal, the processor 300 calculates the position and orientation of the receiver 120 relative to the transmitter 110 based on the first magnetic field signal and a preset positioning algorithm (such as a positioning algorithm based on magnetic field gradient, a positioning algorithm based on magnetic field fingerprint, etc.), thereby obtaining the corresponding positioning information. Since the receiver 120 is fixedly connected to the fixed component 400, the obtained positioning information can characterize the current position of the fixed component 400 relative to the transmitter 110. At the same time, by combining the displacement information obtained by the displacement detection module 200 and the relative pose information between the static positioning module 100 and the displacement detection module 200, the pose of the active component 500 relative to the transmitter 110 can be obtained, thus completing the precise positioning of the active component 500.

[0043] In one embodiment, such as Figure 3As shown, the displacement detection module 200 includes a movable part 210 and a fixed part 220. The movable part 210 is fixedly connected to the movable component 500, and the fixed part 220 is fixedly connected to the static positioning module 100. The displacement detection module 200 is used to detect the displacement between the movable part 210 and the fixed part 220 and obtain displacement information.

[0044] Specifically, in this embodiment, the displacement detection module 200 is used to detect the displacement between the movable part 210 and the fixed part 220, thereby obtaining displacement information. The movable part 210 can perform one-dimensional, two-dimensional, or three-dimensional motion relative to the fixed part 220, and correspondingly, the obtained displacement information also includes displacement information with 1 degree of freedom, 2 degrees of freedom, or 3 degrees of freedom. The movable part 210 in the displacement detection module 200 serves as a connection point and is fixedly connected to the movable component 500 whose displacement needs to be measured. As the movable component 500 moves, the movable part 210 will also move accordingly. The movable part 210 has good mechanical strength and stability to ensure that the accuracy of the measurement results will not be affected by its own deformation or loosening during the measurement process. At the same time, in order to effectively cooperate with displacement sensors or other components, the movable part 210 is usually designed with specific interfaces or structures, which can be set according to specific needs.

[0045] The fixed part 220 can be rigidly connected to the static positioning module 100 to provide a stable reference point. This reference point remains unchanged when the movable part 210 moves relative to the fixed part 220, allowing the displacement sensor in the displacement detection module 200 to measure the relative position change between the two. With the fixed part 220 fixedly connected to the static positioning module 100, the relative pose information is a predetermined fixed value. The fixed part 220 also needs to possess good stability and mechanical strength to ensure that it does not move or deform due to external factors (such as vibration or impact) during measurement. Furthermore, to effectively cooperate with the movable part 210 and accurately measure displacement, the fixed part 220 is usually designed with specific interfaces or structures, which can be configured according to specific needs. When the displacement detection module 200 detects the displacement between the moving part 210 and the fixed part 220, it can use a variety of sensor technologies, such as optical grating rulers, magnetic grating rulers, resistance strain gauges, linear displacement sensors, micro strain gauges, etc. These sensors can monitor and output the displacement of the moving part 210 relative to the fixed part 220 in real time, thereby obtaining high-precision displacement information.

[0046] Figure 3The displacement detection module 200 includes a fixed part 220 and a movable part 210, which form a collar. The fixed part 220 is rigidly connected to the receiver 120 in the static positioning module 100, and the movable part 210 is rigidly connected to the movable component 500 (e.g., a tool with high dynamic motion) inside. Application scenarios include external devices (such as robotic arms or robots) or operators moving and fixing the tool in a certain position. The receiver 120 in the static positioning module 100 can then determine the tool's position and orientation. The tool then moves linearly or vibrates along the determined direction, such as in orthopedic surgery (e.g., cupping), puncture surgery (e.g., needle insertion / biopsy), or other similar striking or telescopic operations. The movement distance between the movable part 210 and the fixed part 220 in the displacement detection module 200 is measured using high-precision magnetic detection technology. Since the fixed part 220 in the displacement detection module 200 is fixed to the receiver 120 in the static positioning module 100, the position of the tool relative to the receiver 120 in the static positioning module 100 can be calculated from the position of the tool relative to the fixed part 220 in the displacement detection module 200, thereby calculating the pose (position and orientation) of the tool relative to the transmitter 110 in the static positioning module 100.

[0047] In one embodiment, such as Figure 4 As shown, the displacement detection module 200 further includes: at least one displacement detection unit 230, which includes: at least one permanent magnet 231 and at least one magnetic field sensor 232, wherein the permanent magnet 231 and the magnetic field sensor 232 are respectively disposed in one of the fixed part 220 and the movable part 210; the permanent magnet 231 is used to generate a second static magnetic field; the magnetic field sensor 232 is used to collect a second static signal in the second time-varying magnetic field; the displacement information includes the second magnetic field signal.

[0048] Specifically, the displacement detection module 200 in this embodiment includes at least one displacement detection unit 230, which can detect displacement in a certain direction. The displacement detection unit 230 detects the displacement in a certain direction between the movable part 210 and the fixed part 220 using at least one permanent magnet 231 and at least one magnetic field sensor 232. When the permanent magnet 231 is disposed on the movable part 210, the magnetic field sensor 232 is disposed opposite to the fixed part 220; when the permanent magnet 231 is disposed on the fixed part 220, the magnetic field sensor 232 is disposed opposite to the movable part 210. In both configurations, when the movable part 210 moves relative to the fixed part 220, the relative positions of the magnetic field sensor 232 and the permanent magnet 231 change. The permanent magnet 231 generates a second static magnetic field, and the magnetic field sensor 232 is used to collect a second magnetic field signal in the second static magnetic field. At this time, the displacement information includes the second magnetic field signal. After the processor 300 obtains the displacement information including the second magnetic field signal, it performs corresponding data processing to determine the displacement magnitude of the moving part 210 and the fixed part 220 in a certain direction.

[0049] In one embodiment, the movable part 210 is capable of displacement relative to the fixed part 220 along at least one target direction, and the displacement detection module 200 includes displacement detection units 230 corresponding one-to-one with each target direction. Specifically, in this embodiment, the movable part 210 is capable of displacement relative to the fixed part 220 along at least one target direction, and correspondingly, the displacement detection module 200 is provided with displacement detection units 230 for detecting displacement in the corresponding direction.

[0050] In one embodiment, such as Figure 4 As shown, the movable part 210 displaces relative to the fixed part 220 along a target direction (Z direction). At this time, a displacement detection unit 230 is used to detect the displacement in the Z direction. Specifically, in this embodiment, the displacement detection module 200 only needs to detect the one-dimensional movement (such as extension, retraction, puncture, etc.) of the movable component 500. The movable part 210 is confined inside the fixed part 220, and can only move within a certain range along the axial direction (Z direction) of the fixed part 220, without radial swaying or circumferential rotation. This limits the relative displacement between the permanent magnet 231 and the magnetic field sensor 232 to only one-dimensional movement, ensuring the accuracy of the detection.

[0051] In one embodiment, the movable part 210 is displaced relative to the fixed part 220 along two target directions. In this case, two displacement detection units 230 are provided to detect the displacement in the two target directions respectively. Specifically, the displacement detection module 200 in this embodiment needs to detect the two-dimensional motion (such as two-dimensional vibration) of the movable component 500. The movable part 210 is confined inside the fixed part 220, and the movable part 210 can only move within a certain range along a certain plane direction of the fixed part 220.

[0052] In one embodiment, such as Figure 5 As shown, the movable part 210 displaces relative to the fixed part 220 along three target directions. In this case, three displacement detection units 230 are provided to detect the displacement in each of the three target directions. The movable component 500 can displace relative to the fixed part 220 along the X, Y, and Z directions. Correspondingly, the movable part 210, which is fixedly connected to the movable component 500, can also displace relative to the fixed part 220 along the X, Y, and Z directions. Therefore, to detect the displacement of the movable component 500 in these three directions, at least three displacement detection units 230 are required. For example, a displacement detection unit 230 in the Y direction is provided at surface A in the figure, a displacement detection unit 230 in the X direction is provided at surface B in the figure, and a displacement detection unit 230 in the Z direction is provided at surface C in the figure. It is understood that the displacement detection units 230 can also be arranged in other combinations, or multiple displacement detection units 230 can be provided on one surface.

[0053] In one embodiment, such as Figure 6 As shown, in the displacement detection unit 230: permanent magnets 231 are disposed on the fixing part 220, and at least two permanent magnets 231 are disposed. The magnetic pole directions of two adjacent permanent magnets 231 are opposite, and the magnetic pole directions of the permanent magnets 231 are all perpendicular to the target direction. The permanent magnets 231 are disposed at intervals along the target direction.

[0054] Specifically, in this embodiment, the displacement detection unit 230 has at least two permanent magnets 231 in the fixed part 220, and correspondingly, a magnetic field sensor 232 is provided in the movable part 210. The number of magnetic field sensors 232 can be set according to the detection needs. Figure 6In this embodiment, a magnetic field sensor 232 is provided. By setting the permanent magnet 231 on the fixed part 220 and the magnetic field sensor 232 on the movable part 210, when the static positioning module 100 is an electromagnetic positioning module, the positions of the permanent magnet 231 and the receiver 120 of the static positioning module 100 are relatively fixed. Therefore, the magnetic field of the permanent magnet 231 is a static field at the receiver 120, which is equivalent to the background magnetic field of the receiver 120 and will not affect the receiver 120 from collecting the first magnetic field signal. By setting the magnetic pole directions of two adjacent permanent magnets 231 to opposite directions, and setting the magnetic pole directions of the permanent magnets 231 to be perpendicular to the target direction, and by arranging the permanent magnets 231 at intervals along the target direction, the magnetic field strength has very good linearity in the connection direction of the two permanent magnets 231. The displacement between the moving part 210 and the fixed part 220 can be determined by directly detecting the magnetic field strength using a magnetic field sensor 232. This method does not require detecting the magnetic field signal over a certain period; it only requires detecting the transient magnetic field strength, resulting in high displacement detection accuracy. In some embodiments, when the sampling rate of the magnetic field sensor 232 is 1kHz, the data sampling window width will be less than 1ms. Within this time, magnetic detection data with a very high signal-to-noise ratio can be obtained, thereby achieving high-precision displacement detection.

[0055] In one specific embodiment, such as Figure 6 As shown, the displacement detection module 200 has two permanent magnets 231 in the fixed part 220. The magnetic poles of the two permanent magnets 231 are opposite. Both permanent magnets 231 are cylindrical magnets with a diameter of 6 mm and a height of 6 mm, and the distance between the two magnets is 10 mm. Correspondingly, a magnetic field sensor 232 is provided in the movable part 210. The magnetic field sensor 232 has a range of 50 mT to 100 mT and a sensitivity of 1 μT. The displacement range of the magnetic field sensor 232 is between the two permanent magnets 231, and the displacement range of the magnetic field sensor 232 is 10 mm. Within the displacement range, the magnetic field strength has very good linearity and changes with the displacement in the Z direction. The magnetic field gradient can reach the order of 10 mT / mm. Under these conditions, the accuracy of a single displacement measurement can reach below 0.02 mm, thereby achieving high-precision displacement detection.

[0056] In one embodiment, magnetic field sensors 232 are disposed on the movable part 210, and at least two magnetic field sensors 232 are provided. The magnetic field sensors 232 are spaced apart along the target direction. During the displacement of the movable part 210 relative to the fixed part 220, at least one magnetic field sensor 232 is present between the two permanent magnets 231. Specifically, in this embodiment, by providing at least two magnetic field sensors 232 and spaced them apart along the target direction, ensuring that at least one magnetic field sensor 232 is present between the two permanent magnets 231, the detection range of the displacement detection unit 230 can be increased.

[0057] In one specific embodiment, such as Figure 7 As shown, the displacement detection unit 230 has two permanent magnets 231 in the fixed part 220, with opposite magnetic pole directions. Correspondingly, three magnetic field sensors 232, namely M1, M2, and M3, are arranged in the movable part 210. The axial positions of the midpoints of the two permanent magnets 231 are denoted as Za and Zb, respectively. The distance between the two magnetic field sensors 232 is 2W, which is the linear segment of the magnetic field. The distances between M1 and M2, and between M1 and M3, are both 2W. In the initial position, M1 is located at (Za+Zb) / 2. When M1 moves to the right to Zb, M3 reaches the Za position. When the movable part 210 continues to move to the right, it continues to measure the displacement based on M3. At this time, the total displacement of the movable part 210 is the displacement of M1 plus the displacement of M3. When M1 moves to the left to Za, M2 reaches position Zb. The movable part 210 continues to move to the left, and displacement is measured again using M2. At this point, the total displacement of the movable part 210 is the sum of the displacements of M1 and M2. Thus, with... Figure 6 Compared to the displacement detection module 200 in the previous embodiment, the detection range of the displacement detection module 200 is increased by three times by adding two magnetic field sensors 232. If it is necessary to further increase the detection range, simply increase the number of magnetic field sensors 232 and maintain equal spacing between them.

[0058] In one embodiment, such as Figure 8 As shown, the movable part 210 includes an elastic member 211 and a clamping member 212. The elastic member 211 surrounds the clamping member 212 and is fixedly connected to the clamping member 212. The clamping member 212 is used to be fixedly connected to the movable component 500. The elastic member 211 can extend and retract relative to the fixed part 220. The clamping member 212 can move relative to the fixed part 220 under the action of the elastic member 211.

[0059] Specifically, in this embodiment, the movable part 210 fixes the movable component 500 by means of a clamping member 212. The clamping member 212 can surround the movable component 500 to clamp and fix it. An elastic member 211 is provided around the outer periphery of the clamping member 212. Under the action of the clamping member 212, the elastic member 211 can move relative to the fixed part 220 in a certain linear direction. Since the elastic member 211 surrounds the clamping member 212, the clamping member 212 can move relative to the fixed part 220 under the extension and contraction of the elastic member 211, that is, it can move relative to the fixed part 220 in a plane perpendicular to the Z direction. Figure 8 In this configuration, when the movable component 500 moves along the Z-direction with the clamping member 212, the elastic member 211 moves along the Z-direction with the magnetic field sensor 232, thereby measuring the displacement in the Z-direction. When the movable component 500 moves along a direction perpendicular to the Z-direction with the clamping member 212, the elastic member 211 expands or contracts; in this case, the magnetic field sensor 232, used to detect movement in the Z-direction, will not experience displacement. In some embodiments, the elastic member 211 is a foldable metal sheet that can fold and deform along a certain direction.

[0060] In one embodiment, this application also proposes a medical device comprising a fixed component 400 and a movable component 500, wherein the fixed component 400 is connected to the movable component 500 via the positioning device described in the above embodiment. The fixed component 400 is a component capable of autonomous, wide-range movement, such as a robotic arm, a swinging component, or a clamping component. The movable component 500 is a medical auxiliary tool, such as a metal cup inserter, repositioning forceps, a puncture instrument, or a biopsy gun, which possesses highly dynamic performance.

[0061] The positioning device in the aforementioned medical equipment obtains static positioning information by connecting the static positioning module 100 to the fixed component 400 to achieve local positioning of the fixed component 400. Simultaneously, it obtains displacement information by connecting the displacement detection module 200 to the movable component 500 to achieve displacement detection of the movable component 500. Since the relative pose information between the static positioning module 100 and the displacement detection module 200 is known, the processor 300 can perform high-dynamic and high-precision positioning of the movable component 500 by combining the relative pose information, static positioning information, and displacement information, thereby achieving precise positioning of a highly dynamic target.

[0062] In summary, the positioning device in this application embodiment has the following technical advantages:

[0063] 1) By combining a static positioning module with a high-dynamic, high-precision displacement detection module, high-dynamic, high-precision displacement capture of the tool can be achieved. This combination reduces the requirements for the dynamic performance of the static positioning module. When the tool is moving at high speed or vibrating, the receiver in the static positioning module may also have some weak, small-amplitude movement, which can be detected with high precision by the static positioning module or a receiver equipped with an IMU unit.

[0064] 2) It features simple structure, low cost and good scalability. The displacement detection module has high compatibility with the static positioning module and can be integrated with various static positioning modules of different configurations and principles.

[0065] 3) The integrated design of the displacement detection module and the static positioning module minimizes their mutual influence, allowing the device to perform at its best. Specifically, the static positioning module has minimal interference with the displacement detection module. The static magnetic field measured by the displacement detection module is on the order of 10 to 100 mT, while the time-varying magnetic field signal generated by the static positioning module is on the order of 1 to 100 μT. The impact on the accuracy of the displacement detection module is less than 0.1 mm (typically 0.001 to 0.05 mm), meeting the requirements of most applications.

[0066] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example that is included in at least one embodiment or example of this application. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiment or example.

[0067] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0068] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A positioning device, characterized in that, include: A static positioning module (100) is used to connect to a fixed component (400) and acquire static positioning information; A displacement detection module (200) is used to connect to the movable component (500) and acquire displacement information when the movable component (500) is displaced relative to the fixed component (400); The processor (300) is communicatively connected to the static positioning module (100) and the displacement detection module (200), respectively. The processor (300) is used to determine dynamic positioning information based on the relative pose information between the static positioning module (100) and the displacement detection module (200), the static positioning information and the displacement information.

2. The positioning device according to claim 1, characterized in that, The static positioning module (100) includes: A transmitter (110) is used to generate a first time-varying magnetic field; A receiver (120) is used to be fixedly connected to the fixed component (400) and to collect a first magnetic field signal in the first time-varying magnetic field; the static positioning information includes the first magnetic field signal.

3. The positioning device according to claim 1, characterized in that, The displacement detection module (200) includes a movable part (210) and a fixed part (220). The movable part (210) is fixedly connected to the movable component (500), and the fixed part (220) is fixedly connected to the static positioning module (100). The displacement detection module (200) is used to detect the displacement between the movable part (210) and the fixed part (220) and obtain the displacement information.

4. The positioning device according to claim 3, characterized in that, The displacement detection module (200) further includes at least one displacement detection unit (230), the displacement detection unit (230) comprising: At least one permanent magnet (231) and at least one magnetic field sensor (232), wherein the permanent magnet (231) and the magnetic field sensor (232) are respectively disposed in one of the fixed part (220) and the movable part (210); The permanent magnet (231) is used to generate a second static magnetic field; The magnetic field sensor (232) is used to acquire a second magnetic field signal in the second static magnetic field; the displacement information includes the second magnetic field signal.

5. The positioning device according to claim 4, characterized in that, The movable part (210) is capable of displacement relative to the fixed part (220) along at least one target direction, and the displacement detection module (200) includes displacement detection units (230) corresponding one-to-one with each of the target directions.

6. The positioning device according to claim 5, characterized in that, In the displacement detection unit (230): the permanent magnet (231) is disposed on the fixing part (220), and at least two permanent magnets (231) are disposed. The magnetic pole directions of two adjacent permanent magnets (231) are opposite, and the magnetic pole directions of the permanent magnets (231) are perpendicular to the target direction. The permanent magnets (231) are spaced apart along the target direction.

7. The positioning device according to claim 6, characterized in that, The magnetic field sensor (232) is disposed on the movable part (210), and at least two magnetic field sensors (232) are disposed at intervals along the target direction. During the displacement of the movable part (210) relative to the fixed part (220), at least one magnetic field sensor (232) is between the two permanent magnets (231).

8. The positioning device according to claim 4, characterized in that, The movable part (210) includes an elastic element (211) and a clamping element (212). The elastic element (211) surrounds the clamping element (212) and is fixedly connected to the clamping element (212). The clamping element (212) is used to be fixedly connected to the movable component (500). The elastic element (211) can extend and retract relative to the fixed part (220). The clamping element (212) can move relative to the fixed part (220) under the action of the elastic element (211).

9. A medical device, characterized in that, include: A fixed component (400) and a movable component (500), wherein the fixed component (400) is connected to the movable component (500) by a positioning device according to any one of claims 1 to 8.

10. The medical device according to claim 9, characterized in that, The fixed component (400) is a robotic arm, and the movable component (500) is a medical assistive tool.

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