Active light emitting device and active optical positioning system

Abstract

The application discloses an active light-emitting device and an active optical positioning system. The device body adopts a full-closed structure constructed by high-temperature-resistant polymer materials except for a power supply interface, and does not have an energy storage battery and physical buttons, and is powered through an external Type-C interface. A control module of the device is integrated with a Wi-Fi module and a physical switching unit, and interaction is realized through a remote Web page. The core of the device is that, in a following mode, the physical switching unit turns on a hardware transmission link, so that external pulse signals captured by an infrared receiving module bypass microprocessor logic analysis and directly drive infrared light sources to synchronously emit light. The application realizes nanosecond-level zero-delay synchronization through a hardware direct-drive architecture, and significantly improves dynamic tracking precision. Meanwhile, the application is completely battery-free and is fully sealed, and thus solves the safety and reliability problems of medical high-temperature and high-pressure sterilization.

Description

Technical Field

[0001] This invention relates to the technical field of optical spatial tracking and medical device positioning, and in particular to an active light-emitting device and an active optical positioning system. Background Technology

[0002] In the field of medical surgical navigation, active optical positioning systems capture infrared light signals emitted by active light-emitting devices on surgical instruments through binocular vision imaging systems, thereby calculating the pose information of the target object in three-dimensional space. To distinguish background interference and improve tracking accuracy, mainstream systems typically require that the light signal pulses of the light-emitting devices be strictly synchronized with the shutter exposure period of the imaging system.

[0003] Existing technologies (such as Chinese utility model patent CN221980875U) disclose an active light-emitting device and an active optical positioning system, which are powered by a built-in energy storage battery and have physical control buttons and status indicator lights on the device surface for user operation. Regarding signal synchronization mechanisms, existing technologies typically rely on a microprocessor (MCU) to perform software logic parsing of received infrared command signals (such as NEC communication protocol commands) and then output control signals to drive the light source. However, facing extremely demanding medical clinical application scenarios, the above-mentioned traditional architecture suffers from the following insurmountable technical defects:

[0004] 1. Intrinsic Synchronization Delay Introduced by Software Decoding Mechanism: Existing devices, after receiving infrared signals, must go through software processes such as microprocessor interrupt response, instruction decoding, and logic execution before outputting the light source drive signal. This "software parsing" mechanism inevitably introduces system delays and time jitter at the microsecond or even millisecond level. When the target object is moving at high speed, even a slight time asynchrony can cause a misalignment between the emission phase and the camera exposure phase, resulting in motion artifacts or frame drops in the captured image, directly leading to a decrease in spatial positioning accuracy.

[0005] 2. Multi-source opening design compromises physical seal integrity: Surgical instruments must undergo rigorous cleaning and high-temperature, high-pressure steam sterilization (e.g., 134℃) or chemical reagent immersion after use. Existing physical control buttons and status indicator lights on the surface of devices are either mechanical dynamic seals or spliced ​​windows. These structures are prone to seal failure under frequent thermal expansion and contraction and physical pressure, leading to moisture infiltration and damage to internal circuitry.

[0006] 3. Sterilization safety hazards and battery life anxiety of built-in battery architecture: The chemical energy storage batteries (such as lithium batteries) built into existing active light-emitting devices not only significantly increase the size and weight of the devices and interfere with the original centroid distribution of surgical instruments, but more critically, chemical batteries have an extremely high risk of thermal runaway, bulging and explosion in high-pressure sterilization environments exceeding 100°C, making it often impossible to use standard high-temperature sterilization procedures for such devices; in addition, the battery degradation characteristics and the risk of running out of power during surgery also increase the uncertainty of clinical operation. Summary of the Invention

[0007] The primary objective of this invention is to provide an active light-emitting device that can effectively solve the problems of high response delay, poor sealing integrity, and difficulty in withstanding high-temperature sterilization of built-in batteries in the prior art.

[0008] The second objective of this invention is to provide an active optical positioning system.

[0009] The first objective of this invention is achieved through the following technical solution: an active light-emitting device, comprising:

[0010] The main body is used to support the required functional components;

[0011] A power interface is provided on the main body, and the power interface is used to connect an external DC power supply to achieve power supply;

[0012] An infrared light source is disposed on the main body;

[0013] An infrared receiving module is disposed on the main body, and the infrared receiving module is used to capture periodic square wave infrared pulse signals emitted by an external active optical positioning system;

[0014] A control module is disposed on the main body and electrically connected to the infrared light source and the infrared receiving module respectively; the control module includes a wireless communication module, which is used to establish a wireless communication link to receive external working mode switching commands. Working mode switching and parameter configuration are both remotely implemented through the wireless communication module; wherein, the working modes include at least:

[0015] Active mode, which means that the infrared light source is kept constantly on by the control module;

[0016] The follow mode means that the control module controls the infrared light source to emit light synchronously during the high level of the periodic square wave infrared pulse signal captured by the infrared receiving module, and stops emitting light during the low level of the periodic square wave infrared pulse signal.

[0017] Preferably, the wireless communication module is a Wi-Fi module, which is configured to transmit a wireless hotspot and run a web server to provide a web control page, through which the active mode and the follow mode can be remotely switched.

[0018] Preferably, the power interface is a DC power socket or a USB power interface.

[0019] Preferably, the control module further includes a physical switching unit controlled by the wireless communication module; in the follow mode, the wireless communication module outputs a mode switching level signal to enable the physical switching unit to conduct the hardware transmission link between the infrared receiving module and the infrared light source, so that the infrared receiving module directly drives the infrared light source to emit light through the hardware transmission link by converting the captured periodic square wave infrared pulse signal into an electrical pulse signal, without needing to undergo logical parsing processing by the microprocessor of the wireless communication module.

[0020] Preferably, the physical switching unit uses an OR gate chip, and its underlying hardware transmission link connection relationship is as follows: the first input terminal of the OR gate chip is electrically connected to the GPIO pin of the wireless communication module; the second input terminal of the OR gate chip is electrically connected to the signal output terminal of the infrared receiving module; and the output terminal of the OR gate chip is electrically connected to the hardware driving circuit of the infrared light source.

[0021] Based on the received external operating mode switching command, the specific details of the active mode and follow mode are as follows:

[0022] Active mode: When the user switches to this mode, the control module continuously outputs a logic high level to the first input terminal of the logic OR gate chip through the GPIO pin of the wireless communication module; according to the logic characteristics of the OR gate, its output terminal is locked to a high level, thereby controlling the infrared light source to be in a constantly lit state;

[0023] Follow Mode: When the user switches to this mode, the wireless communication module outputs a mode switching level signal, i.e., a logic low level, to the first input terminal of the OR gate chip, thereby enabling the physical switching unit to conduct the hardware transmission link between the infrared receiving module and the infrared light source. In this state, the control module, based on the periodic square wave infrared pulse signal captured by the infrared receiving module, causes the square wave electrical pulse signal converted by the infrared receiving module to be transmitted unchanged through the OR gate chip, directly driving the infrared light source to emit light synchronously during the high level of the periodic square wave infrared pulse signal and stop emitting light during the low level of the periodic square wave infrared pulse signal.

[0024] Preferably, the main body is provided with a light-transmitting window, and except for the power interface, the main body is a fully enclosed shell structure, with the infrared light source and the infrared receiving module respectively disposed inside the light-transmitting window.

[0025] Preferably, the infrared light source includes a plurality of LED infrared lamp beads disposed at different positions on the main body.

[0026] Preferably, the main body is a cross-shaped shell structure, the light-transmitting windows are distributed on the four arms and the geometric center position on the same side of the cross-shaped shell structure, the infrared receiving module is disposed inside the light-transmitting window at the geometric center position, and the LED infrared lamp beads are disposed inside the other light-transmitting windows.

[0027] Preferably, the infrared receiving module includes an infrared photodiode and a signal shaping circuit, used to convert the captured infrared light signal into a square wave electrical pulse signal.

[0028] The second objective of this invention is achieved through the following technical solution: an active optical positioning system, comprising: a binocular vision imaging system and the aforementioned active light-emitting device; the binocular vision imaging system is equipped with a signal transmitter, which is used to periodically emit square wave infrared pulse signals into external space; the active light-emitting device is disposed on the target object to be positioned; the emission period of the active light-emitting device in the following mode is matched with the exposure period of the binocular vision imaging system.

[0029] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0030] 1. Nanosecond-level synchronous positioning based on direct hardware transmission link: This invention innovatively sets up a physical switching unit that directly connects the hardware transmission link between the infrared receiving module and the infrared light source in follow mode. This highly creative circuit architecture enables the received square wave electrical pulse signal to directly drive the infrared light source to emit light, completely overcoming the logic parsing and processing time required by the microprocessor in traditional technologies. It achieves absolute hardware-level synchronization between the emission period and the exposure period of the binocular vision imaging system, fundamentally eliminating time delay errors and image artifacts under high-speed dynamic tracking.

[0031] 2. Fully Enclosed, Minimalist, Liquid-Proof Structure Based on Web Server Interaction: This invention innovatively utilizes a Wi-Fi module to run a web server, transferring all operating status switching and parameter configuration functions to the front-end web control page. This completely eliminates physical control buttons and status indicator lights on the main body, creating a fully enclosed shell structure except for the power interface. This design eliminates the risk of dynamic seal failure caused by mechanical physical pressure, greatly enhancing the device's ability to resist immersion in medical chemicals and high-pressure steam intrusion.

[0032] 3. Completely battery-free design delivers ultimate sterilization safety and battery life reliability: This invention boldly abandons the internal energy storage battery design of active light-emitting devices, instead adopting an external DC power supply mechanism. The device's internal pure circuitry lacks the properties of a chemical battery, physically eliminating the risk of thermal runaway and explosion under 134°C high-temperature, high-pressure sterilization conditions, enabling the device to support the highest level of clinical sterilization standards. Simultaneously, external power supply completely eliminates battery degradation anxiety during surgery and further reduces the weight of the device itself, ensuring the stability of the target object's (surgical instrument) center of gravity.

[0033] 4. Flexible dual-mode adaptive capability: This invention has the ability to operate in both active and follow modes. It can seamlessly switch modes by receiving external working mode switching commands through the wireless communication module. It is backward compatible with early active optical positioning systems that did not support synchronous exposure and emission, giving the device extremely high backward compatibility and system versatility. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the external structure of an active light-emitting device provided in an embodiment of the present invention.

[0035] Figure 2 This is a block diagram illustrating the internal circuit principle of the device provided in an embodiment of the present invention.

[0036] Figure 3 This is an overall architecture diagram of the active optical positioning system provided in an embodiment of the present invention. Detailed Implementation

[0037] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0038] Example 1

[0039] This embodiment discloses an active light-emitting device, including:

[0040] The main body is used to support the required functional components;

[0041] A power interface is provided on the main body, and the power interface is used to connect an external DC power supply to achieve power supply;

[0042] An infrared light source is disposed on the main body;

[0043] An infrared receiving module is disposed on the main body, and the infrared receiving module is used to capture periodic square wave infrared pulse signals emitted by an external active optical positioning system;

[0044] A control module is disposed on the main body and electrically connected to the infrared light source and the infrared receiving module respectively; the control module includes a wireless communication module, which is used to establish a wireless communication link to receive external working mode switching commands. Working mode switching and parameter configuration are both remotely implemented through the wireless communication module; wherein, the working modes include at least:

[0045] Active mode, which means that the infrared light source is kept constantly on by the control module;

[0046] The follow mode means that the control module controls the infrared light source to emit light synchronously during the high level of the periodic square wave infrared pulse signal captured by the infrared receiving module, and stops emitting light during the low level of the periodic square wave infrared pulse signal.

[0047] In one specific example, the main body is made of a high-temperature resistant medical-grade polymer material (selected from PEEK, PPSU, or high-temperature resistant PC). The main body is composed of a supporting base shell and a light-transmitting window at the front end, which are seamlessly sealed and fused together by ultrasonic welding or medical structural adhesive, thus forming a fully enclosed shell structure except for the power interface. No physical control buttons or status indicator lights are provided on the surface of the main body.

[0048] In one specific example, the active light-emitting device does not have an internal energy storage battery. The power interface is specifically a USB power interface (e.g., a Type-C power socket) located on the main body, used to connect an external DC power source to power the active light-emitting device. To meet the absolute sealing requirements of clinical sterilization processes, the inner side of the USB power interface is fully encapsulated with waterproof potting compound, and the outer side is equipped with a high-temperature resistant silicone blind plug (for clear demonstration of the interface structure, ...). Figure 1 The image shows the state after the silicone blind plug has been removed.

[0049] In one specific example, the power interface is a DC power socket.

[0050] In a specific example, see Figure 2 As shown, the wireless communication module is specifically a Wi-Fi module (in practice, an ESP series highly integrated wireless SoC chip can be used). The Wi-Fi module is configured to emit a wireless hotspot and run a web server to provide a web control page. By establishing the aforementioned wireless communication link, the user can use an external smart terminal to receive the web control page and remotely issue external working mode switching commands on this page to remotely switch between the active mode and the follow mode, as well as configure various parameters. This design completely replaces traditional physical control buttons with virtual interaction.

[0051] To overcome the intrinsic delay caused by microprocessor software parsing, this invention designs a purely hardware-based physical switching unit controlled by the wireless communication module in the control module. In the follow mode, the wireless communication module outputs a mode switching level signal to enable the physical switching unit to conduct the hardware transmission link between the infrared receiving module and the infrared light source. This allows the infrared receiving module to directly drive the infrared light source to emit light through the hardware transmission link by converting the captured periodic square wave infrared pulse signal into an electrical pulse signal, without requiring logical parsing processing by the microprocessor of the wireless communication module.

[0052] In a specific example, the physical switching unit specifically adopts an OR gate chip, and its underlying hardware transmission link connection relationship is as follows: the first input terminal of the OR gate chip is electrically connected to the GPIO pin of the wireless communication module; the second input terminal of the OR gate chip is electrically connected to the signal output terminal of the infrared receiving module; and the output terminal of the OR gate chip is electrically connected to the hardware driving circuit of the infrared light source.

[0053] Based on the received external operating mode switching command, the specific details of the active mode and follow mode are as follows:

[0054] Active mode: When the user switches to this mode, the control module continuously outputs a logic high level to the first input terminal of the logic OR gate chip through the GPIO pin of the wireless communication module; according to the logic characteristics of the OR gate, its output terminal is locked to a high level, thereby controlling the infrared light source to be in a constantly lit state;

[0055] Follow Mode: When the user switches to this mode, the wireless communication module outputs a mode switching level signal (specifically a logic low level) to the first input of the OR gate chip, thereby enabling the physical switching unit to conduct the hardware transmission link between the infrared receiving module and the infrared light source. In this state, the control module, based on the periodic square wave infrared pulse signal captured by the infrared receiving module, causes the square wave electrical pulse signal converted by the infrared receiving module to be transmitted unchanged through the OR gate chip, directly driving the infrared light source to emit light synchronously during the high level of the periodic square wave infrared pulse signal and stop emitting light during the low level of the periodic square wave infrared pulse signal.

[0056] In one specific example, the main body is provided with a light-transmitting window. Except for the power interface, the main body is a fully enclosed shell structure. The infrared light source and the infrared receiving module are respectively disposed inside the light-transmitting window.

[0057] In one specific example, the infrared light source includes a plurality of 850-nanometer LED infrared beads disposed at different locations on the main body.

[0058] In a specific example, see Figure 1 As shown in the figure, 1 is the main body, 2 is an 850nm LED infrared lamp bead, 3 is an infrared receiving module (with an optional infrared receiving sensor), 4 is a power interface, and 5 is a control module (built into the main body 1). The main body 1 is a cross-shaped shell structure. The light-transmitting windows are distributed on the four arms and the geometric center of the same side of the cross-shaped shell structure. The infrared receiving module 3 is located inside the light-transmitting window at the geometric center. Four 850nm LED infrared lamp beads 2 are respectively located inside the other light-transmitting windows, which can be regarded as a coaxial cross-shaped LED array. This cross-shaped layout allows the infrared receiving module 3 located at the geometric center to have an unobstructed omnidirectional receiving field of view, while greatly reducing the overall area of ​​the light-transmitting windows, which helps to improve the compressive strength of the fully enclosed shell structure.

[0059] In one specific example, the infrared receiving module includes an infrared photodiode and a signal shaping circuit for converting the captured infrared light signal into a square wave electrical pulse signal.

[0060] Example 2

[0061] This embodiment discloses an active optical positioning system, the overall architecture of which and its signal interaction relationship are described below. Figure 3 As shown, it includes: a binocular vision imaging system and the active light-emitting device described in Embodiment 1; the binocular vision imaging system is equipped with a signal transmitter, which is used to periodically emit square wave infrared pulse signals into the external space; the active light-emitting device is disposed on the target object to be located; the emission period of the active light-emitting device in the following mode is matched with the exposure period of the binocular vision imaging system.

[0062] Technical Advantage Verification: In the aforementioned follower mode, the transmission of electrical pulse signals is entirely based on passive logic gate circuits, eliminating the need for logic parsing processing by the microprocessor of the wireless communication module. This design compresses the system response delay to extremely low nanosecond levels, achieving a strict match between the emission period of the active light-emitting device in the follower mode and the exposure period of the binocular vision imaging system, thus completely eliminating positioning drift and image artifacts under high-speed motion trajectories.

[0063] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. An active light-emitting device, characterized in that, include: The main body is used to support the required functional components; A power interface is provided on the main body, and the power interface is used to connect an external DC power supply to achieve power supply; An infrared light source is disposed on the main body; An infrared receiving module is disposed on the main body, and the infrared receiving module is used to capture periodic square wave infrared pulse signals emitted by an external active optical positioning system; A control module is disposed on the main body and electrically connected to the infrared light source and the infrared receiving module respectively; the control module includes a wireless communication module, which is used to establish a wireless communication link to receive external working mode switching commands. Working mode switching and parameter configuration are both remotely implemented through the wireless communication module; wherein, the working modes include at least: Active mode, that is, the infrared light source is kept constantly on by the control module; The follow mode means that the control module controls the infrared light source to emit light synchronously during the high level of the periodic square wave infrared pulse signal captured by the infrared receiving module, and stops emitting light during the low level of the periodic square wave infrared pulse signal.

2. The active light-emitting device according to claim 1, characterized in that, The wireless communication module is a Wi-Fi module, which is configured to transmit a wireless hotspot and run a web server to provide a web control page, through which the active mode and the follow mode can be remotely switched.

3. The active light-emitting device according to claim 1, characterized in that, The power interface is a DC power socket or a USB power interface.

4. The active light-emitting device according to claim 1, characterized in that, The control module also includes a physical switching unit controlled by the wireless communication module; in the follow mode, the wireless communication module outputs a mode switching level signal to enable the physical switching unit to conduct the hardware transmission link between the infrared receiving module and the infrared light source, so that the infrared receiving module directly drives the infrared light source to emit light through the hardware transmission link by converting the captured periodic square wave infrared pulse signal into an electrical pulse signal, without needing to undergo logical parsing processing by the microprocessor of the wireless communication module.

5. An active light-emitting device according to claim 4, characterized in that, The physical switching unit uses an OR gate chip, and its underlying hardware transmission link connection is as follows: the first input terminal of the OR gate chip is electrically connected to the GPIO pin of the wireless communication module; the second input terminal of the OR gate chip is electrically connected to the signal output terminal of the infrared receiving module; and the output terminal of the OR gate chip is electrically connected to the hardware driving circuit of the infrared light source. Based on the received external operating mode switching command, the specific details of the active mode and follow mode are as follows: Active mode: When the user switches to this mode, the control module continuously outputs a logic high level to the first input terminal of the logic OR gate chip through the GPIO pin of the wireless communication module; according to the logic characteristics of the OR gate, its output terminal is locked to a high level, thereby controlling the infrared light source to be in a constantly lit state; Follow Mode: When the user switches to this mode, the wireless communication module outputs a mode switching level signal, i.e., a logic low level, to the first input terminal of the OR gate chip, thereby enabling the physical switching unit to conduct the hardware transmission link between the infrared receiving module and the infrared light source. In this state, the control module, based on the periodic square wave infrared pulse signal captured by the infrared receiving module, causes the square wave electrical pulse signal converted by the infrared receiving module to be transmitted unchanged through the OR gate chip, directly driving the infrared light source to emit light synchronously during the high level of the periodic square wave infrared pulse signal and stop emitting light during the low level of the periodic square wave infrared pulse signal.

6. The active light-emitting device according to claim 5, characterized in that, The main body is provided with a light-transmitting window. Except for the power interface, the main body is a fully enclosed shell structure. The infrared light source and the infrared receiving module are respectively located inside the light-transmitting window.

7. An active light-emitting device according to claim 6, characterized in that, The infrared light source includes multiple LED infrared lamp beads disposed at different positions on the main body.

8. An active light-emitting device according to claim 7, characterized in that, The main body is a cross-shaped shell structure. The light-transmitting windows are distributed on the four arms and the geometric center of the same side of the cross-shaped shell structure. The infrared receiving module is located inside the light-transmitting window at the geometric center. The LED infrared lamp beads are located inside the other light-transmitting windows.

9. An active light-emitting device according to claim 1, characterized in that, The infrared receiving module includes an infrared photodiode and a signal shaping circuit, which is used to convert the captured infrared light signal into a square wave electrical pulse signal.

10. An active optical positioning system, characterized in that, include: A binocular vision imaging system and an active light-emitting device according to any one of claims 1 to 9; the binocular vision imaging system is equipped with a signal transmitter, the signal transmitter being used to periodically emit square wave infrared pulse signals into external space; The active light-emitting device is disposed on the target object to be located; the light emission period of the active light-emitting device in the following mode is matched with the exposure period of the binocular vision imaging system.

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