Optical tracking device and optical navigation system

Abstract

The utility model provides an optical tracking device and an optical navigation system. The optical tracking device comprises a fixed bracket, a first group of tracing elements which are arranged on the fixed bracket and are nonadjustable in position, and a second group of tracing elements which are arranged on the fixed bracket and are adjustable in position, the first group of tracer elements includes at least three non-collinear first tracer elements, and the second group of tracer elements includes at least one second tracer element. The optical navigation system comprises an optical navigation camera, a calculation unit and an optical tracking device; the optical navigation camera is used for capturing coordinates of each tracing element; and the calculation unit is used for distinguishing the first tracing elements from the second tracing elements, identifying the configuration of the optical tracking device and the tracked object according to the relative positions of the second tracing elements and the first tracing elements, and calculating the pose of the tracked object according to the coordinates of the first tracing elements. According to the invention, the optical navigation precision can be ensured, and the configuration of the optical tracking device can be flexibly changed according to clinical requirements.

Description

Technical Field

[0001] The present application belongs to the field of medical device technology, and more specifically, relates to an optical tracking device and an optical navigation system. Background Art

[0002] In the field of optical navigation surgery, optical tracking devices are mainly used to be fixed on patients, equipment or instruments. Within the field of view of the optical navigation camera, the optical navigation camera tracks the position information of patients, equipment or instruments in real time by capturing the tracer elements on the optical tracking device. With the deepening of the application of optical navigation systems in surgical scenarios and the expansion of surgical procedures, the types and quantities of instruments that need to be installed with optical tracking devices are increasing. In common surgical procedures, several or even more than a dozen different instruments are usually required. Existing optical tracking devices are usually not adjustable, and each model or type of instrument requires a specific optical tracking device. Therefore, the instrument box often also has optical tracking devices configured with a variety of different tracer elements corresponding to the type of instrument. This increases the volume and weight of the instrument box, resulting in inconvenience in access and management. Utility Model Content

[0003] The purpose of the embodiments of the present application is to provide an optical tracking device and an optical navigation system to solve the technical problem in the prior art that each model or type of equipment needs to be specially configured with a specific optical tracking device, which causes inconvenience in access and management.

[0004] To achieve the above-mentioned objectives, the technical solution adopted in the present application is: in the first aspect, an optical tracking device is provided, comprising a fixed bracket, a first group of tracking elements whose positions are not adjustable and arranged on the fixed bracket, and a second group of tracking elements whose positions are adjustable and arranged on the fixed bracket; the first group of tracking elements includes at least three non-collinear first tracking elements, and the second group of tracking elements includes at least one second tracking element.

[0005] In one embodiment, each of the first tracing elements is disposed around the periphery of the second tracing element.

[0006] In one embodiment, the optical tracking device further comprises at least one movable bracket arranged on the fixed bracket, the position of the movable bracket on the fixed bracket is adjustable, and at least one of the second tracking elements is arranged on the movable bracket.

[0007] In one embodiment, the movable bracket is rotatable on the fixed bracket;

[0008] Alternatively, the movable support may be movable on the fixed support.

[0009] In one embodiment, the fixed bracket includes a disc and a plurality of branches, and each of the first tracing elements is respectively arranged on each of the branches; the movable bracket is rotatably arranged at the center position of the disc, and the second tracing element arranged on the movable bracket is arranged away from the center position.

[0010] In one embodiment, the disc is provided with first marks distributed along the circumference, and the movable bracket is provided with second marks.

[0011] In one embodiment, the movable bracket is provided with a first limiting portion, and the fixed bracket is provided with a second limiting portion, and the first limiting portion and the second limiting portion can be operated to abut against or disengage from each other. When the first limiting portion and the second limiting portion are abutted against each other, the movable bracket is fixed on the fixed bracket to fix the position of the second tracing element; when the first limiting portion and the second limiting portion are disengaged from each other, the movable bracket can be rotated on the fixed bracket to adjust the position of the second tracing element.

[0012] In one embodiment, the optical tracking device further includes an elastic member, wherein the elastic member abuts between the movable bracket and the fixed bracket and provides an elastic force for maintaining the first limiting portion and the second limiting portion in a mutually abutting position.

[0013] In one embodiment, the first limiting portion includes first teeth evenly arranged along the circumferential direction on a side of the movable bracket facing the fixed bracket; the second limiting portion includes second teeth evenly arranged along the circumferential direction on a side of the fixed bracket facing the movable bracket.

[0014] In one embodiment, the optical tracking device further includes a rotating shaft, a first end of the rotating shaft is connected to the movable bracket, the rotating shaft passes through the disk, and the elastic member abuts between the second end of the rotating shaft and the disk.

[0015] In one embodiment, the movable bracket includes a rotating shaft, and the first limiting portion includes a plurality of grooves evenly arranged along the circumferential direction on the rotating shaft; the fixed bracket is formed with an axial hole, and the second limiting portion includes a plurality of convex strips evenly arranged along the circumferential direction on the inner wall of the axial hole.

[0016] In one embodiment, the first limiting portion and the second limiting portion can form a limiting fit along a first direction and can be separated along the first direction; the optical tracking device also includes an elastic member, which abuts between the movable bracket and the fixed bracket along the first direction to keep the first limiting portion and the second limiting portion in a limiting fit position.

[0017] In the second aspect, the present application also provides an optical navigation system, including an optical navigation camera, a computing unit and the above-mentioned optical tracking device; the optical navigation camera is used to capture the coordinates of each tracking element, and the optical tracking device is used to be fixedly connected to the tracked object; the computing unit is used to identify the tracked object based on the coordinates of the first group of tracking elements and the coordinates of the second group of tracking elements, and the computing unit is also used to calculate the position and posture of the tracked object fixed to the optical tracking device based on the coordinates of the first group of tracking elements.

[0018] The beneficial effects of the optical tracking device and the optical navigation system provided by the present application are as follows: by setting a first group of non-adjustable tracing elements on a fixed bracket, and the first group of tracing elements includes at least three non-collinear first tracing elements, the optical navigation camera can obtain the posture information of the instrument by capturing each first tracing element, and since the position of each first tracing element is fixed, the navigation accuracy of the optical navigation system can be guaranteed; at the same time, by adding a second group of adjustable tracing elements on the basis of the first group of tracing elements, and the second group of tracing elements includes at least one second tracing element, under the condition of the arrangement of the first tracing elements being exactly the same, the position combination of the second tracing elements can be flexibly adjusted to change the optical tracking device into a specific configuration, thereby achieving the optical tracking device while maintaining a high navigation positioning accuracy function. The configuration of the optical tracking device can be flexibly changed according to clinical needs, and only a small number of optical tracking devices need to be configured in the instrument box, which reduces the volume and weight of the instrument box and is easy to access and manage. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 A schematic diagram of the three-dimensional structure of an optical tracking device provided in an embodiment of the present application;

[0021] Figure 2 A schematic diagram of a three-dimensional structure of an optical tracking device provided in an embodiment of the present application from another angle;

[0022] Figure 3 A schematic diagram of the exploded structure of an optical tracking device provided in an embodiment of the present application;

[0023] Figure 4 A schematic cross-sectional view of an optical tracking device provided in an embodiment of the present application;

[0024] Figure 5A schematic diagram of the exploded structure of an optical tracking device provided in another embodiment of the present application;

[0025] Figure 6 A schematic diagram of a radial cross section parallel to a disk of an optical tracking device provided by another embodiment of the present application;

[0026] Figure 7 A schematic diagram of a radial cross section perpendicular to a disk of an optical tracking device provided by another embodiment of the present application;

[0027] Figure 8 A schematic flow chart of the optical navigation method provided in an embodiment of the present application.

[0028] Among them, the reference numerals in the figure are:

[0029] 100, fixed bracket; 110, disc; 111, first identification; 112, receiving groove; 113, axial hole; 114, convex strip; 120, branch; 130, second fixed disc; 131, second tooth; 200, first group of tracer elements; 210, first tracer elements; 300, second group of tracer elements; 310, second tracer elements; 400, movable bracket; 410, movable disc; 411, second identification; 420, rotating shaft; 421, step; 422, groove; 430, first fixed disc; 431, first tooth; 500, elastic member; 600, fixing pin; 700, retaining ring; 800, positioning pin; 900, ball plunger. DETAILED DESCRIPTION

[0030] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application 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 application and are not used to limit the present application.

[0031] 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.

[0032] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application 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 operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0033] 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0034] In recent years, in order to improve the accuracy and success rate of surgery, navigation systems have been increasingly used in surgery to provide doctors with visual information of the surgical site and instruments, and to perform instrument navigation and monitoring. During surgical navigation, the actual instrument operation is still performed by the doctor, so this navigation system only plays an auxiliary role and is a passive image-guided surgery.

[0035] Optical navigation is a commonly used surgical navigation technology. In the application field of optical navigation surgery, the optical tracking device is mainly used to be fixed on the patient, equipment or instruments. Within the field of view of the optical navigation camera, the optical navigation camera captures the tracking elements on the optical tracking device to track the position information of the patient, equipment or instruments in real time.

[0036] With the deepening application of optical navigation systems in surgical scenarios and the expansion of surgical procedures, the types and number of instruments that need to be installed with optical tracking devices are increasing. In common procedures, several or even more than a dozen different instruments are usually required. Existing optical tracking devices are usually not adjustable, and each model or type of instrument requires a specific optical tracking device. Therefore, the instrument box often also has optical tracking devices configured with a variety of different tracking elements corresponding to the type of instrument. This increases the size and weight of the instrument box, making it inconvenient to use and manage.

[0037] In order to solve the above problems, the embodiments of the present application provide an optical tracking device and an optical navigation system, which adds a second group of tracking elements 300 for configuration identification and adjustable position on the basis of the original first group of tracking elements 200 for optical identification and positioning of the optical tracking device. Under the arrangement conditions of the first group of tracking elements 200 that are exactly the same, the position combination of the second group of tracking elements 300 is flexibly adjusted to change the optical tracking device into a specific configuration. In this way, the first group of tracking elements 200 can be used for optical precision guidance, and the second group of tracking elements 300 can be used for configuration transformation and identification, so that the optical tracking device can flexibly change the configuration of the optical tracking device according to clinical needs while maintaining the high navigation positioning accuracy function. Only a small number of optical tracking devices need to be configured in the instrument box, which reduces the volume and weight of the instrument box and is easy to access and manage.

[0038] The optical navigation system provided in the embodiment of the present application is now described in detail. The optical navigation system includes an optical tracking device, an optical navigation camera and a computing unit. The optical tracking device is used to be fixedly connected to the tracked object (patient, instrument, surgical robot, etc.). The present application is described with the tracked object as the instrument. The optical navigation camera is used to capture the coordinates of each tracking element on the optical tracking device, and the computing unit is used to calculate the coordinates and posture of the tracked object based on the coordinates of each tracking element. Specifically, the computing unit calculates the coordinates of the tracked object and the position coordinates of the reference origin, thereby feeding back the posture of the tracked object.

[0039] See also Figure 1 and Figure 2 The optical tracking device provided by the embodiment of the present application is now described in detail. The optical tracking device includes a fixed support 100, a first group of tracking elements 200 arranged on the fixed support 100 and having a non-adjustable position, and a second group of tracking elements 300 arranged on the fixed support 100 and having an adjustable position; the first group of tracking elements 200 includes at least three non-collinear first tracking elements 210, and the second group of tracking elements 300 includes at least one second tracking element 310.

[0040] The first group of tracing elements 200 is arranged on the fixed support 100 and the position is not adjustable, which means that the position of each first tracing element 210 in the first group of tracing elements 200 on the fixed support 100 is fixed, and the relative position and distance between every two first tracing elements 210 remain unchanged. In this way, optical precision guidance can be performed through at least three non-collinear first tracing elements 210. For example, the spatial coordinates of the instrument can be obtained according to the positional relationship and distance between the first tracing elements 210, and the spatial coordinates of the instrument are calculated with the position coordinates of the reference origin, so as to feedback the posture of the instrument.

[0041] The second group of tracking elements 300 is arranged on the fixed bracket 100 and the position is adjustable, which means that the position of each second tracking element 310 in the second group of tracking elements 300 on the fixed bracket 100 is adjustable. For example, by adjusting the position of one of the second tracking elements 310, the configuration of the entire optical tracking device can be different, thereby achieving the purpose of identification; or, by adjusting the relative positions of multiple second tracking elements 310, different position combinations can be achieved, thereby realizing different configurations of the optical tracking device.

[0042] It should be noted that the second group of tracking elements 300 is used to be captured by the optical navigation camera together with the first group of tracking elements 200 to obtain the configuration information of the instrument; when the second group of tracking elements 300 includes multiple second tracking elements 310, the second group of tracking elements 300 is also used to be captured separately by the optical navigation camera to obtain the configuration information of the instrument or tool.

[0043] The optical tracking device provided in the embodiment of the present application is provided with a first group of non-adjustable tracking elements 200 on a fixed bracket 100, and the first group of tracking elements 200 includes at least three non-collinear first tracking elements 210. In this way, the optical navigation camera can obtain the position information of the instrument by capturing each first tracking element 210. Since the position of each first tracking element 210 is fixed, the navigation accuracy of the optical navigation system can be guaranteed. At the same time, by adding a second group of adjustable tracking elements 300 on the basis of the first group of tracking elements 200, and the second group of tracking elements 300 includes at least one second tracking element 310, under the condition of the arrangement of the first tracking elements 210 being completely the same, the position combination of the second tracking elements 310 can be flexibly adjusted to change the optical tracking device into a specific configuration, so that the optical tracking device can be flexibly changed according to clinical needs while maintaining a high navigation positioning accuracy function. This is not only beneficial to the user-side optical tracking device for multiple uses, reducing configuration management, intraoperative installation and use time and use cost, but also beneficial to the production side to increase batch quantity, improve processing accuracy and reduce production cost.

[0044] In one embodiment, the first group of tracing elements 200 has a higher position accuracy, specifically requiring an accuracy below ±0.05 mm; while the second group of tracing elements 300 has a lower position accuracy, specifically requiring an accuracy above ±5 mm.

[0045] In one embodiment, see Figure 1 and Figure 2 , each first tracing element 210 is arranged around the periphery of the second tracing element 310, that is, the second tracing element 310 is surrounded by each first tracing element 210. When navigating, firstly, accurate navigation is performed through each first tracing element 210, and then the position of the second tracing element 310 is adjusted so that the relative position and distance between the second tracing element 310 and the first tracing element 210 are changed, and the computing unit can identify the configuration of the optical tracking device according to the relative position and distance between the second tracing element 310 and each first tracing element 210, so as to realize the identification of the instrument. Among them, since the second tracing element 310 is arranged between each first tracing element 210, the difficulty of the optical navigation camera to obtain the coordinates of each second tracing element 310 can be reduced, and the difficulty of the computing unit to calculate the configuration of the optical tracking device can also be reduced. It can be understood that in other embodiments of the present application, if conditions permit, the second tracing element 310 can also be arranged around each first tracing element 210, which is not limited here.

[0046] In one embodiment, see Figure 1 and Figure 2The optical tracking device further includes at least one movable bracket 400 disposed on the fixed bracket 100, the position of the movable bracket 400 on the fixed bracket 100 is adjustable, and at least one second tracing element 310 is disposed on the movable bracket 400. Among them, by setting the movable bracket 400, the position of the second tracing element 310 on the movable bracket 400 can be adjusted by adjusting the position of the movable bracket 400 on the fixed bracket 100, and there is no need to directly adjust the installation position of the second tracing element 310 on the fixed bracket 100, thereby avoiding repeated tedious assembly of the second tracing element 310, reducing the processing, installation and positioning accuracy requirements of the second tracing element 310, and thus reducing the processing and assembly costs of the second tracing element 310.

[0047] In one embodiment, see Figure 1 and Figure 2 A movable bracket 400 is disposed on the fixed bracket 100, and a second tracing element 310 is disposed on the movable bracket 400. By adjusting the position of the movable bracket 400 on the fixed bracket 100, the position of the second tracing element 310 relative to each first tracing element 210 can be adjusted.

[0048] In another embodiment of the present application, a movable bracket 400 is provided on the fixed bracket 100, and two or more second tracing elements 310 are provided on the movable bracket 400. By adjusting the position of the movable bracket 400 on the fixed bracket 100, the position of each second tracing element 310 relative to each first tracing element 210 can be adjusted.

[0049] In yet another embodiment of the present application, two or more movable supports 400 are disposed on the fixed support 100 , and one or more second tracing elements 310 may be disposed on each movable support 400 .

[0050] In another embodiment of the present application, one or more movable brackets 400 are arranged on the fixed bracket 100, and each movable bracket 400 is provided with a second tracing element 310. In addition, the fixed bracket 100 is provided with a plurality of mounting positions, and in application, the third tracing element can be installed in different mounting positions according to configuration requirements, and different configurations can be achieved by matching the second tracing element 310 with the third tracing element. Specifically, the third tracing element can be assembled on the mounting position by thread locking.

[0051] In one embodiment, the movable bracket 400 can rotate on the fixed bracket 100, and the movable bracket 400 rotates on the fixed bracket 100 to drive the second tracing element 310 to rotate on the fixed bracket 100, so that the relative position between the second tracing element 310 and each first tracing element 210 can be adjusted. It can be understood that in other embodiments of the present application, the movable bracket 400 can also be set to be movable on the fixed bracket 100, and the movable bracket 400 moves on the fixed bracket 100 to drive the second tracing element 310 to move on the fixed bracket 100, so that the relative position between the second tracing element 310 and each first tracing element 210 can be adjusted.

[0052] In one embodiment, see Figures 1 to 4 , the movable bracket 400 can rotate on the fixed bracket 100. Specifically, the fixed bracket 100 includes a disc 110 and a plurality of branches 120, and each first tracer element 210 is respectively arranged on each branch 120; the movable bracket 400 is rotatably arranged at the center position of the disc 110, and the second tracer element 310 arranged on the movable bracket 400 is arranged off the center position. Among them, by setting the second tracer element 310 off the center position, when the movable bracket 400 rotates, the position of the second tracer element 310 relative to the fixed bracket 100 will change; at the same time, by rotatably setting the movable bracket 400 on the disc 110, that is, setting the second tracer element 310 at a position roughly in the middle of each first tracer element 210, it is convenient to calculate the position of the second tracer element 310; in addition, by setting the movable bracket 400 on the disc 110, the rotation angle of the movable bracket 400 can be intuitively obtained, which is convenient for medical staff to debug.

[0053] In one embodiment, see Figure 1 and Figure 2 The movable bracket 400 includes a movable disk 410 and a rotating shaft 420. The movable disk 410 is connected to one axial end of the rotating shaft 420. The rotating shaft 420 is rotatably connected to the movable disk 410. The second tracing element 310 is mounted on the movable disk 410. The movable disk 410 is elliptical, the center of the movable disk 410 is colinear with the center of the rotating shaft 420, and the second tracing element 310 is mounted on the end of the long axis of the movable disk 410. It can be understood that in other embodiments, the movable disk 410 can also be circular or other shapes, as long as the second tracing element 310 is eccentrically arranged relative to the center of the rotating shaft 420.

[0054] In one embodiment, see Figure 1 and Figure 2, a first mark 111 is distributed along the circumference of the disk 110, and a second mark 411 is provided on the movable bracket 400. Specifically, each first mark 111 can be named, and the first mark 111 is used to identify the name, type or model of a plurality of different instruments or tools and other tracked objects, and the second mark 411 is used to correspond to one of the first marks 111 to indicate the instrument or tool and other tracked object corresponding to the first mark 111. After an instrument is installed on the optical tracking device, the movable bracket 400 is rotated so that the second mark 411 on the movable bracket 400 is rotated to align with the first mark 111 corresponding to the instrument. The operation is simple, convenient and intuitive. At the same time, the first mark 111 and the second mark are also used to indicate and remind the user of the current configuration of the optical tracking device.

[0055] Optionally, the first marks 111 are arranged at equal intervals along the circumference of the disc 110, and the number of the first marks 111 can be set according to the number required. The first marks 111 can be one or more of Arabic numerals, Roman numerals, English letters, Greek letters, and the type, series, specification, model, and size of the device. The second mark 411 can be a convex or arrow mark.

[0056] In one embodiment, see Figure 1 and Figure 2 The fixing bracket 100 includes four branches 120, which are connected at the center of the disk 110, and two opposite branches 120 are symmetrically arranged. Four first tracing elements 210 are respectively installed on one end of the four branches 120 away from the disk 110. Two adjacent branches 120 are arranged at an acute angle or an obtuse angle to each other, and the lengths of the two adjacent branches 120 are different.

[0057] In one embodiment, the movable support 400 can rotate on the fixed support 100; the movable support 400 is provided with a first limiting portion, and the fixed support 100 is provided with a second limiting portion, and the first limiting portion and the second limiting portion can be operated to abut against or disengage from each other. When the first limiting portion and the second limiting portion abut against each other, the movable support 400 is fixed on the fixed support 100 to fix the position of the second tracing element 310; when the first limiting portion and the second limiting portion are disengaged from each other, the movable support 400 can be rotated on the fixed support 100 to adjust the position of the second tracing element 310. For example, when replacing an instrument, the movable support 400 needs to be rotated relative to the fixed support 100 to achieve a one-to-one correspondence between the configuration of the instrument and the optical tracking device, and the provision of the first limiting portion and the second limiting portion can ensure that the rotated movable support 400 is relatively fixed to the fixed support 100 along the circumferential direction, thereby avoiding the change in the position of the movable support 400 caused by the accidental touching of the movable support 400 during the operation, and further avoiding the problem of surgical navigation errors.

[0058] In one embodiment, the movable bracket 400 is provided with a plurality of first limiting portions distributed in sequence along the circumferential direction, and the fixed bracket 100 is provided with a plurality of second limiting portions, and the number of the first limiting portions is the same as the number of the second limiting portions. During the rotation of the movable bracket 400, each first limiting portion and each second limiting portion can always form a one-to-one corresponding limiting relationship, thereby ensuring that the movable bracket 400 and the fixed bracket 100 are relatively fixed along the circumferential direction after rotation. In other embodiments of the present application, the movable bracket 400 may be provided with a plurality of first limiting portions distributed in sequence along the circumferential direction, and the fixed bracket 100 may be provided with one or more second limiting portions, the number of the first limiting portions is an integer multiple of the number of the second limiting portions, and when the movable bracket 400 rotates, each second limiting portion can always form a limiting fit with the corresponding first limiting portion; or, in other embodiments, the movable bracket 400 may be provided with one or more first limiting portions, and the fixed bracket 100 may be provided with a plurality of second limiting portions distributed in sequence along the circumferential direction, the number of the second limiting portions is an integer multiple of the number of the first limiting portions, and when the movable bracket 400 rotates, each first limiting portion can always form a limiting fit with the corresponding second limiting portion, and no unique limitation is made here.

[0059] In one embodiment, see Figures 3 to 5 and Figure 7 The optical tracking device further includes an elastic member 500, which abuts between the movable bracket 400 and the fixed bracket 100 and provides an elastic force to keep the first limiting portion and the second limiting portion in abutting positions. Specifically, the first limiting portion and the second limiting portion can form mutual abutment along the first direction and can be separated along the first direction, the first direction being the assembly direction of the movable bracket 400 and the fixed bracket 100, and the first direction being the rotation axis of the movable bracket 400; when the elastic member 500 is in a naturally stretched state, the first limiting portion and the second limiting portion abut against each other; when the movable bracket 400 needs to be rotated, the movable bracket 400 can be moved to compress the elastic member 500, thereby separating the first limiting portion and the second limiting portion along the first direction. At this time, there is no circumferential limit on the movable bracket 400 and the fixed bracket 100, and the movable bracket 400 can be rotated. After the position of the movable bracket 400 is adjusted, the movable bracket 400 is released, and the movable bracket 400 is reset to the state where the first limiting portion and the second limiting portion abut against each other under the elastic action of the elastic member 500, so as to ensure that the position of the movable bracket 400 is stable after rotation. In this embodiment, the elastic member 500 is provided to not only ensure that the movable bracket 400 is fixed in position after rotation, but also to drive the movable bracket 400 to reset after rotation, thereby preventing the movable bracket 400 from detaching from the fixed bracket 100 during rotation, thereby improving the convenience of rotation adjustment of the movable bracket 400.

[0060] In one embodiment, see Figure 3 and Figure 4 The first limiting part includes first teeth 431 uniformly arranged along the circumferential direction on the side of the movable bracket 400 facing the fixed bracket 100; the second limiting part includes second teeth 131 uniformly arranged along the circumferential direction on the side of the fixed bracket 100 facing the movable bracket 400; each first tooth 431 is engaged with each second tooth 131 in a one-to-one correspondence along the first direction. The tip of the first tooth 431 faces the second tooth 131, and the tip of the second tooth 131 faces the first tooth 431. When the movable bracket 400 moves toward the fixed bracket 100, each first tooth 431 is engaged with each second tooth 131 in a one-to-one correspondence, so that the movable bracket 400 is stably installed on the fixed bracket 100. When the position of the second tracing element 310 needs to be adjusted, the movable bracket 400 is moved away from the fixed bracket 100 to separate the first tooth 431 from the second tooth 131, and then the movable bracket 400 is rotated. After the rotation of the movable bracket 400 is completed, the movable bracket 400 is moved toward the fixed bracket 100 to engage the first tooth 431 with the second tooth 131.

[0061] In one embodiment, the number of the first teeth 431 is the same as the number of the first identifiers 111, or the number of the first teeth 431 is an integer multiple of the number of the first identifiers 111. Then, when the movable bracket 400 rotates one or more first teeth 431, it corresponds to exactly one first identifier 111, thereby facilitating the precise adjustment of the position of the movable bracket 400 and ensuring the precise alignment of the first identifier 111 with the second identifier 411.

[0062] In one embodiment, see Figure 3 and Figure 4 The movable bracket 400 is rotatably arranged at the center position of the disk 110, a first fixed disk 430 is fixedly provided on the side of the movable bracket 400 facing the disk 110, and a second fixed disk 130 is fixedly provided on the side of the disk 110 facing the movable bracket 400, the first fixed disk 430 and the second fixed disk 130 have the same outer diameter, and the first fixed disk 430 and the second fixed disk 130 are correspondingly arranged along the axial direction (i.e., the first direction) of the disk 110, the first tooth 431 is formed on the side of the first fixed disk 430 facing the second fixed disk 130, and the second tooth 131 is formed on the side of the second fixed disk 130 facing the first fixed disk 430.

[0063] In one embodiment, see Figure 3 and Figure 4The movable bracket 400 includes a movable disk 410 and a rotating shaft 420. The first end of the rotating shaft 420 is connected to the movable disk 410. The rotating shaft 420 passes through the disk 110. The elastic member 500 abuts between the second end of the rotating shaft 420 and the disk 110. Specifically, the elastic member 500 abuts between the second end of the rotating shaft 420 and the side of the disk 110 away from the movable disk 410. In the initial state, the elastic member 500 is in a stretched state, and the elastic member 500 has a downward pulling force on the second end of the rotating shaft 420, thereby driving the first end of the rotating shaft 420 to have a pulling force moving in the direction of the disk 110, thereby making the first tooth 431 and the second tooth 131 maintain a bite force towards each other; when the movable disk 410 is pulled upward, the first tooth 431 moves upward and separates from the second tooth 131, so that the movable disk 410 can be rotated. At the same time, the movable disk 410 drives the rotating shaft 420 to move upward, and the second end of the rotating shaft 420 presses the elastic member 500 upward, and the elastic member 500 is compressed. Due to the arrangement of the second end of the rotating shaft 420 and the elastic member 500, the movable disk 410 will not separate from the disk 110, thereby preventing the movable disk 410 from falling apart. In addition, after the movable disk 410 rotates, the elastic force of the elastic member 500 can also be used to drive the movable disk 410 to reset, so that the first tooth 431 and the second tooth 131 are engaged.

[0064] In one embodiment, see Figure 3 and Figure 4 , the first end of the rotating shaft 420 is connected to the movable disk 410 through the fixing pin 600. Specifically, the movable disk 410 is formed with an axially penetrating through hole and a first mounting hole vertically connected to the through hole, and the first end of the rotating shaft 420 is formed with a second mounting hole. The first end of the rotating shaft 420 is inserted into the through hole, and the opposite ends of the fixing pin 600 are respectively arranged in the first mounting hole. The middle part of the fixing pin 600 is arranged through the second mounting hole, so that the first end of the rotating shaft 420 is fixed on the movable disk 410, so that the movable disk 410 is synchronously connected with the rotating shaft 420. It can be understood that in other embodiments of the present application, the first end of the rotating shaft 420 and the movable disk 410 can also be connected by threaded connection, fastener locking connection, etc., or the rotating shaft 420 and the movable disk 410 can also be connected integrally, and then a stopper is set at the second end of the rotating shaft 420 to limit the second end of the rotating shaft 420 to be accommodated on the side of the disk 110 away from the movable disk 410, which is not limited here.

[0065] In one embodiment, see Figure 4 A receiving groove 112 is formed inwardly on one side of the disk 110 away from the movable disk 410 , and the second end of the rotating shaft 420 is received in the receiving groove 112 . A step 421 is formed on the second end of the rotating shaft 420 , and the elastic member 500 abuts between the step 421 and the bottom of the receiving groove 112 .

[0066] In one embodiment, see Figure 3 and Figure 4 The elastic member 500 is a cylindrical spring, which is sleeved on the second end of the rotating shaft 420, and the elastic member 500 abuts between the step 421 and the bottom of the receiving groove 112. The setting of the cylindrical spring can ensure the telescopic stability of the elastic member 500. It can be understood that in other embodiments of the present application, the elastic member 500 can also be a spring sheet, which is not limited here.

[0067] In another embodiment of the present application, see Figures 5 to 7 The movable bracket 400 includes a rotating shaft 420, and the first limiting portion includes a plurality of grooves 422 uniformly arranged along the circumferential direction on the rotating shaft 420; the fixed bracket 100 is formed with an axial hole 113, and the second limiting portion includes a plurality of ridges 114 uniformly arranged along the axial direction on the inner wall of the axial hole 113, and the ridges 114 and the grooves 422 can be plugged together along the first direction or separated along the first direction. Specifically, the groove 422 extends along the first direction, that is, extends along the axial direction of the rotating shaft 420, and the ridges 114 also extend along the first direction, and the ridges 114 and the grooves 422 can be plugged together along the first direction. Among them, the design of the ridges 114 and the grooves 422 can reduce the processing difficulty of the movable bracket 400 and the fixed bracket 100.

[0068] In the above example, see Figures 5 to 7 The movable bracket 400 also includes a movable disk 410, which is connected to the first end of the rotating shaft 420. The shaft hole 113 is formed in the disk 110, and the rotating shaft 420 is inserted into the shaft hole 113. The elastic member 500 abuts between the movable disk 410 and the disk 110. The length of the ridge 114 is less than the length of the groove 422. The ridge 114 and the groove 422 can be plugged in and matched along the first direction or separated along the axial direction. In the assembled state, the elastic member 500 is in a normal stretched state, the rotating shaft 420 is inserted into the shaft hole 113, and the convex strip 114 is plugged into and matched with one of the grooves 422 to form a limit; when the movable bracket 400 needs to be rotated, the movable disk 410 is pressed downward to drive the groove 422 to move downward to be axially offset from the convex strip 114, so that the movable bracket 400 can be rotated. At the same time, the movable disk 410 squeezes the elastic member 500, and the elastic member 500 is compressed and accumulates elastic force; after rotating to a suitable position, the movable disk 410 is released, and the movable disk 410 rises and resets under the drive of the elastic member 500, driving the groove 422 to move upward to be plugged into and matched with the convex strip 114.

[0069] In the above example, see Figure 6The number of the convex strips 114 is two, and the two convex strips 114 are symmetrically arranged. The two convex strips 114 are respectively plugged into the corresponding grooves 422, thereby ensuring the stability of the limited fit between the rotating shaft 420 and the disk 110. It can be understood that in other embodiments of the present application, the number of the convex strips 114 can also be one, three, or more than three, as long as the number of the grooves 422 is an integer multiple of the number of the convex strips 114.

[0070] In the above example, see Figure 7 The convex strip 114 is formed at the top position of the shaft hole 113. When the shaft 420 is inserted into the shaft hole 113, the convex strip 114 is plugged into the groove 422. When the shaft 420 moves downward, the groove 422 and the convex strip 114 are separated in the axial direction.

[0071] In the above example, see Figure 5 and Figure 7 One end of the rotating shaft 420 away from the movable disk 410 is installed on the retaining ring 700 , and the retaining ring 700 is installed on the rotating shaft 420 through the positioning pin 800 , and the retaining ring 700 stops at the side of the disk 110 away from the movable disk 410 .

[0072] In the above example, see Figure 7 At least two ball plungers 900 are installed on the disk 110, and the ball plungers 900 radially abut against the grooves 422 of the rotating shaft 420. When the movable bracket 400 rotates, the ball plungers 900 have resistance to the rotating shaft 420 to ensure the rotation stability and rotation accuracy of the movable bracket 400, and at the same time let the user know how many grooves 422 have been rotated.

[0073] In the above example, see Figure 7 , the elastic member 500 is a wave spring, and the wave spring abuts between the movable disk 410 and the circular disk 110. It can be understood that in other embodiments of the present application, the elastic member 500 can also be a cylindrical spring or a spring sheet, which is not limited here.

[0074] In one embodiment, corresponding to the above-mentioned optical tracking device having the first group of tracking elements 200 and the second group of tracking elements 300, when performing optical navigation of a tracked object (such as an instrument), the optical navigation camera is used to capture the coordinates of each tracking element; the optical tracking device is used to be fixedly connected to the tracked object; the computing unit is used to identify the tracked object based on the coordinates of the first group of tracking elements 200 and the coordinates of the second group of tracking elements 300, and the computing unit is also used to calculate the position and posture of the tracked object fixed to the optical tracking device based on the coordinates of the first group of tracking elements 200.

[0075] On the other hand, see Figure 8The present application also provides an optical navigation method, which performs optical navigation on a tracked object through the above optical navigation system, comprising the following steps:

[0076] S10: Obtaining coordinates of all tracking elements on the optical tracking device;

[0077] Specifically, the coordinates of the tracking elements within the visual range of the optical navigation camera are captured. At this time, the system cannot confirm the type of the tracked object.

[0078] S20: Identify the tracked object according to the coordinates of the first group of tracking elements 200 and the coordinates of the second group of tracking elements 300;

[0079] Specifically, the calculation unit presets the coordinates of the first group of tracing elements 200 corresponding to different devices and the combination of the coordinates of the second group of tracing elements 300. Since the accuracy requirement for the second group of tracing elements 300 is not so high, a threshold is preset in the calculation unit, which can match the corresponding different devices according to different combinations. When the optical navigation camera feeds back the coordinates of each tracing element to the calculation unit, the calculation unit analyzes and calculates the coordinates of each tracing element, and compares and analyzes the coordinates of each tracing element with the preset coordinate combination in the calculation unit, so as to confirm the type of the tracked object.

[0080] S30: Calculate the position and posture of the tracked object fixed to the optical tracking device according to the coordinates of each first tracking element 210. The position and posture refers to the coordinates and posture.

[0081] Specifically, since the coordinates of each first tracking element 210 are obtained and the tracked object is mounted on the fixed bracket 100, the coordinates of each first tracking element 210 represent the tracked object, and the spatial coordinates of the tracked object and the position coordinates of the reference origin are calculated to feedback the position and posture of the tracked object. Among them, the position of each first tracking element 210 on the fixed bracket 100 is fixed, and the relative position of the fixed bracket 100 and the tracked object is fixed, so the navigation accuracy can be guaranteed.

[0082] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. An optical tracking device, characterized in that: The invention comprises a fixed support (100), a first group of tracing elements (200) arranged on the fixed support (100) and whose positions are not adjustable, and a second group of tracing elements (300) arranged on the fixed support (100) and whose positions are adjustable; the first group of tracing elements (200) comprises at least three non-collinear first tracing elements (210), and the second group of tracing elements (300) comprises at least one second tracing element (310).

2. The optical tracking device according to claim 1, wherein: The optical tracking device further comprises at least one movable bracket (400) arranged on the fixed bracket (100), the position of the movable bracket (400) on the fixed bracket (100) is adjustable, and at least one of the second tracking elements (310) is arranged on the movable bracket (400).

3. The optical tracking device according to claim 2, wherein: The movable support (400) can rotate on the fixed support (100); Alternatively, the movable support (400) may be movable on the fixed support (100).

4. The optical tracking device according to claim 2, wherein: The fixed bracket (100) comprises a disc (110) and a plurality of branches (120), and each of the first tracing elements (210) is respectively arranged on each of the branches (120); the movable bracket (400) is rotatably arranged at the center position of the disc (110), and the second tracing element (310) arranged on the movable bracket (400) is arranged deviating from the center position.

5. The optical tracking device according to claim 4, wherein: The disc (110) is provided with first marks (111) distributed along the circumferential direction, and the movable bracket (400) is provided with second marks (411).

6. The optical tracking device according to claim 2, 4 or 5, characterized in that: The movable bracket (400) is provided with a first limiting portion, and the fixed bracket (100) is provided with a second limiting portion. The first limiting portion and the second limiting portion can be operated to abut against or disengage from each other. When the first limiting portion and the second limiting portion abut against each other, the movable bracket (400) is fixed on the fixed bracket (100) to fix the position of the second tracing element (310); when the first limiting portion and the second limiting portion disengage from each other, the movable bracket (400) can be rotated on the fixed bracket (100) to adjust the position of the second tracing element (310).

7. The optical tracking device according to claim 6, wherein: The optical tracking device also includes an elastic member (500), which abuts between the movable bracket (400) and the fixed bracket (100) and provides an elastic force to keep the first limiting portion and the second limiting portion in a mutually abutting position.

8. The optical tracking device according to claim 6, wherein: The first limiting portion comprises first teeth (431) uniformly arranged along the circumferential direction on a side of the movable bracket (400) facing the fixed bracket (100); and the second limiting portion comprises second teeth (131) uniformly arranged along the circumferential direction on a side of the fixed bracket (100) facing the movable bracket (400).

9. The optical tracking device according to claim 7, wherein: The movable bracket (400) includes a rotating shaft (420), and the first limiting portion includes a plurality of grooves (422) uniformly arranged along the circumferential direction on the rotating shaft (420); the fixed bracket (100) is formed with an axial hole (113), and the second limiting portion includes a plurality of convex strips (114) uniformly arranged along the circumferential direction on the inner wall of the axial hole (113).

10. An optical navigation system, characterized in that: It comprises an optical navigation camera, a computing unit and an optical tracking device as claimed in any one of claims 1 to 9; the optical navigation camera is used to capture the coordinates of each tracking element, and the optical tracking device is used to be fixedly connected to the tracked object; the computing unit is used to identify the tracked object according to the coordinates of the first group of tracking elements (200) and the coordinates of the second group of tracking elements (300), and the computing unit is also used to calculate the position and posture of the tracked object fixed to the optical tracking device according to the coordinates of the first group of tracking elements (210).

Images