Multidirectional optical tracing device of surgical robot

Abstract

The utility model provides a multi-azimuth optical tracing device of a surgical robot, which is provided with three positioning surfaces, and the visual ranges of two adjacent positioning surfaces are mutually crossed so as to be suitable for keeping optical transmission with external positioning equipment during left and right side operations. In the application, the three positioning surfaces are arranged, so that the visual range is expanded, the registration requirements of a left knee joint operation and a right knee joint operation can be met at the same time when the left knee joint and the right knee joint are operated, and normal registration can be carried out under the two conditions.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a multi-directional optical tracking device for a surgical robot. Background Art

[0002] In joint replacement surgery, one of the key steps is anatomical marking, and optical interaction devices need to be frequently used for bone alignment and point sampling. However, during the alignment process of the optical interaction device, the patient has two knee joints, left and right. Although the problem of different directions of the left and right knee joints can be solved by placing the surgical robot in a mirrored manner, the doctors involved in the operation cannot switch between their left and right hands for alignment. As a result, the existing optical interaction devices with only one or two positioning surfaces have a small visible range under some usage conditions, and the alignment work cannot be carried out smoothly. Utility Model Content

[0003] The problem to be solved by the present application is that when aligning, the existing optical interaction device has a small visible range under certain usage conditions and cannot be aligned smoothly.

[0004] To solve the above problems, the present application provides a multi-directional optical tracking device for a surgical robot, which has three positioning surfaces, and the visible ranges of two adjacent positioning surfaces intersect with each other, so as to maintain optical transmission with an external positioning device when performing left and right side surgery.

[0005] Furthermore, the combined visual range of the three positioning surfaces is greater than 180° and less than 330°.

[0006] Furthermore, the end of the multi-directional optical tracing device is bent to one side to form a hook.

[0007] Furthermore, one of the three positioning surfaces is a positive positioning surface, and the normal vector of the positive positioning surface is located on the same plane as the central axis of the multi-directional optical tracing device and the curved hook.

[0008] Furthermore, one positioning surface is respectively provided on both sides of the positive positioning surface.

[0009] Furthermore, the positioning surface is composed of a group of positioning bowls, and the number of positioning bowls on the positive positioning surface is different from the number of positioning bowls on the other two positioning surfaces.

[0010] Furthermore, the normal vectors of the positioning surfaces on both sides of the positive positioning are in opposite directions.

[0011] Furthermore, one of the three positioning surfaces has an equivalent plane parallel to the plane where the hook is located.

[0012] Furthermore, at least one of the positioning surfaces has more than four positioning bowls, the positioning bowls are irregularly arranged, and the projections of at least three positioning bowls on the equivalent plane of the positioning surface are collinear.

[0013] Furthermore, a line connecting the center points of the positioning bowls whose projections are colinear passes through the hook tip of the hook.

[0014] In the present application, three positioning surfaces are provided to expand the visual range, and when performing surgery on the left and right knee joints, the registration requirements of the left knee joint surgery and the right knee joint surgery can be met at the same time, so that normal registration can be performed in both cases. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A three-dimensional diagram of the multi-directional optical tracking device of the present application;

[0016] Figure 2 This is a rear view of the multi-directional optical tracking device of the present application;

[0017] Figure 3 This is a side view of the multi-directional optical tracking device of the present application;

[0018] Figure 4 This is an enlarged view of the hook portion of the multi-directional optical tracing device of the present application;

[0019] Figure 5 This is an enlarged view of the positioning bowl of the multi-directional optical tracking device of the present application;

[0020] Figure 6 This is an end view of the positioning frame of the multi-directional optical tracking device of the present application;

[0021] Figure 7 This is an end view of the probe of the multi-directional optical tracing device of the present application.

[0022] Explanation of the reference numerals: 3-probe; 31-bend hook; 32-hook tip; 33-installation portion; 34-protrusion; 1-positioning bowl; 11-bowl side wall; 12-reflection layer; 13-fitting body; 2-positioning frame; 21-positioning surface; 22-positive positioning surface; 23-installation groove; 24-protrusion groove; 25-trigger. DETAILED DESCRIPTION

[0023] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below in conjunction with the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0024] In joint replacement surgery, one of the key steps is anatomical marking, and optical interaction devices need to be frequently used for bone alignment and point sampling. However, during the alignment process of the optical interaction device, the patient has two knee joints, left and right.

[0025] Some patients need surgery or replacement of the left knee joint, and some patients need surgery or replacement of the right knee joint. The different positions of the knees mean that the layout of the entire surgical robot needs to be readjusted to adapt to the new position. The most common method is to place the surgical robot in a mirror image. In other words, the surgical robot designed for left knee surgery is mirrored with the human body as the central axis, and the mirrored surgical robot can be used for right knee surgery.

[0026] However, the doctors involved in the operation cannot adapt to different knee positions in this way. That is, the doctor can perform the patient's left knee joint surgery by standing on the left side and using the right hand, but cannot perform the patient's right knee joint surgery by standing on the right side and using the left hand. In actual surgery, the doctor will always use the dominant hand to complete the entire knee joint surgery.

[0027] This means that even if the optical interaction device is designed to have a dual positioning surface structure, the doctor can still successfully align the device when performing left / right knee joint surgery, but will encounter the problem of being out of the visual range and unable to align when performing right / left knee joint surgery.

[0028] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by technicians in the field to which this application belongs.

[0029] The present application provides a multi-directional optical tracking device for a surgical robot. Figure 1-Figure 5 As shown, the multi-directional optical tracking device has three positioning surfaces 21, and the visual ranges of two adjacent positioning surfaces 21 intersect with each other.

[0030] In this way, it is suitable to maintain optical transmission with an external positioning device when performing left or right side surgery.

[0031] In the present application, the positioning surface is an equivalent surface composed of multiple positioning bowls with reflective layers, which interacts with an external NDI device by reflecting invisible light, thereby determining the real-time position and posture of the multi-directional optical tracking device.

[0032] During specific use, the hook tip 32 of the curved hook is used to abut the position to be positioned. At this time, by interacting with an external NDI device, the corresponding data of the interactive positioning surface is obtained, and the coordinates of the hook tip of the curved hook are determined based on the data, which are also the coordinates of the position to be positioned.

[0033] The visible ranges of two adjacent positioning surfaces intersect each other, that is, the visible ranges of the two positioning surfaces overlap, that is, the set of the visible ranges of the two positioning surfaces is larger than the visible range of any one positioning surface and smaller than the sum of the visible ranges of the two positioning surfaces.

[0034] In this application, the visible range refers to the range in which the NDI device can clearly observe all reflective positioning bowls on the positioning surface from different directions. In this application, multiple reflective layers dedicated to reflecting light are set on the positioning surface. The external NDI device observes the light reflected by multiple reflective surfaces, and can determine the positions of multiple reflective surfaces and the corresponding data of the equivalent surface composed of multiple reflective surfaces. At this time, the NDI device is within the visible range.

[0035] In the present application, three positioning surfaces are provided to expand the visual range, and when performing surgery on the left and right knee joints, the positioning requirements of both left and right knee joint surgeries can be met, so that normal alignment can be performed in both cases.

[0036] In one embodiment, the end of the multi-directional optical tracking device is bent to one side to form a hook 31.

[0037] In the present application, the multi-directional optical tracing device comprises: a probe 3 and a positioning frame 2, wherein the end of the probe 3 is bent to one side to form a hook 31; and the positioning frame 2 is provided with three positioning surfaces 21 for positioning.

[0038] In the present application, the hook tip of the curved hook is against the position to be positioned, and a positioning surface composed of a positioning bowl is provided on the positioning frame, which is used to display the real-time position and posture of the multi-directional optical tracking device. Based on the real-time position and posture, the real-time coordinates of the hook tip of the curved hook can be determined, which is also the real-time coordinates of the position to be positioned.

[0039] In the present application, the end of the probe is bent so that when the incision and the position to be positioned cannot be directly reached, the hook is inserted into the vicinity of the position to be positioned, and the probe is rotated to make the hook abut against the position to be positioned.

[0040] In one embodiment, the three positioning surfaces 21 include a positive positioning surface 22, and the normal vector of the positive positioning surface is located on the same plane as the central axis of the multi-directional optical tracking device and the hook.

[0041] It should be noted that the positive positioning surface is a type of positioning surface.

[0042] In the present application, the normal vector of the positive positioning surface is located on the same plane as the central axis of the multi-directional optical tracing device and the hook; that is, a perpendicular line is drawn from the tip of the hook to the central axis, and a plane passing through the central axis and perpendicular to the perpendicular line is parallel to the equivalent plane of the positive positioning surface; that is, when the hook is bent 90 degrees, the direction vector of the hook is collinear with the normal vector of the positive positioning surface and in opposite directions; that is, the normal vector of the positioning surface located in the middle of the three positioning surfaces forms a plane with the central axis of the multi-directional optical tracing device, and the hook is located on this plane.

[0043] In this way, the recognition rate of the hook can be increased.

[0044] The direction vectors of a line are vectors parallel to the direction of the line. They represent the directionality of the line but not its position.

[0045] It should be noted that, in the present application, the normal vector focuses on the vector of the orientation of the surface and can also be regarded as a direction vector.

[0046] Furthermore, the bending angle of the hook is 90°. Thus, compared with other bending angles, bending at a right angle can increase the range that the hook can touch.

[0047] In one embodiment, one positioning surface is provided on each side of the positive positioning surface. Thus, by arranging the positive positioning surface in the middle, the positive positioning surface and the positioning surface on one side can be ensured to maintain a normal working state during left-side surgery or right-side surgery.

[0048] In one embodiment, the positioning surface is composed of a group of positioning bowls 1, and the number of positioning bowls on the positive positioning surface is different from the number of positioning bowls on the other two positioning surfaces.

[0049] In the present application, the number of positioning bowls in each group is at least three. Based on the principle of positioning a plane with three points, a plane / positioning surface can be determined by three positioning bowls.

[0050] It should be noted that the positioning surface has a visible range, and the NDI device also has a field of view; only when the positioning surface is within the field of view of the NDI device and the NDI device is also within the visible range of the positioning surface, can the two interact optically and achieve positioning.

[0051] In the present application, the three positioning bowls are irregularly arranged; if the number of positioning bowls in a group exceeds three, the multiple positioning bowls in the group are irregularly arranged.

[0052] In the present application, the irregular setting means that the figure with the positioning bowl as the top is an irregular figure, and the irregular figure does not overlap with the original figure after spatial movement or folding; through the irregular setting, it can be avoided that the figure composed of the positioning bowl / ball is similar to or overlaps with the original figure after spatial movement or folding, which interferes with positioning.

[0053] In the present application, the number of positioning bowls on the positive positioning surface is different from the number of positioning bowls on the other two positioning surfaces. In this way, when an external NDI device performs identification, the corresponding positive positioning surface can be directly determined based on the number of positioning bowls.

[0054] Preferably, the numbers of positioning bowls on the three positioning surfaces are all different, so that each positioning surface can be directly determined from the number of positioning bowls.

[0055] Furthermore, the number of positioning bowls on the three positioning surfaces is three, four, or five.

[0056] Furthermore, the visible ranges of adjacent positioning surfaces have overlapping parts, and the arc of the overlapping parts is greater than 20°; the visible range of the positioning surface is the set of positions where the reflective layers in all positioning bowls included in the positioning surface can be seen simultaneously.

[0057] For example, for a positioning surface composed of a group of three positioning bowls, if the reflective layers of the three positioning bowls can be seen at one position at the same time, then this position is within the visible range of the positioning surface; if only the reflective layers of one or two positioning bowls can be seen at a certain position, then this position is outside the visible range of the positioning surface.

[0058] In the present application, by setting the adjacent positioning surfaces to partially overlap in the visible range of 20°, on the one hand, the transition between the two positioning surfaces is facilitated, and on the other hand, by setting a larger overlap and combining the setting of the three positioning surfaces, a smooth transition of the positioning surfaces can be achieved while ensuring the overall visible range.

[0059] It should be noted that the reflective layer in the positioning bowl is planar, and the closer it is to the boundary of the visible range, the worse the reflection effect of invisible light is.

[0060] It should be noted that, for the positioning surface, its visible range is substantially conical; however, for the present application, the description of the visible range is substantially only meaningful along the axial direction of the multi-directional optical tracking device, that is, the entire visible range is projected along the axial direction of the multi-directional optical tracking device, the conical visible range is projected into a fan-shaped visible range, and the three-dimensional visible range is converted into a two-dimensional visible range for description and limitation.

[0061] Therefore, the visible range mentioned above and below in the present application is essentially the axial projection of the real visible range along the multi-directional optical tracking device.

[0062] In addition, due to the long distance between the tracer device and the NDI equipment, the visible ranges of the two adjacent positioning surfaces / two sectors are equivalently (approximately) recognized as having the same center.

[0063] Based on this, in the present application, the visible ranges of adjacent positioning surfaces have overlapping parts, that is, the visible ranges of adjacent positioning surfaces have overlapping parts, and the overlapping parts are projected in a fan shape along the axial direction of the multi-directional optical tracking device, which is convenient for the connection of the positioning surfaces.

[0064] In one embodiment, a combined viewing range of the three positioning surfaces is greater than 180° and less than 330°.

[0065] In this way, by limiting the total visible range, it is ensured that normal registration and positioning operations can be performed during both left and right side surgeries.

[0066] In one embodiment, the normal vectors of the positioning surfaces on both sides of the positive positioning are in opposite directions.

[0067] In the present application, by setting the positioning surfaces on both sides to be parallel and facing oppositely, it is possible to avoid the positioning surfaces on both sides being captured by an external positioning device at the same time, thereby affecting the accuracy of the registration.

[0068] In one embodiment, one of the three positioning surfaces has an equivalent plane parallel to the plane where the hook is located.

[0069] In the present application, the positive positioning surface is arranged opposite to the bending direction of the hook, and the equivalent plane of at least one positioning surface on both sides is parallel to the plane where the hook is located.

[0070] In the present application, the normal vector of the positive positioning surface is opposite to the bending direction. After determining the positioning surface, moving a preset distance in the opposite direction is the hook tip coordinate of the hook; the equivalent plane of the other positioning surface is parallel to the plane where the hook is located. After determining the positioning surface, the hook tip coordinate of the hook can also be determined more easily; through the mutual cooperation of the two positioning surfaces, the end coordinates can be directly determined when only the positioning surface is determined, which greatly reduces the difficulty of determination.

[0071] In the present application, by arranging the front positioning surface perpendicularly to a positioning surface on the side surface, further calibration can be performed on the basis of positioning surface identification to improve accuracy.

[0072] Furthermore, a normal vector of at least one positioning bowl of the positioning surface on the side has an angle with a normal vector of the positioning surface, and an offset direction of the normal vector of the positioning bowl is a direction away from the positive positioning surface.

[0073] For example, the offset positioning bowl is a positioning bowl with a side positioning surface, the positive positioning surface is on the clockwise side of the side positioning surface, and the offset direction of the normal vector of the offset positioning bowl relative to the side positioning surface is toward the counterclockwise side.

[0074] In this application, the positioning surface (lateral positioning surface) of the offset positioning bowl is the inferior positioning surface, and the positive positioning surface is the superior positioning surface. The superior positioning surface described in this application means that after identifying the positioning surface, it is easier to position the end of the probe 3.

[0075] In the present application, when NDI locates the multi-directional optical tracking device, NDI does not identify two positioning surfaces. Instead, after identifying the two positioning surfaces, NDI selects a positioning surface with a better display effect as the positioning surface actually used to locate the multi-directional optical tracking device.

[0076] In the present application, by offsetting the positioning bowl of the inferior positioning surface, the reflected light of the offset positioning bowl of the inferior positioning surface measured by NDI at the junction of the two positioning surfaces will not be displayed because it exceeds the visible range of the positioning bowl, or the displayed reflected light is very weak, thereby allowing NDI to continue to use the dominant positioning surface, reducing the difficulty of positioning and alignment.

[0077] In the present application, an unbalanced system of two positioning surfaces is established, so that the side positioning surface is at a disadvantage when making a median line decision, thereby affecting the external NDI device and improving the recognition efficiency.

[0078] In one embodiment, at least one of the positioning surfaces has more than four positioning bowls, the positioning bowls are irregularly arranged, and the projections of at least three positioning bowls on the equivalent plane of the positioning surface are collinear.

[0079] In the present application, the projections of the positioning bowl on the equivalent plane of the positioning surface are collinear, that is, from the NDI identification, the reflection positions of the positioning bowls are on the same straight line, so that the corresponding positioning surface can be directly determined based on this characteristic; and the positioning surface can be feature identified through a straight line to improve the accuracy of identification.

[0080] In one embodiment, a line connecting the center points of the positioning bowls whose projections are collinear passes through the hook tip 32 of the hook 31 .

[0081] In this way, the straight line corresponding to the reflection position of the positioning bowl can be directly identified, and then the position of the hook tip can be further located through the relationship between the straight line and the hook tip, thereby improving the accuracy of the judgment.

[0082] In the present application, the positioning bowl 1 includes a bowl side wall 11 and a reflective layer 12 . The reflective layer 12 is a circular plane, and the reflective area is increased by the plane structure. The bowl side wall 11 is sleeved on the reflective layer 12 to protect the reflective layer 12 .

[0083] In the present application, the reflective layer 12 is a planar bowl bottom. This configuration allows the side walls of the bowl to protect the reflective layer and prevent the positioning bowl from contacting other components during transportation, storage, and use.

[0084] The cavity of the combination of the bowl side wall 11 and the reflective layer 12 is in the shape of an inverted truncated cone, thereby reducing the shielding range of the reflective layer while achieving a protective effect.

[0085] Furthermore, the positioning bowl 1 further comprises a fitting body 13, which is in close contact with the bottom surface of the reflective layer 12 and is engaged with the bowl side wall 11. By providing the fitting body, on the one hand, the reflective layer is clamped between the fitting body and the bowl side wall to fix it; on the other hand, the fitting body is in close contact with the reflective layer, which can provide additional protection, thereby preventing external forces from affecting the reflective layer.

[0086] In one embodiment, as shown in the figure, the positioning frame 2 has a mounting groove 23, and three protruding grooves 24 are arranged radially of the mounting groove 23. The three protruding grooves are arranged corresponding to the three positioning surfaces respectively.

[0087] The protruding groove and the positioning surface are arranged correspondingly, that is, when the protruding part is installed in the protruding groove, the positioning surface corresponding to the protruding groove becomes the positive positioning surface. The specific arrangement can be that the direction vector of the protruding groove (the direction vector can be understood as the center of the installation groove pointing to the center of the protruding groove) is arranged parallel to the normal vector of the positioning surface, or the protruding groove and the positioning surface are deflected by a certain angle together.

[0088] In one embodiment, as shown in the figure, a mounting portion 33 is provided on the probe 3 , a protrusion 34 is radially provided on the mounting portion 33 , the mounting portion 33 is matched with the mounting groove 23 , and the protrusion 34 is matched with the protrusion groove 24 .

[0089] In this way, during installation, the installation portion is inserted into the installation groove, and the protruding portion is inserted into one of the three protruding grooves. At this time, the positioning surface corresponding to the protruding groove into which the protruding portion is inserted is the positive positioning surface.

[0090] In this way, through this arrangement, the positive positioning surface can be replaced by plugging and unplugging, thereby greatly increasing the actual visual range and greatly increasing the application range of the entire multi-directional optical tracking device.

[0091] It should be noted that the filled portion of the curve in the figure does not refer to a cross section, but rather refers to the height of the portion being higher than the blank portion.

[0092] Preferably, the mounting portion and the mounting groove are interference fit, so as to form a tight fixation in the inserted state, thereby improving the accuracy.

[0093] Preferably, a trigger member 25 is also provided in the protruding groove, so that the trigger member is triggered when the protrusion is inserted into the protruding groove, so that the protruding groove into which the protrusion is inserted can be directly obtained, greatly improving the accuracy of the surgical procedure (the installation direction of the probe can be obtained in time during the operation, so as to correct the positioning in time).

[0094] In the description of the present application, it should be understood that the terms "high temperature" and "low temperature" are relative temperatures, not absolute temperatures. They are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the device or element referred to must have an absolute temperature. Therefore, they should not be understood as limitations on the present application.

[0095] In the description of the present application, it should be understood that the terms "upper", "lower", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying 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.

[0096] In addition, the terms "first", "second", and "third" 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", "second", and "third" 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.

[0097] In this application, unless otherwise clearly specified and limited, the terms "disposed", "connected", "connected", "connected" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0098] In the present application, unless otherwise clearly specified and limited, a first feature being “on” or “under” a second feature may mean that the first and second features are in direct contact with each other, or the first and second features are in indirect contact with each other through an intermediate medium.

[0099] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradicting each other.

[0100] It should be noted that in the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some embodiments, well-known structures and technologies are not shown in detail so as not to obscure the understanding of this description.

[0101] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A multi-directional optical tracking device for a surgical robot, characterized in that: It has three positioning surfaces, and the visual ranges of two adjacent positioning surfaces intersect each other, so as to be suitable for maintaining optical transmission with an external positioning device when performing left and right side surgery; the combined visual range of the three positioning surfaces is greater than 180° and less than 330°.

2. The multi-directional optical tracking device according to claim 1, characterized in that: The end of the multi-directional optical tracing device is bent to one side to form a hook.

3. The multi-directional optical tracking device according to claim 2, characterized in that: Among the three positioning surfaces, there is a positive positioning surface, and the normal vector of the positive positioning surface is located on the same plane as the central axis of the multi-directional optical tracing device and the curved hook.

4. The multi-directional optical tracking device according to claim 3, characterized in that: A positioning surface is respectively arranged on both sides of the positive positioning surface.

5. The multi-directional optical tracking device according to claim 3, characterized in that: The positioning surface is composed of a group of positioning bowls, and the number of positioning bowls on the positive positioning surface is different from the number of positioning bowls on the other two positioning surfaces.

6. The multi-directional optical tracking device according to claim 4, characterized in that: The normal vectors of the positioning surfaces on both sides of the positive positioning are in opposite directions.

7. The multi-directional optical tracking device according to claim 2, characterized in that: One of the three positioning surfaces has an equivalent plane parallel to the plane where the hook is located.

8. The multi-directional optical tracking device according to claim 2, characterized in that: At least one of the positioning surfaces has more than four positioning bowls, the positioning bowls are irregularly arranged, and the projections of at least three positioning bowls on the equivalent plane of the positioning surface are collinear; the positioning bowls are irregularly arranged, that is, the figure with the positioning bowls as the top is an irregular figure, and the irregular figure does not overlap with the original figure after being moved or folded in space.

9. The multi-directional optical tracking device according to claim 8, characterized in that: The line connecting the center points of the positioning bowls with collinear projections passes through the hook tip of the hook.

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