Magnetic field emitter and magnetic navigation system

Abstract

The utility model relates to the technical field of medical instruments, and discloses a magnetic field emitter and a magnetic navigation system.The magnetic field emitter comprises a rotating assembly and a base assembly, the rotating assembly comprises a rotating part, and the rotating part can rotate relative to the base assembly; the rotating assembly further comprises a magnet and a first driving part, the magnet is rotationally connected with the rotating part, the first driving part is connected with the rotating part, the first driving part is in transmission connection with the magnet, and the first driving part is used for driving the magnet to rotate relative to the rotating part. And the magnet and the first driving piece can jointly rotate relative to the base assembly along with the rotating piece. The utility model provides a magnetic field emitter and a magnetic navigation system, which can improve the problems of complex structure and large size of the magnetic field emitter in the prior art.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a magnetic field transmitter and a magnetic navigation system. Background Art

[0002] The magnetic navigation system is an advanced medical technology that uses magnetic fields for positioning and navigation. It primarily relies on magnetic fields and magnetic sensors. During surgery, the magnetic navigation system can track the position of surgical instruments in real time and display them as virtual probes on a virtual image, helping doctors more accurately understand the relationship between the surgical instruments and the patient's anatomy.

[0003] When using the magnetic navigation system, the magnet in the magnetic field transmitter rotates to generate a changing magnetic field. The magnetic sensor receives the magnetic field information generated by the magnetic field transmitter and then combines it with the control algorithm to calculate the position and posture of the magnetic sensor relative to the magnetic field transmitter to achieve the purpose of positioning.

[0004] In the related art, a magnetic field transmitter generally drives a magnet to rotate through a driving member, and the structure of the magnetic field transmitter is relatively complex and the size is large. Utility Model Content

[0005] The present application provides a magnetic field transmitter and a magnetic navigation system, which can improve the problem of complex structure and large size of magnetic field transmitters in related technologies.

[0006] In a first aspect, an embodiment of the present application provides a magnetic field transmitter, comprising a rotating assembly and a base assembly, the rotating assembly comprising a rotating member, the rotating member being rotatable relative to the base assembly; the rotating assembly further comprising a magnet and a first driving member, the magnet being rotatably connected to the rotating member, the first driving member being connected to the rotating member, the first driving member being transmission-connected to the magnet, the first driving member being used to drive the magnet to rotate relative to the rotating member, and the magnet and the first driving member being rotatable relative to the base assembly along with the rotating member.

[0007] In some embodiments, the first driving member includes a motor.

[0008] In some embodiments, the center of gravity of the combination of the magnet and the first driving member is located on the rotation axis of the rotating member relative to the base assembly.

[0009] In some embodiments, the first driving member is in transmission connection with the base assembly, and the first driving member is further configured to drive the rotating member to rotate relative to the base assembly.

[0010] In some embodiments, the base assembly includes a base and a fixed gear fixed on the base; the rotating assembly also includes a first movable gear and a second movable gear, the first movable gear and the second movable gear are both rotatably connected to the rotating member, the first movable gear and the second movable gear are both engaged with the fixed gear, the magnet is connected to the first movable gear, the magnet and the first movable gear can rotate together relative to the rotating member, the main shaft of the first driving member is connected to the second movable gear, the main shaft of the first driving member and the second movable gear can rotate together relative to the rotating member.

[0011] In some embodiments, the axis of the first movable gear is parallel to the axis of the second movable gear, and the axis of the first movable gear is perpendicular to the axis of the fixed gear.

[0012] In some embodiments, the base assembly further includes a slip ring, which is connected to the base or the fixed gear, and the rotating assembly further includes a brush, which is connected to the rotating member, the brush is electrically conductive with the first driving member, and the brush is cooperatively connected to the slip ring.

[0013] In some embodiments, the rotating assembly further comprises a counterweight connected to the rotating member, and the center of gravity of the assembly of the magnet, the first driving member and the counterweight is located on the axis of rotation of the rotating member relative to the base assembly.

[0014] In some embodiments, the rotation axis of the magnet relative to the rotating member is arranged colinearly with the axis of the main shaft of the first driving member.

[0015] In some embodiments, the base assembly further includes a second driving member, which is in transmission connection with the rotating member, and the second driving member is used to drive the rotating member to rotate relative to the base assembly.

[0016] In some embodiments, the magnetic field transmitter further includes a first angle sensor, which is disposed corresponding to the magnet and configured to detect an angle at which the magnet rotates relative to the rotating member.

[0017] In some embodiments, the first angle sensor includes a corresponding first optical encoding disk and a first optical encoding reading head, the first optical encoding disk is connected to the magnet, and the first optical encoding disk can rotate relative to the rotating part together with the magnet, and the first optical encoding reading head is connected to the rotating part.

[0018] In some embodiments, the magnetic field transmitter further includes a second angle sensor, which is disposed corresponding to the rotating member and is configured to detect an angle of rotation of the rotating member relative to the base assembly.

[0019] In a second aspect, an embodiment of the present application provides a magnetic navigation system, comprising a magnetic sensor and a magnetic field transmitter as described in the first aspect.

[0020] The magnetic field transmitter provided in the embodiments of the present application has the following advantages: since the magnet is rotationally connected to the rotating member, the first driving member is connected to the rotating member, and the first driving member is transmission-connected to the magnet, the first driving member is used to drive the magnet to rotate relative to the rotating member, and the magnet and the first driving member can rotate together with the rotating member relative to the base assembly, the structure of the magnetic field transmitter can be relatively simple, compact, and small in size.

[0021] The beneficial effects of the magnetic navigation system provided in this application compared to the existing technology can be referred to the description of the beneficial effects of the magnetic field transmitter provided in this application compared to the existing technology, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. 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 any creative work.

[0023] Figure 1 This is a schematic structural diagram of a magnetic field transmitter in one embodiment of the present application;

[0024] Figure 2 yes Figure 1 A schematic structural diagram of the magnetic field transmitter from another perspective is shown;

[0025] Figure 3 yes Figure 1 Schematic diagram of the internal structure of the magnetic field transmitter shown;

[0026] Figure 4 yes Figure 3 Schematic diagram of force analysis of the fixed gear and the first moving gear in the magnetic field transmitter shown;

[0027] Figure 5 is a schematic diagram of force analysis of the fixed gear and the first movable gear in another embodiment of the present application;

[0028] Figure 6 yes Figure 3 An enlarged view of the slip rings and brushes in the magnetic field transmitter is shown;

[0029] Figure 7 yes Figure 3 A schematic structural diagram of the slip ring and brush from another perspective shown;

[0030] Figure 8 yes Figure 1 A schematic structural diagram of the magnetic field transmitter from another perspective is shown;

[0031] Figure 9 yes Figure 8 A schematic structural diagram of the bottom of the magnetic field transmitter shown;

[0032] Figure 10 It is a structural diagram of a magnetic field transmitter in another embodiment of the present application.

[0033] The meanings of the marks in the figure are:

[0034] 10. Rotating member; 20. Magnet; 30. First driving member; 40. Base; 41. Rotating shaft; 50. Fixed gear; 60. First moving gear; 70. Second moving gear; 80. Slip ring; 90. Brush; 100. First counterweight; 110. Second counterweight; 120. First angle sensor; 1201. First optical encoder disk; 1202. First optical encoder reader; 1203. First mounting seat; 130. Second angle sensor; 1301. Second optical encoder disk; 1302. Second optical encoder reader; 1303. Second mounting seat; 140. Second driving member. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0036] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may 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 may be directly connected to the other element or indirectly connected to the other element.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0038] References to "one embodiment," "some embodiments," or "an embodiment" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present invention. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. Furthermore, in one or more embodiments, particular features, structures, or characteristics may be combined in any suitable manner.

[0039] In order to illustrate the technical solution of the present application, the following description is given with reference to specific drawings and embodiments.

[0040] In related technologies, a magnet is generally driven to rotate by a driver. The driver is equivalent to an electromagnet or a permanent magnet, which interferes with the magnetic field generated by the magnet in the magnetic field transmitter. Therefore, it is necessary to calibrate the interference of the driver on the magnetic field generated by the magnet.

[0041] When the driver rotates the magnet, the driver is often stationary. While the driver drives the bracket to orbit, it simultaneously drives the magnet mounted on the bracket to rotate. Because the relative position of the driver and magnet is not fixed during the bracket's orbit, the driver's interference with the magnetic field generated by the magnet is difficult to calibrate, thus affecting the positioning accuracy of the magnetic sensor.

[0042] In addition, the magnetic field transmitter generally drives the magnet to rotate through a driving member, and the structure of the magnetic field transmitter is relatively complex and the size is large.

[0043] In view of this, the present application provides a magnetic field transmitter and a magnetic navigation system. Since the magnet is rotatably connected to the rotating member, the first driving member is connected to the rotating member, and the first driving member is transmission-connected to the magnet, the first driving member is used to drive the magnet to rotate relative to the rotating member, and the magnet and the first driving member can rotate together with the rotating member relative to the base assembly, the structure of the magnetic field transmitter can be made simpler, more compact, and smaller in size.

[0044] Please refer to Figure 1 、 Figure 2 and Figure 3 , Figure 1 This is a schematic diagram of the structure of a magnetic field transmitter in one embodiment of the present application. Figure 2 yes Figure 1 The structural diagram of the magnetic field transmitter from another perspective is shown. Figure 3 yes Figure 1 Schematic diagram of the internal structure of the magnetic field transmitter shown.

[0045] In a first aspect, an embodiment of the present application provides a magnetic field transmitter, including a rotating assembly and a base assembly. The rotating assembly includes a rotating member 10, and the rotating member 10 can rotate relative to the base assembly.

[0046] The rotating member 10 can be rotatably connected to the base assembly, such as by a bearing, etc. If the base assembly is a rotating body, the rotating member 10 can rotate relative to the axis of the base assembly.

[0047] The rotating assembly also includes a magnet 20 and a first driving member 30. The magnet 20 is rotatably connected to the rotating member 10. The first driving member 30 is connected to the rotating member 10. The first driving member 30 is transmission-connected to the magnet 20. The first driving member 30 is used to drive the magnet 20 to rotate relative to the rotating member 10, and the magnet 20 and the first driving member 30 can rotate together with the rotating member 10 relative to the base assembly.

[0048] The magnet 20 and the rotating member 10 can be rotatably connected by a bearing, etc. The first driving member 30 can include a motor, a cylinder, or a hydraulic cylinder. The first driving member 30 and the magnet 20 can be connected by a gear, a rack, a timing belt, a cam, or a connecting rod.

[0049] As can be seen from the above, the magnetic field transmitter provided in the embodiment of the present application has a relatively simple and compact structure and a relatively small size because the magnet 20 is rotationally connected to the rotating member 10, the first driving member 30 is connected to the rotating member 10, and the first driving member 30 is transmission-connected to the magnet 20. The first driving member 30 is used to drive the magnet 20 to rotate relative to the rotating member 10. Moreover, the magnet 20 and the first driving member 30 can rotate together with the rotating member 10 relative to the base assembly.

[0050] The magnet 20 can be rotationally connected to the rotating member 10 through a rotating shaft and a locking nut, or other fixing methods can be used, such as providing other fixing features on the magnet 20 to achieve rotational connection with the rotating member 10.

[0051] In this embodiment, the first driving member 30 includes a motor.

[0052] By adopting the above solution, the magnet 20 and the motor can rotate together with the rotating member 10 relative to the base assembly during the rotation of the rotating member 10 relative to the base assembly, ensuring that the relative positions of the magnet 20 and the motor remain fixed, thereby making it easier to calibrate the interference of the motor on the magnetic field generated by the magnet 20, thereby improving the positioning accuracy of the magnetic sensor.

[0053] Please refer to Figure 1 Optionally, the center of gravity L of the combination of the magnet 20 and the first driving member 30 is located on the rotation axis of the rotating member 10 relative to the base assembly.

[0054] By adopting the above solution, the first driving member 30 can be used as a counterweight for the magnet 20, so that no yaw force exists when the magnet 20 and the first driving member 30 rotate together with the rotating member 10 relative to the base assembly. Therefore, no additional counterweight is required, thereby reducing the weight of the magnetic field transmitter.

[0055] It should be noted that the center of gravity L of the combination of the magnet 20 and the first driving member 30 is the center of gravity L of the combination of the magnet 20 and the first driving member 30 as a whole.

[0056] The line connecting the center of gravity J of the magnet 20 and the center of gravity J of the first driving member 30 may pass through the center of gravity L of the combination of the magnet 20 and the first driving member 30 .

[0057] It is understandable that the center of gravity L of the combination of the magnet 20 and the first driving member 30 may coincide with the center of gravity of the rotating member 10 .

[0058] Such an arrangement can ensure that there is no yaw force when the magnet 20 and the first driving member 30 rotate together with the rotating member 10 relative to the base assembly, and the rotating member 10 rotates more smoothly.

[0059] Please refer to Figure 1 、 Figure 2 and Figure 3 In this embodiment, the first driving member 30 is in transmission connection with the base assembly, and the first driving member 30 is also used to drive the rotating member 10 to rotate relative to the base assembly.

[0060] By adopting the above-described solution, the first driving member 30 can simultaneously drive the magnet 20 to rotate relative to the rotating member 10, thereby achieving the magnet 20's self-rotation, and the first driving member 30 can simultaneously drive the rotating member 10 to rotate relative to the base assembly, thereby achieving the magnet 20's revolution. This eliminates the need for an additional driving member to drive the rotating member 10 to rotate relative to the base assembly, thereby reducing interference with the magnetic field generated by the magnet 20. This also simplifies the structure of the magnetic field transmitter, resulting in a smaller overall height and weight. Furthermore, the relative position of the magnet 20 and the first driving member 30 remains fixed during both the self-rotation and revolution of the magnet 20. This makes it easier to calibrate the interference of the first driving member 30 on the magnetic field generated by the magnet 20, thereby improving the positioning accuracy of the magnetic sensor.

[0061] The base assembly includes a base 40 and a fixed gear 50 fixed on the base 40 .

[0062] The rotating assembly also includes a first movable gear 60 and a second movable gear 70, which are both rotatably connected to the rotating member 10, and the first movable gear 60 and the second movable gear 70 are both engaged with the fixed gear 50. The magnet 20 is connected to the first movable gear 60, and the magnet 20 and the first movable gear 60 can rotate together relative to the rotating member 10. The main shaft of the first driving member 30 is connected to the second movable gear 70, and the main shaft of the first driving member 30 and the second movable gear 70 can rotate together relative to the rotating member 10 to realize the transmission connection between the first driving member 30 and the base assembly.

[0063] With this arrangement, the first drive member 30 can simultaneously drive the magnet 20 to rotate relative to the rotating member 10, thereby achieving the magnet 20's self-rotation. At the same time, the first drive member 30 can also drive the rotating member 10 to rotate relative to the base assembly, thereby achieving the magnet 20's revolution. This reduces the overall drive requirements and further reduces the output power of the first drive member 30. The volume of the self-rotating parts, such as the magnet 20 and the first drive member 30, is compressed, and the drive of the revolution part that achieves the rotation of the rotating member 10 relative to the base assembly is omitted. This effectively reduces the overall height of the magnetic field transmitter, significantly reducing the volume of the magnetic field transmitter, allowing it to be placed in multiple fixed locations in the operating room or at the end of a surgical robot. Due to its small size and light weight, it has little impact on the load of moving parts. The magnetic field transmitter can move with the moving parts, achieving magnetic sensor positioning at close range. If the magnetic field transmitter is small enough, it can be built into the end of the surgical robot, sharing a radiation shielding protection solution, and its application scenarios and scope are wider.

[0064] It should be noted that if the base 40 is a rotating body, the rotating member 10 can rotate relative to the axis of the base 40 .

[0065] Please refer to Figure 1 、 Figure 2 and Figure 3 During operation of the magnetic field transmitter provided in the embodiment of the present application, the first driving member 30 drives the second movable gear 70 to rotate relative to the rotating member 10 in the direction indicated by the arrow t, and simultaneously drives the rotating member 10, the magnet 20, the first driving member 30, the first movable gear 60, and the second movable gear 70 to rotate relative to the base assembly in the direction indicated by the arrow r, thereby realizing the orbital revolution of the magnet 20. The magnet 20 and the first movable gear 60 rotate together relative to the rotating member 10 in the direction indicated by the arrow s, thereby realizing the self-rotation of the magnet 20.

[0066] Optionally, the fixed gear 50 , the first movable gear 60 , and the second movable gear 70 may all be configured as helical gears.

[0067] The transmission ratio between the fixed gear 50 and the first movable gear 60 and the transmission ratio between the fixed gear 50 and the second movable gear 70 may be 2:1 or other ratios.

[0068] For example, in this embodiment, please refer to Figure 4 , Figure 4 yes Figure 3 The force analysis diagram of the fixed gear 50 and the first movable gear 60 in the magnetic field transmitter is shown. The fixed gear 50 and the first movable gear 60 are both configured as left-hand helical gears.

[0069] exist Figure 4 In the figure, the output torque of the first driving member 30 acts directly on the first moving gear 60, F1 is the driving force of the first driving member 30 on the first moving gear 60, the helical teeth of the first moving gear 60 will apply a force F to the fixed gear 50, and the fixed gear 50 applies a force F' equal to the force F and opposite in direction to the first moving gear 60. The force F' is decomposed into a force along the axis of the fixed gear 50 and a force F2 perpendicular to the axis of the fixed gear 50. The force F2 is the force that drives the first moving gear 60 to rotate around the fixed gear 50.

[0070] It can be understood that the force analysis of the fixed gear 50 and the second movable gear 70 may refer to the force analysis of the fixed gear 50 and the first movable gear 60 .

[0071] For example, in another embodiment, please refer to Figure 5 , Figure 5 1 is a schematic diagram of force analysis of the fixed gear 50 and the first movable gear 60 in another embodiment of the present application. The fixed gear 50 and the first movable gear 60 are both configured as right helical gears.

[0072] exist Figure 5 In the figure, the output torque of the first driving member 30 acts directly on the first moving gear 60, F1 is the driving force of the first driving member 30 on the first moving gear 60, the helical teeth of the first moving gear 60 will apply a force F to the fixed gear 50, and the fixed gear 50 applies a force F' equal to the force F and opposite in direction to the first moving gear 60. The force F' is decomposed into a force along the axis of the fixed gear 50 and a force F2 perpendicular to the axis of the fixed gear 50. The force F2 is the force that drives the first moving gear 60 to rotate around the fixed gear 50.

[0073] It can be understood that, when the direction of F1 is the same, the direction of the force F2 in another embodiment is opposite to that of the force F2 in this embodiment, that is, the direction in which the first movable gear 60 rotates around the fixed gear 50 is opposite.

[0074] Please refer to Figure 1 、 Figure 2 and Figure 3In this embodiment, the axis b of the first movable gear 60 is parallel to the axis c of the second movable gear 70 , and the axis b of the first movable gear 60 is perpendicular to the axis a of the fixed gear 50 .

[0075] By adopting the above solution, the force exerted by the first movable gear 60 on the fixed gear 50 and the force exerted by the second movable gear 70 on the fixed gear 50 can be at least partially offset, so that the rotating member 10 will not deflect or shake during the rotation relative to the base assembly, and the rotation process will be smoother.

[0076] It is understood that the rotational axis of the magnet 20 relative to the rotating member 10 is collinear with the axis b of the first movable gear 60, and the main shaft of the first driving member 30 is collinear with the rotational axis of the rotating member 10 and the axis c of the second movable gear 70. The axis b of the first movable gear 60 intersects and is perpendicular to the axis a of the fixed gear 50 in space, but the two are not in the same spatial plane.

[0077] It should be noted that the rotation axis of the rotating member 10 relative to the base assembly is collinear with the axis a of the fixed gear 50. The center of gravity of the combination of the first movable gear 60 and the second movable gear 70 can be collinear with the center of gravity L of the combination of the magnet 20 and the first driving member 30.

[0078] Optionally, the base assembly includes a rotating shaft 41, which passes through the fixed gear 50 and is fixedly connected to the rotating member 10, such as by screws. The rotating shaft 41 and the fixed gear 50 can be rotatably connected through a bearing.

[0079] Please refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 6 and Figure 7 , Figure 6 yes Figure 3 An enlarged view of the slip ring 80 and the brush 90 in the magnetic field transmitter is shown, Figure 7 yes Figure 3 The structure diagram of the slip ring 80 and the brush 90 is shown from another perspective.

[0080] In this embodiment, the base assembly also includes a slip ring 80, which is connected to the base 40 or the fixed gear 50. The rotating assembly also includes a brush 90, which is connected to the rotating member 10. The brush 90 is electrically conductive with the first driving member 30, and the brush 90 is cooperatively connected with the slip ring 80.

[0081] By adopting the above solution, it is possible to achieve stable power supply to the first driving member 30 during the rotation of the rotating member 10 relative to the base 40, so that the rotating member 10 can continuously rotate in one direction relative to the base 40, or rotate back and forth within a certain angle range, thereby realizing the expected movement of the magnet 20.

[0082] It should be noted that the slip ring 80 is provided with a conductive slide. During the rotation of the rotating member 10 relative to the base 40, the brush 90 rotates synchronously, and the bottom of the brush 90 contacts the conductive slide. During the rotation of the brush 90, the brush 90 maintains frictional contact with the conductive slide, thereby realizing the transmission of the power signal of the first driving member 30 from the control center to the first driving member 30, realizing the revolution and rotation of the magnet 20.

[0083] It can be understood that the slip ring 80 can be electrically connected to the power supply or the control center.

[0084] Please refer to Figure 1 、 Figure 3 、 Figure 8 and Figure 9 , Figure 8 yes Figure 1 A structural diagram of the magnetic field transmitter from another perspective is shown. Figure 9 yes Figure 8 Schematic diagram of the structure of the bottom of the magnetic field transmitter is shown.

[0085] In this embodiment, the magnetic field transmitter further includes a first angle sensor 120 . The first angle sensor 120 is disposed corresponding to the magnet 20 . The first angle sensor 120 is used to detect the rotation angle of the magnet 20 relative to the rotating member 10 .

[0086] By adopting the above solution, the rotation angle of the magnet 20 relative to the rotating member 10 can be accurately detected, thereby improving the positioning accuracy of the magnetic poles of the magnet 20 (i.e., the accuracy of the magnetic field model), facilitating the subsequent accurate positioning of the magnetic sensor.

[0087] It can be understood that compared with traditional magnetic field transmitters, the magnetic field transmitter provided in the embodiment of the present application can significantly improve the accuracy of magnetic field modeling. It is no longer limited by the accuracy of the helical gear transmission part and the accuracy of component processing and assembly. There is no need to accurately calibrate the transmission ratio of the helical gear transmission, which can significantly improve the positioning accuracy of the magnetic sensor.

[0088] Optionally, the first angle sensor 120 includes a corresponding first optical encoding disk 1201 and a first optical encoding reading head 1202, the first optical encoding disk 1201 is connected to the magnet 20, and the first optical encoding disk 1201 can rotate relative to the rotating part 10 together with the magnet 20, and the first optical encoding reading head 1202 is connected to the rotating part 10.

[0089] With this configuration, the first angle sensor 120 can be used to accurately detect the rotation angle of the magnet 20 relative to the rotating member 10 .

[0090] It is understandable that the first optical encoder disk 1201 can be installed coaxially with the magnet 20, and the first optical encoder reading head 1202 can accurately determine the circumferential position of the magnet 20 at a certain moment during its rotation.

[0091] The first angle sensor 120 may further include a first mounting seat 1203 , and the first optical encoding reader 1202 is connected to the rotating member 10 via the first mounting seat 1203 .

[0092] In this embodiment, the magnetic field transmitter further includes a second angle sensor 130 . The second angle sensor 130 is disposed corresponding to the rotating member 10 . The second angle sensor 130 is used to detect the rotation angle of the rotating member 10 relative to the base assembly.

[0093] By adopting the above solution, the rotation angle of the rotating member 10 relative to the base assembly can be accurately detected, thereby improving the positioning accuracy of the magnetic poles of the magnet 20 (i.e., the accuracy of the magnetic field model), facilitating the subsequent accurate positioning of the magnetic sensor.

[0094] Optionally, the second angle sensor 130 includes a corresponding second optical encoding disk 1301 and a second optical encoding reader 1302, the second optical encoding disk 1301 is connected to the rotating part 10, and the second optical encoding disk 1301 can rotate relative to the base assembly with the rotating part 10, and the second optical encoding reader 1302 is connected to the base assembly.

[0095] With this configuration, the second angle sensor 130 can be used to accurately detect the rotation angle of the rotating member 10 relative to the base assembly.

[0096] The second angle sensor 130 may further include a second mounting base 1303 , and the second optical encoding reader 1302 is connected to the base 40 via the second mounting base 1303 .

[0097] It should be noted that the signals from the first angle sensor 120 and the second angle sensor 130 can also be transmitted via the slip ring 80 and the brush 90. The position signal of the magnet 20 acquired by the first angle sensor 120 can be transmitted to the control center via the slip ring 80 and the brush 90. The position signal of the rotating member 10 acquired by the second angle sensor 130 can also be transmitted to the control center via the slip ring 80 and the brush 90.

[0098] Please refer to Figures 1 to 3 as well as Figures 6 to 9 An embodiment of the present application provides a magnetic field transmitter, including a rotating component, a base component, a first angle sensor 120 and a second angle sensor 130 .

[0099] The rotating assembly includes a rotating member 10 , a magnet 20 , a first driving member 30 , a first movable gear 60 , a second movable gear 70 and a brush 90 .

[0100] The magnet 20 is rotatably connected to the rotating member 10, the first driving member 30 is connected to the rotating member 10, and the first driving member 30 is transmission-connected to the magnet 20. The first driving member 30 is used to drive the magnet 20 to rotate relative to the rotating member 10, and the magnet 20 and the first driving member 30 can rotate together with the rotating member 10 relative to the base assembly. The center of gravity L of the combination of the magnet 20 and the first driving member 30 is located on the rotation axis of the rotating member 10 relative to the base assembly, and the first driving member 30 includes a motor.

[0101] The base assembly includes a base 40 , a fixed gear 50 , a rotating shaft 41 and a slip ring 80 .

[0102] The fixed gear 50 is fixed on the base 40. The fixed gear 50, the first movable gear 60 and the second movable gear 70 are all configured as helical gears. The axis b of the first movable gear 60 is parallel to the axis c of the second movable gear 70, and the axis b of the first movable gear 60 is perpendicular to the axis a of the fixed gear 50.

[0103] The first movable gear 60 and the second movable gear 70 are both rotatably connected to the rotating member 10, and the first movable gear 60 and the second movable gear 70 are both meshed with the fixed gear 50. The magnet 20 is connected to the first movable gear 60, and the magnet 20 and the first movable gear 60 can rotate together relative to the rotating member 10. The main shaft of the first driving member 30 is connected to the second movable gear 70, and the main shaft of the first driving member 30 and the second movable gear 70 can rotate together relative to the rotating member 10 to realize the transmission connection between the first driving member 30 and the base assembly.

[0104] The rotating shaft 41 passes through the fixed gear 50 and is fixedly connected to the rotating member 10 .

[0105] The slip ring 80 is connected to the fixed gear 50 , the brush 90 is connected to the rotating member 10 , the brush 90 is electrically connected to the first driving member 30 , and the brush 90 is cooperatively connected to the slip ring 80 .

[0106] The first angle sensor 120 is disposed in correspondence with the magnet 20 and is used to detect the angle of rotation of the magnet 20 relative to the rotating member 10. The first angle sensor 120 includes a first optical encoder disk 1201 and a first optical encoder reader 1202. The first optical encoder disk 1201 is connected to the magnet 20 and can rotate with the magnet 20 relative to the rotating member 10. The first optical encoder reader 1202 is connected to the rotating member 10 via a first mounting base 1203.

[0107] The second angle sensor 130 is provided in correspondence with the rotating member 10 and is used to detect the rotation angle of the rotating member 10 relative to the base 40. The second angle sensor 130 includes a corresponding second optical encoder disk 1301 and a second optical encoder reader 1302. The second optical encoder disk 1301 is connected to the rotating member 10 and can rotate with the rotating member 10 relative to the base 40. The second optical encoder reader 1302 is connected to the base 40 via a second mounting base 1303.

[0108] Please refer to Figure 10 , Figure 10 It is a structural diagram of a magnetic field transmitter in another embodiment of the present application.

[0109] Different from the above embodiment, in another embodiment, the rotating assembly further includes a counterweight connected to the rotating member 10, and the center of gravity of the assembly of the magnet 20, the first drive member 30 and the counterweight is located on the axis of rotation of the rotating member 10 relative to the base assembly.

[0110] By adopting the above solution, the center of gravity of the rotating assembly can be located on the axis of rotation of the rotating member 10 relative to the base assembly, so that there is no yaw force when the magnet 20 and the first driving member 30 rotate together with the rotating member 10 relative to the base assembly.

[0111] Optionally, the counterweight comprises a first counterweight 100 and a second counterweight 110 , the first counterweight 100 and the magnet 20 are arranged diagonally, and the second counterweight 110 and the first driving member 30 are arranged diagonally.

[0112] The rotation axis of the magnet 20 relative to the rotating member 10 is arranged colinearly with the axis of the main shaft of the first driving member 30 .

[0113] With this arrangement, the magnet 20 can be directly driven by the driving member to rotate relative to the rotating member 10 , thereby reducing rotation loss and ensuring that no yaw force exists during the rotation of the magnet 20 relative to the rotating member 10 .

[0114] Optionally, the base assembly further includes a second driving member 140 , which is in transmission connection with the rotating member 10 , and is used to drive the rotating member 10 to rotate relative to the base assembly.

[0115] Such an arrangement facilitates driving the rotating member 10 to rotate relative to the base assembly, thereby realizing the orbital revolution of the magnet 20 .

[0116] The second driving member 140 may include a motor, a cylinder or a hydraulic cylinder. The second driving member 140 and the rotating member 10 may be connected to each other through a gear, a rack, a timing belt, a cam or a connecting rod.

[0117] Please refer to Figure 10 An embodiment of the present application provides a magnetic field transmitter, including a rotating component, a base component, a first angle sensor 120 and a second angle sensor 130 .

[0118] The rotating assembly includes a rotating member 10, a magnet 20, a first driving member 30, a brush 90 and a counterweight.

[0119] The magnet 20 is rotatably connected to the rotating member 10, the first driving member 30 is connected to the rotating member 10, the first driving member 30 is transmission-connected to the magnet 20, the first driving member 30 is used to drive the magnet 20 to rotate relative to the rotating member 10, and the magnet 20 and the first driving member 30 can rotate together with the rotating member 10 relative to the base assembly, and the first driving member 30 includes a motor.

[0120] The counterweight is connected to the rotating member 10. The center of gravity of the combination of the magnet 20, the first driving member 30, and the counterweight is located on the axis of rotation of the rotating member 10 relative to the base assembly. The counterweight includes a first counterweight 100 and a second counterweight 110. The first counterweight 100 and the magnet 20 are arranged diagonally, and the second counterweight 110 and the first driving member 30 are arranged diagonally.

[0121] The base assembly includes a base 40 , a slip ring 80 and a second driving member 140 .

[0122] The second driving member 140 is disposed on the base 40 . The second driving member 140 is in transmission connection with the rotating member 10 . The second driving member 140 is used to drive the rotating member 10 to rotate relative to the base 40 .

[0123] The slip ring 80 is connected to the second driving member 140 , the brush 90 is connected to the rotating member 10 , the brush 90 is electrically connected to the first driving member 30 , and the brush 90 is cooperatively connected to the slip ring 80 .

[0124] The first angle sensor 120 is provided in correspondence with the magnet 20 and is used to detect the angle of rotation of the magnet 20 relative to the rotating member 10. The first angle sensor 120 includes a first optical encoder disk 1201 and a first optical encoder reader 1202, which are provided in correspondence with the magnet 20. The first optical encoder disk 1201 is connected to the magnet 20 and can rotate with the magnet 20 relative to the rotating member 10. The first optical encoder reader 1202 is connected to the rotating member 10.

[0125] The second angle sensor 130 is provided in correspondence with the rotating member 10 and is used to detect the rotation angle of the rotating member 10 relative to the base 40. The second angle sensor 130 includes a corresponding second optical encoder disk 1301 and a second optical encoder reader 1302. The second optical encoder disk 1301 is connected to the rotating member 10 and can rotate with the rotating member 10 relative to the base assembly. The second optical encoder reader 1302 is connected to the base 40.

[0126] In a second aspect, an embodiment of the present application provides a magnetic navigation system, comprising a magnetic sensor and a magnetic field transmitter as in the first aspect.

[0127] In the magnetic navigation system provided in the embodiment of the present application, the magnet 20 of the magnetic field transmitter is rotatably connected to the rotating member 10, the first driving member 30 is connected to the rotating member 10, and the first driving member 30 is transmission-connected to the magnet 20. The first driving member 30 is used to drive the magnet 20 to rotate relative to the rotating member 10. Moreover, the magnet 20 and the first driving member 30 can rotate together with the rotating member 10 relative to the base assembly. Therefore, the structure of the magnetic field transmitter can be relatively simple, compact, and small in size.

[0128] It is understandable that the combined motion of the revolution and rotation of the magnet 20 can generate a time-varying magnetic field, and the relevant parameters of the time-varying magnetic field can be obtained by the magnetic sensor, thereby completing the position and posture positioning of the magnetic sensor.

[0129] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A magnetic field transmitter, characterized in that: The invention comprises a rotating assembly and a base assembly, wherein the rotating assembly comprises a rotating member (10), and the rotating member (10) can rotate relative to the base assembly; the rotating assembly also comprises a magnet (20) and a first driving member (30), wherein the magnet (20) is rotationally connected to the rotating member (10), the first driving member (30) is connected to the rotating member (10), the first driving member (30) is transmission-connected to the magnet (20), the first driving member (30) is used to drive the magnet (20) to rotate relative to the rotating member (10), and the magnet (20) and the first driving member (30) can rotate together with the rotating member (10) relative to the base assembly.

2. The magnetic field transmitter according to claim 1, characterized in that The first driving member (30) comprises a motor.

3. The magnetic field transmitter according to claim 1, characterized in that The center of gravity of the assembly of the magnet (20) and the first driving member (30) is located on the rotation axis of the rotating member (10) relative to the base assembly.

4. The magnetic field transmitter according to claim 1, characterized in that The first driving member (30) is in transmission connection with the base assembly, and the first driving member (30) is also used to drive the rotating member (10) to rotate relative to the base assembly.

5. The magnetic field transmitter according to claim 4, characterized in that The base assembly includes a base (40) and a fixed gear (50) fixedly arranged on the base (40); the rotating assembly also includes a first movable gear (60) and a second movable gear (70), the first movable gear (60) and the second movable gear (70) are both rotatably connected to the rotating member (10), the first movable gear (60) and the second movable gear (70) are both meshed with the fixed gear (50), the magnet (20) is connected to the first movable gear (60), and the magnet (20) and the first movable gear (60) can rotate together relative to the rotating member (10), the main shaft of the first driving member (30) is connected to the second movable gear (70), and the main shaft of the first driving member (30) and the second movable gear (70) can rotate together relative to the rotating member (10).

6. The magnetic field transmitter according to claim 5, characterized in that The axis of the first movable gear (60) is parallel to the axis of the second movable gear (70), and the axis of the first movable gear (60) is perpendicular to the axis of the fixed gear (50).

7. The magnetic field transmitter according to claim 5, characterized in that The base assembly further includes a slip ring (80), which is connected to the base (40) or the fixed gear (50). The rotating assembly further includes a brush (90), which is connected to the rotating member (10). The brush (90) is electrically conductive with the first driving member (30), and the brush (90) is cooperatively connected to the slip ring (80).

8. The magnetic field transmitter according to claim 1, characterized in that The rotating assembly further comprises a counterweight connected to the rotating member (10), and the center of gravity of the assembly of the magnet (20), the first driving member (30) and the counterweight is located on the axis of rotation of the rotating member (10) relative to the base assembly.

9. The magnetic field transmitter according to claim 8, characterized in that The rotation axis of the magnet (20) relative to the rotating member (10) is arranged colinearly with the axis of the main shaft of the first driving member (30).

10. The magnetic field transmitter according to claim 8, characterized in that The base assembly further comprises a second driving member (140), the second driving member (140) being in transmission connection with the rotating member (10), and the second driving member (140) being used to drive the rotating member (10) to rotate relative to the base assembly.

11. The magnetic field transmitter according to any one of claims 1 to 10, characterized in that: The magnetic field transmitter further comprises a first angle sensor (120), the first angle sensor (120) being arranged corresponding to the magnet (20), and the first angle sensor (120) being used to detect the angle of rotation of the magnet (20) relative to the rotating member (10).

12. The magnetic field transmitter according to claim 11, characterized in that The first angle sensor (120) includes a first optical encoding disk (1201) and a first optical encoding reading head (1202) which are correspondingly arranged. The first optical encoding disk (1201) is connected to the magnet (20), and the first optical encoding disk (1201) can rotate relative to the rotating member (10) along with the magnet (20). The first optical encoding reading head (1202) is connected to the rotating member (10).

13. The magnetic field transmitter according to any one of claims 1 to 10, characterized in that: The magnetic field transmitter further comprises a second angle sensor (130), the second angle sensor (130) being arranged corresponding to the rotating member (10), and the second angle sensor (130) being used to detect the angle of rotation of the rotating member (10) relative to the base assembly.

14. A magnetic navigation system, characterized in that: The device comprises a magnetic sensor and a magnetic field transmitter as claimed in any one of claims 1 to 13.

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