Passive interaction terminal and passive interaction equipment

Abstract

The utility model relates to a passive interaction terminal and passive interaction equipment, and belongs to the field of medical instruments. Comprising a base body which is provided with a first preset structure convenient to hold or operate; a plurality of light reflecting members, which are detachably installed on a plurality of different positions of the base body, and each of the plurality of light reflecting members comprises a reflecting surface for reflecting light; the number of the components is at least three; the base body is provided with a second preset structure detachably provided with the light reflecting part. The interaction control assembly comprises a button, a shielding cover and a connecting piece, and the shielding cover is connected and linked with the button through the connecting piece; the button can move relative to the base body; under the condition that the button is operated and moves, the shielding cover can move relative to the base body and shield part of the reflecting surface of at least one light reflecting part. According to the technical scheme, misoperation in the operation is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a passive interactive terminal and a passive interactive device. Background Art

[0002] Surgical robots are a new application area that has seen rapid growth in recent years. They can perform movements and procedures that doctors cannot or cannot perform as effectively as machines. Furthermore, they can shorten surgery times and offer numerous advantages over human doctors, which I won't elaborate on here.

[0003] In the prior art, reference Figure 1 When using a surgical robot, a dedicated person is required to cooperate with the surgeon. For example, in a non-sterile area far away from the sterile area, at least one operator is deployed to operate the navigation trolley (or host computer, which is the control host of the surgical robot and also has a navigation system installed with a navigation function) to cooperate with the surgeon in the sterile area to complete the entire surgical process. Taking knee surgery as an example, the operator and the surgeon need to work closely together to complete surgical procedures including probe calibration, bone registration, marker pin collection, marker pin verification, osteotomy saw blade verification, and intraoperative adjustment of surgical planning. In the above surgical processes, the operation of the navigation trolley is operated by the operator, and the operation instructions mainly come from the surgeon. Therefore, the cooperation between the two parties is required to be high. In some complex steps, it is easy for the operator to make erroneous operations due to misunderstandings. Utility Model Content

[0004] In view of this, the present application provides a passive interactive terminal and a passive interactive device to solve at least one problem existing in the background technology.

[0005] To achieve the above objectives, the technical solution of this application is implemented as follows:

[0006] In a first aspect, an embodiment of the present application provides a passive interactive terminal, including:

[0007] The base is provided with a first preset structure for easy holding or operation;

[0008] a plurality of light reflecting members, each of which includes a reflective surface for reflecting light; the plurality is at least three; and the base is provided with a second preset structure for detachably mounting the light reflecting members;

[0009] An interactive control component includes a button, a shielding cover, and a connecting member, wherein the shielding cover is connected to the button via the connecting member and operates in conjunction with the button; the button can move relative to the base; when the button is operated and moves, the shielding cover can move relative to the base and cover a portion of the reflective surface of at least one of the light reflectors.

[0010] In conjunction with the first aspect of the embodiment of the present application, in an optional implementation manner, the connecting member includes:

[0011] A connecting rod assembly has one end connected to the button and the other end connected to the shielding cover; when the button is operated, the connecting rod assembly moves and drives the shielding cover to move.

[0012] In conjunction with the first aspect of the embodiment of the present application, in an optional implementation manner, the button is movable relative to the base, and the connecting rod assembly includes:

[0013] a moving rod, one end of which is connected to the button and the other end of which extends along the moving direction of the button; the moving rod can move along with the movement of the button;

[0014] A first rotating rod, one end of which is hinged on the base, and the other end of which is connected to the shielding cover; the first rotating rod is also connected to the other end of the moving rod away from the button, and when the moving rod moves, the first rotating rod is pushed to rotate based on the hinge with the base, and drives the shielding cover to move; the distance between the part of the moving rod connected to the first rotating rod and the hinge is smaller than the distance between the part of the first rotating rod connected to the shielding cover and the hinge.

[0015] In conjunction with the first aspect of the embodiment of the present application, in an optional implementation manner, the shielding cover includes a connecting arm and a light shielding sheet, a first end of the connecting arm is connected to the first rotating rod, and a second end is connected to the light shielding sheet;

[0016] The connecting rod assembly also includes a second rotating rod, the first rotating rod is hinged to the first end of the connecting arm, and the second rotating rod is hinged to the second end of the connecting arm; the second rotating rod and the first rotating rod remain parallel during the rotation process to keep the orientation of the shielding cover unchanged.

[0017] In conjunction with the first aspect of the embodiment of the present application, in an optional implementation manner, the interactive control component further includes:

[0018] A reset elastic member has one end abutting against the button and the other end mounted on the base; when the button is pressed, the reset elastic member is compressed and stores energy; when the button is released from being pressed, the reset elastic member rebounds to reset the button.

[0019] In combination with the first aspect of the embodiment of the present application, in an optional embodiment, the base is provided with a guide rod, the button is mounted on the guide rod, and can move axially along the guide rod; the reset elastic member is at least partially mounted on the guide rod, and can be compressed or rebounded along the axial direction of the guide rod.

[0020] In combination with the first aspect of the embodiment of the present application, in an optional implementation manner, the first preset structure is an arc-shaped pit that cooperates with a finger.

[0021] In combination with the first aspect of the embodiment of the present application, in an optional embodiment, the second preset structure is a column protruding from the surface of the base, and the surface of the light reflecting part other than the reflecting surface is provided with a blind hole matching the column; the surface of the column has a protruding structure that reduces the fitting clearance to ensure firm installation.

[0022] In combination with the first aspect of the embodiment of the present application, in an optional implementation, the passive interactive terminal is made by adding an interactive control component to the probe attached to the surgical robot, and the pressing direction of the button is the same as the direction of the needle tip of the probe.

[0023] In a second aspect, an embodiment of the present application provides a passive interactive device, including:

[0024] The interactive terminal is any of the passive interactive terminals described above;

[0025] The interactive server is provided with a light source and configured to emit a preset type of light to the interactive terminal; the interactive server is also provided with a photosensitive element and configured to receive the light reflected by the interactive terminal, and obtain changes in the interactive terminal according to changes in the reflected light, thereby completing the interaction process with the interactive terminal.

[0026] The passive interactive terminal and passive interactive device provided in the embodiment of the present application include: a base body, provided with a first preset structure that is easy to hold or operate; a plurality of light reflectors, the plurality of light reflectors being detachably mounted at a plurality of different positions on the base body, the plurality of light reflectors each including a reflective surface for reflecting light; the plurality being at least three; the base body being provided with a second preset structure for detachably mounting the light reflectors; an interactive control component including a button, a shielding cover, and a connecting member, the shielding cover being connected and linked to the button via the connecting member; the button being movable relative to the base body; and when the button is operated and moved, the shielding cover being movable relative to the base body and covering a portion of the reflective surface of at least one of the light reflectors. It can be seen that the passive interactive terminal and passive interactive device of the embodiment of the present application can generate perceptible changes in the light reflectors through manual operation, thereby realizing interaction between the interactive server and the interactive terminal, and further realizing the operating instructions of the surgeon without the need for an accompanying operator, thereby reducing erroneous operations during surgery. Therefore, the passive interactive terminal and passive interactive device of the embodiment of the present application reduce erroneous operations during surgery.

[0027] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0029] Figure 1 A schematic diagram of a usage scenario of the passive interactive terminal provided in Example 1 of the present application;

[0030] Figure 2 A schematic structural diagram of a passive interactive terminal provided in an embodiment of the present application (the shielding cover does not shield the light reflecting element);

[0031] Figure 3 A schematic structural diagram of a passive interactive terminal provided in an embodiment of the present application (the shielding cover has shielded the light reflecting element);

[0032] Figure 4 A schematic diagram of the structure of an interactive control component in a passive interactive terminal provided in an embodiment of the present application;

[0033] Figure 5 A schematic diagram of the assembly structure of a base and a light reflector in a passive interactive terminal provided in an embodiment of the present application;

[0034] Figure 6 Schematic diagram of a passive interactive device provided in an embodiment of the present application.

[0035] Description of reference numerals:

[0036] 10. Passive interactive terminal; 11. Base; 111. Guide rod; 112. Arc-shaped pit; 113. Column; 1131. Raised rib; 12. Light reflecting member; 121. Blind hole; 13. Button; 131. Resetting elastic member; 14. Shielding cover; 141. Connecting arm; 142. Shading sheet; 15. Connecting rod assembly; 151. Moving rod; 152. First rotating rod; 153. Second rotating rod; 20. Interactive server; 21. Light source; 22. Photosensitive element. DETAILED DESCRIPTION

[0037] The exemplary embodiments disclosed herein will be described in more detail below with reference to the accompanying drawings. Although 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 specific embodiments described herein. Rather, these embodiments are provided 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.

[0038] In the following description, numerous specific details are provided to provide a more thorough understanding of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced without one or more of these details. In other instances, certain technical features known in the art are not described to avoid confusion with the present application; that is, all features of actual embodiments are not described herein, nor are well-known functions and structures described in detail.

[0039] In order to fully understand the present application, detailed steps and detailed structures will be presented in the following description to illustrate the technical solution of the present application. The preferred embodiments of the present application are described in detail below. However, in addition to these detailed descriptions, the present application may also have other implementation methods.

[0040] The present application embodiment provides a passive interactive terminal 10, referring to FIG. 2 and FIG. Figure 3 , the passive interactive terminal 10 includes:

[0041] The base 11 is provided with a first preset structure for easy holding or operation;

[0042] A plurality of light reflecting members 12 are detachably mounted on a plurality of different positions of the base 11, and each of the light reflecting members 12 includes a reflective surface for reflecting light; the plurality is at least three; the base 11 is provided with a second preset structure for detachably mounting the light reflecting members 12; an interactive control component includes a shielding cover 14 and a connecting member, the shielding cover 14 is connected and linked to the button 13 through the connecting member; the button 13 can move relative to the base 11; when the button 13 is operated and moved, the shielding cover 14 can move relative to the base 11 and cover a portion of the reflective surface of at least one of the light reflecting members 12.

[0043] Here, "passive" refers to the interactive terminal as being passive and not using energy, such as electricity. It also means it doesn't actively send signals or process them. Thus, the interactive terminal's structure is purely mechanical, making it easy to disinfect and preventing interference. The other party in the interaction, the interactive server, can be active, processing information and achieving the purpose of interaction.

[0044] According to the principle that three points form a plane, the spatial shape of the operating assembly can be accurately defined based on the reflected light from the three light reflectors 12. However, in this embodiment, three reflectors are provided, resulting in a simpler structure.

[0045] Covering the light reflective element 12 may cover part of the reflective surface of one, the entire reflective surface of one, or the reflective surfaces of multiple light reflective elements 12. In this embodiment, the entire reflective surface of one may be covered, which makes the structure simpler and the recognition more stable.

[0046] The movement of the button 13 may be moving, rotating or swinging.

[0047] It should be noted that the passive interactive terminal 10 of the embodiment of the present application needs to be held by a human hand to generate an interactive signal, so a first preset structure is required. The first preset structure can be directly processed on the base 11 or a component installed on the base 11, without limitation.

[0048] The second preset structure can more conveniently install and remove the light reflecting member 12, is easy to install and maintain, and is also easy to adjust the number of light reflecting members 12.

[0049] The connecting piece can overcome the problem of the long distance between the light reflecting piece 12 and the button 13, and can also provide a labor-saving or distance-saving structure according to the situation.

[0050] The passive interactive terminal 10 of the embodiment of the present application can generate perceptible changes in the light reflecting element 12 through manual operation, thereby realizing interaction between the interactive server 20 and the interactive terminal, and then implementing the operating instructions of the surgeon without the need for a follow-up operator, thereby reducing erroneous operations during surgery.

[0051] In other embodiments of the present application, reference is made to Figure 4 , the connecting piece includes:

[0052] The connecting rod assembly 15 has one end connected to the button 13 and the other end connected to the shielding cover 14 . When the button 13 is operated, the connecting rod assembly 15 moves and drives the shielding cover 14 to move.

[0053] Through the connecting rod assembly 15, distance-saving operation can be achieved, that is, the operation amplitude of the button 13 can be relatively small, and the shielding cover 14 can also move in a large range to better shield the light reflecting member 12, but will not affect the reflection of the light reflecting member 12 when shielding is not required.

[0054] In other embodiments of the present application, continue to refer to Figure 4 The button 13 can move relative to the base 11, and the connecting rod assembly 15 includes:

[0055] A moving rod 151, one end of which is connected to the button 13 and the other end of which extends along the moving direction of the button 13; the moving rod 151 can move along with the movement of the button 13;

[0056] The first rotating rod 152 is hinged at one end on the base 11 and connected to the shielding cover 14 at the other end; the first rotating rod 152 is also connected to the other end of the moving rod 151 away from the button 13. When the moving rod 151 moves, the first rotating rod 152 is pushed to rotate based on the hinge with the base 11, and drives the shielding cover 14 to move; the distance between the part of the moving rod 151 connected to the first rotating rod 152 and the hinge is smaller than the distance between the part of the first rotating rod 152 connected to the shielding cover 14 and the hinge.

[0057] The button 13 is arranged to move, and the structure is simpler. And through the combination of the moving rod 151 and the first rotating rod 152, the effect of the "distance-saving" lever can be achieved.

[0058] Specifically, the first rotating rod 152 is hingedly connected to the moving rod 151 . When the first rotating rod 152 rotates based on the base 11 , the first rotating rod 152 also rotates relative to the moving rod 151 .

[0059] Specifically, the distance between the point where the movable rod 151 connects to the first rotating rod 152 and the hinge is the power arm, while the distance between the point where the first rotating rod 152 connects to the shielding cover 14 and the hinge is the resistance arm. Since the power arm is smaller than the resistance arm, this lever can be used as a "distance-saving" lever. Furthermore, since the shielding cover 14 moves to the optical element to shield, there is no external force other than frictional resistance at the hinge, so even this "distance-saving" lever does not require excessive effort.

[0060] In other embodiments of the present application, continue to refer to Figure 4 The shielding cover 14 includes a connecting arm 141 and a light shielding sheet 142 , wherein a first end of the connecting arm 141 is connected to the first rotating rod 152 , and a second end is connected to the light shielding sheet 142 ;

[0061] The connecting rod assembly 15 also includes a second rotating rod 153, the first rotating rod 152 is hinged to the first end of the connecting arm 141, and the second rotating rod 153 is hinged to the second end of the connecting arm 141; the second rotating rod 153 and the first rotating rod remain parallel during the rotation process to keep the orientation of the shielding cover 14 unchanged.

[0062] According to the principle that two points form a straight line, both the first rotating rod 152 and the second rotating rod 153 are connected to the connecting arm 141, and the second rotating rod 153 and the first rotating rod remain parallel during the rotation process. Therefore, the connecting arm 141 can only move along the axial direction and cannot rotate. Therefore, the orientation of the shielding cover 14 can be kept unchanged to shield the light reflecting member 12.

[0063] In this embodiment, since the connecting arm 141 is straight, i.e., the extension line is a straight line, the first rotating rod 152 and the second rotating rod 153 can be the same length, and the hinge points at both ends are aligned to maintain the direction of the shielding cover 14 unchanged.

[0064] In other embodiments of the present application, continue to refer to Figure 4 , the interactive control component further includes:

[0065] The reset elastic member 131 has one end abutting against the button 13 and the other end mounted on the base 11 ; when the button 13 is pressed, the reset elastic member 131 is compressed and stores energy; when the pressing of the button 13 is canceled, the reset elastic member 131 rebounds to reset the button 13 .

[0066] In this way, it can be easily reset after operation, which is conducive to multiple operations.

[0067] Specifically, the reset elastic member 131 may be a compression spring.

[0068] In other embodiments of the present application, the base 11 is provided with a guide rod 111, the button 13 is sleeved on the guide rod 111, and can move axially along the guide rod 111; the reset elastic member 131 is at least partially sleeved on the guide rod 111, and can be compressed or rebounded along the axial direction of the guide rod 111.

[0069] In this way, the button 13 moves more smoothly, which is also conducive to the stability of the axial compression or rebound direction of the resetting elastic member 131.

[0070] In other embodiments of the present application, reference is made to Figure 5 The first preset structure is an arc-shaped pit 112 that fits the finger.

[0071] In this way, at least part of the fingers enter the arc-shaped recess 112 for gripping, so as to operate the interactive control component, for example, to press the button 13.

[0072] Specifically, the arc-shaped concave pit 112 has an arc-shaped longitudinal section and an elliptical cross-section. It is understood that the concave pit 112 may have other shapes that are convenient for gripping.

[0073] In other embodiments of the present application, reference is made to Figure 5 The second preset structure is a column 113 protruding from the surface of the base 11, and the surface of the light reflector 12 other than the reflecting surface is provided with a blind hole 121 matching the column 113; the surface of the column 113 has a protruding structure to reduce the fitting clearance so that the installation is firm.

[0074] That is, the assembly relationship is established by matching the holes and shafts, which makes the structure simpler and the installation and disassembly more convenient.

[0075] Specifically, the column 113 may be a cylindrical body 113, and the blind hole 121 may be a circular hole. It is understood that the blind hole 121 may also be a square column or other shape.

[0076] It is understandable that the protruding structure can reduce the fit clearance, including increasing the interference fit, and the interference fit can be understood as a situation where the fit clearance is negative. In the case where at least one of the column 113 and the light reflector 12 is a plastic part, detachable installation can also be achieved through interference fit.

[0077] Specifically, refer to Figure 5 The protruding structure can be a rib 1131 surrounding the outer circumference of the column 113. It can be understood that it can also be a structure that increases the interference, such as knurling.

[0078] In other embodiments of the present application, the passive interactive terminal 10 is manufactured by adding an interactive control component to a probeless surgical robot, and the pressing direction of the button 13 is the same as the direction of the needle tip of the probe.

[0079] This eliminates the need for additional carriers or tools. Furthermore, when operating a probe, the operator can interact with the navigation cart and perform a non-probe-related surgical procedure without switching. For example, in some surgical procedures, there is a first procedure that inherently requires the use of a probe and a second procedure that does not. When switching from the first procedure to the second, there is no need to replace the probe with another tool.

[0080] During the whole process of surgery, the probe is a tool that needs to be operated frequently. Therefore, it is helpful to reduce the time of changing tools.

[0081] The pressing direction of the button 13 is the same as the direction of the needle tip of the probe. This is because the direction of the needle tip is generally the force-applying direction of the probe, which is conducive to pressing.

[0082] The present application also provides a passive interactive device, referring to Figure 6 , passive interactive devices include:

[0083] The interactive terminal is the passive interactive terminal 10 described in the embodiment;

[0084] The interactive server 20 is provided with a light source 21, which is configured to emit a preset type of light to the interactive terminal; the interactive server 20 is also provided with a photosensitive element 22, which is configured to receive the light reflected by the interactive terminal, and obtain changes in the interactive terminal based on changes in the reflected light, thereby completing the interaction process with the interactive terminal.

[0085] Specifically, the light source 21 may be an infrared emitter, and the photosensitive element 22 may be a charge coupled device (CCD).

[0086] More specifically, the light source 21 and the light-sensing element 22 may be integrated into one device, such as an infrared camera, which can both emit infrared light and receive reflected infrared light.

[0087] More specifically, the infrared camera can be a dual-camera, so that three-dimensional information of the interactive terminal can be obtained.

[0088] The changes of the interactive terminals may be changes in position, number, or reflective surface, etc. For details, please refer to the following description of the working process.

[0089] In the passive interactive device of the embodiment of the present application, the passive interactive terminal 10 can generate changes in the perceptible light reflecting element 12 through manual operation, thereby realizing interaction between the interactive server 20 and the interactive terminal, and then implementing the operating instructions of the surgeon without the need for a follow-up operator, reducing erroneous operations during surgery.

[0090] To better understand the passive interactive device of the embodiment of the present application, the passive interactive device is further described below through its working process. The working process of the passive interactive device may include:

[0091] Step 101: Obtaining first reflected light having an intensity greater than or equal to a first preset intensity, and determining the number and spatial positions of preset light reflectors 12 based on the first reflected light; the preset light reflectors 12 are multiple light-reflecting elements provided on the interactive terminal, and are capable of reflecting the first reflected light under illumination by a preset light source 21;

[0092] Step 102: triggering an interaction process between the interactive terminal and the interactive server 20 according to the change of the perceptible light reflector 12;

[0093] Step 103: Match the perceptible change of the light reflecting element 12 with the preset interaction rule, obtain interaction information, and complete the interaction process.

[0094] In step 101, the preset light source 21 can be an infrared emitter, which can be set on the interactive server 20. The light emitted by the preset light source 21 is a dispersed emission, which is all around the preset light source 21. The reflective surface of the light reflector 12 adopts a preset reflective setting and has a strong reflective ability. The reflective setting can be a surface treatment to reduce the surface roughness of the reflective surface to make it smoother, or it can be to add an optical coating to the reflective surface, such as a metal coating, a dielectric reflective film, etc. Since the light reflector 12 has a strong reflective ability, the intensity of the reflected light is high. The first preset intensity is the critical intensity of the light reflector 12 and the non-light reflector 12. Therefore, the first reflected light obtained is all from the light reflector 12. Based on the first reflected light, the number and spatial position of the preset light reflectors 12 can be determined.

[0095] It is understandable that step 101 may occur just after the preset light source 21 is turned on. After the number and spatial positions of the preset light reflecting elements 12 are determined, only steps 102 and 103 may be performed.

[0096] In step 102, a perceptible change refers to a change that can be identified by a change in the first reflected light. For example, if light reflector 12 is obscured, it can be identified as a decrease in the number of light reflectors 12. However, the number of light reflectors 12 has not decreased; it is only a perceptible decrease. Acquiring a perceptible change in light reflectors 12 triggers the interaction process. Furthermore, acquiring a perceptible change in light reflectors 12 can simply trigger the interaction process or serve as interactive information for the interaction process.

[0097] In step 103, the preset interaction rule can be set according to the change of the light reflector 12, such as shielding a light reflector 12, and the interaction rule can be a kind of interaction information. The interaction process can include one piece of interaction information or multiple pieces of interaction information.

[0098] It is understandable that steps 102 and 103 may be performed continuously, or may be performed periodically or irregularly. Each time the steps are performed, a perceptible change in the light reflector 12 may be obtained by comparing the steps with the previous step, or a perceptible total change in the light reflector 12 may be obtained by comparing the steps with the first step.

[0099] The working process of the passive interactive device in the embodiment of the present application is to set up an interactive system including an interactive server 20 and a passive interactive terminal, wherein the passive interactive terminal can generate a perceptible change in the light reflecting element 12 through manual operation, thereby realizing the interaction between the interactive server 20 and the interactive terminal, and then realizing the operating instructions of the surgeon without the need for a follow-up operator, thereby reducing erroneous operations during surgery.

[0100] In some other embodiments of the present application, before obtaining the first reflected light having a first predetermined intensity or greater than or equal to the first reflected light and determining the number and spatial positions of the predetermined light reflecting elements 12 according to the first reflected light, the process further includes:

[0101] The preset light source 21 is turned on to emit light of a second preset intensity.

[0102] It is understandable that the value of the second preset intensity determines the value of the first preset intensity, and the two have a certain proportional relationship, and the second preset intensity is greater than the first preset intensity.

[0103] In some other embodiments of the present application, after the preset light source 21 is turned on to emit light of the second preset intensity, the process further includes:

[0104] Light is received by the photosensitive element 22, and based on the light's characteristics, the light reflected from the predetermined light source 21 is determined. It is understood that in addition to the light emitted by the predetermined light source 21, there is also other light, such as lamplight and sunlight. Therefore, the light reflected from the predetermined light source 21 is filtered based on its characteristics, such as wavelength. This provides the basis for the subsequent determination of the first reflected light based on the light intensity.

[0105] In some other embodiments of the present application, obtaining first reflected light having a first preset intensity greater than or equal to that of the first reflected light, and determining the number and spatial positions of the preset light reflecting elements 12 according to the first reflected light, includes:

[0106] acquiring, according to the incident parameters of the first reflected light, a distribution of reflection points of the first reflected light;

[0107] The number of preset light reflecting elements 12 is determined according to the distribution of the reflection points.

[0108] Incident parameters can be parameters of the reflected light entering the photosensitive element 22, such as the incident angle and incident intensity. These incident parameters can be used to infer the distribution of the reflection points. For example, if the height remains constant, the farther the reflection point is, the smaller the incident angle may be. If the distance remains constant, the incident angle may vary with height. It is understood that in addition to the incident angle, other parameters can also be used to infer the distribution of the reflection points.

[0109] In some other embodiments of the present application, obtaining first reflected light having a first preset intensity greater than or equal to that of the first reflected light, and determining the number and spatial positions of the preset light reflecting elements 12 according to the first reflected light, includes:

[0110] Acquire three-dimensional information of a reflection point of the first reflected light according to incident parameters of the first reflected light acquired by at least two photosensitive elements 22; the photosensitive elements 22 are elements provided by the interactive server 20 for receiving emitted light;

[0111] The spatial position of the preset light reflecting element 12 is determined according to the three-dimensional information of the reflection point.

[0112] It can be understood that the principle of at least two photosensitive elements 22 is binocular vision. In addition to obtaining the length and width of the reflection point, the depth information of the reflection point from the photosensitive element 22 can also be obtained. In this way, the three-dimensional information of the reflection point can be obtained, that is, stereoscopic information can be constructed to obtain the spatial position of the light reflecting element 12.

[0113] In some other embodiments of the present application, triggering the interaction process between the interactive terminal and the interactive server 20 according to the perceptible change of the light reflector 12 includes:

[0114] According to the change in the number, spatial position, and / or reflection area of ​​the perceptible light reflectors 12 , an interaction process between the interaction terminal and the interaction server 20 is triggered, and first interaction information is obtained.

[0115] The above three changes can be in an OR relationship or an AND relationship. Specific examples are as follows:

[0116] 1) Change in quantity; 2) Change in spatial position; 3) Change in reflection area; 4) Change in quantity and change in spatial position; 5) Change in quantity and change in reflection area; 6) Change in spatial position and change in reflection area; 7) Change in quantity, change in spatial position and change in reflection area.

[0117] The above are just examples. In the following statements, if there are similar statements, no specific examples will be given.

[0118] The change in quantity may be that at least one light reflecting element 12 is shielded, and the change in reflection area may be that part of the light reflecting element 12 is shielded.

[0119] The first interaction information may be a confirmation message. For ease of understanding, it may be compared with a mouse, a commonly used interactive tool in electronic devices. The first interaction information may be similar to a click of a mouse.

[0120] In some other embodiments of the present application, triggering the interaction process between the interactive terminal and the interactive server 20 according to the perceptible change of the light reflecting element 12 includes:

[0121] According to the information of the synchronous change of the spatial positions of the plurality of light reflecting members 12 , the interaction process between the interaction terminal and the interaction server 20 is triggered, and the second interaction information is obtained.

[0122] It is understandable that, since the spatial positions of the plurality of light reflectors 12 change synchronously, it can be determined that the entire interactive terminal is changing position, ie, the entire interactive terminal is moving. The second interactive information can be similar to the free movement of a mouse.

[0123] In some other embodiments of the present application, triggering the interaction process between the interactive terminal and the interactive server 20 according to the perceptible change of the light reflector 12 further includes:

[0124] When the number, spatial position, and / or reflection area of ​​the perceptible light reflecting elements 12 change, information on synchronous changes in the spatial positions of the plurality of light reflecting elements 12 is received, and third interaction information is acquired.

[0125] According to the above description, it can be known that the third interactive information can be similar to the operation of dragging an icon after pressing it with a mouse.

[0126] In some other embodiments of the present application, the interactive terminal includes at least one shielding cover 14, and triggering the interaction process between the interactive terminal and the interactive server 20 according to the change of the perceptible light reflecting member 12 includes:

[0127] When the shielding cover 14 shields at least one light reflecting member 12 , an interaction process between the interaction terminal and the interaction server 20 is triggered.

[0128] That is, in this embodiment, the first change scenario listed above, that is, the change in quantity, is selected. In this way, the structure of the interactive terminal is simpler and the operation is more efficient.

[0129] In the above description, the terms "first\second\..." are only used to distinguish similar objects and do not represent a specific order of the objects. It can be understood that "first\second\third" can be interchanged with a specific order or sequence when permitted.

[0130] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0131] In the embodiments of this application, unless otherwise specified and limited, the term "connection" should be understood in a broad sense. For example, it can be an electrical connection, or it can be a connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meaning of the above terms can be understood according to the specific circumstances.

[0132] It should be understood that “one embodiment” or “some embodiments” mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, “in one embodiment” or “in some embodiments” appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0133] It should be understood that the above embodiments are exemplary and are not intended to encompass all possible implementations of the claims. Various modifications and variations may be made to the above embodiments without departing from the scope disclosed herein. Similarly, the various technical features of the above embodiments may be arbitrarily combined to form additional embodiments of the present application that may not be explicitly described. Therefore, the above embodiments merely represent several implementations of the present application and do not limit the scope of protection of the patent application.

Claims

1. A passive interactive terminal, characterized in that: include: The base is provided with a first preset structure for easy holding or operation; a plurality of light reflecting members, each of which includes a reflective surface for reflecting light; the plurality is at least three; and the base is provided with a second preset structure for detachably mounting the light reflecting members; An interactive control component includes a button, a shielding cover, and a connecting member, wherein the shielding cover is connected to the button via the connecting member and operates in conjunction with the button; the button can move relative to the base; when the button is operated and moves, the shielding cover can move relative to the base and cover a portion of the reflective surface of at least one of the light reflectors.

2. The passive interactive terminal according to claim 1, characterized in that: The connecting piece includes: A connecting rod assembly has one end connected to the button and the other end connected to the shielding cover; when the button is operated, the connecting rod assembly moves and drives the shielding cover to move.

3. The passive interactive terminal according to claim 2, characterized in that: The button is movable relative to the base, and the connecting rod assembly comprises: a moving rod, one end of which is connected to the button and the other end of which extends along the moving direction of the button; the moving rod can move along with the movement of the button; A first rotating rod, one end of which is hinged on the base, and the other end of which is connected to the shielding cover; the first rotating rod is also connected to the other end of the moving rod away from the button, and when the moving rod moves, the first rotating rod is pushed to rotate based on the hinge with the base, and drives the shielding cover to move; the distance between the part of the moving rod connected to the first rotating rod and the hinge is smaller than the distance between the part of the first rotating rod connected to the shielding cover and the hinge.

4. The passive interactive terminal according to claim 3, characterized in that: The shielding cover comprises a connecting arm and a light shielding sheet, wherein a first end of the connecting arm is connected to the first rotating rod, and a second end is connected to the light shielding sheet; The connecting rod assembly also includes a second rotating rod, the first rotating rod is hinged to the first end of the connecting arm, and the second rotating rod is hinged to the second end of the connecting arm; the second rotating rod and the first rotating rod remain parallel during the rotation process to keep the orientation of the shielding cover unchanged.

5. The passive interactive terminal according to claim 1, characterized in that: The interactive control component also includes: A reset elastic member has one end abutting against the button and the other end mounted on the base; when the button is pressed, the reset elastic member is compressed and stores energy; when the button is released from being pressed, the reset elastic member rebounds to reset the button.

6. The passive interactive terminal according to claim 5, characterized in that: The base is provided with a guide rod, the button is sleeved on the guide rod and can move axially along the guide rod; the reset elastic member is at least partially sleeved on the guide rod and can be compressed or rebounded along the axial direction of the guide rod.

7. The passive interactive terminal according to claim 1, characterized in that: The first preset structure is an arc-shaped pit that fits with the finger.

8. The passive interactive terminal according to claim 1, characterized in that: The second preset structure is a column protruding from the surface of the base, and the surface of the light reflector other than the reflecting surface is provided with a blind hole matching the column; the surface of the column has a protruding structure that reduces the fitting gap to ensure firm installation.

9. The passive interactive terminal according to any one of claims 1 to 8, characterized in that: The passive interactive terminal is made by adding an interactive control component to the probe attached to the surgical robot, and the pressing direction of the button is the same as the direction of the needle tip of the probe.

10. A passive interactive device, characterized in that: include: The interactive terminal is the passive interactive terminal according to any one of claims 1 to 9; The interactive server is provided with a light source and configured to emit a preset type of light to the interactive terminal; the interactive server is also provided with a photosensitive element and configured to receive the light reflected by the interactive terminal, and obtain changes in the interactive terminal according to changes in the reflected light, thereby completing the interaction process with the interactive terminal.

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