Positioning tool and positioning system

Abstract

The embodiment of the utility model provides a positioning tool and a positioning system, and belongs to the technical field of medical equipment. The positioning tool comprises: a support body; the identification unit is used for being identified by the acquisition equipment under a plurality of visual angles and is arranged on the supporting main body; and a contact unit in direct or indirect contact with the subject, the contact unit being provided on at least one end of the support body.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical equipment, and in particular relates to a positioning tool and a positioning system. Background Art

[0002] Positioning tools are often used for registration and calibration in medical positioning and navigation systems, thereby enabling tracking and positioning of subjects.

[0003] Existing positioning tools are equipped with infrared reflective balls that facilitate infrared camera capture. Three infrared reflective balls are typically placed on the same side of the positioning tool. When the positioning tool is rotated so that the ball side faces away from the infrared camera, the infrared camera cannot see the infrared reflective balls and therefore cannot capture the positioning tool, affecting calibration and registration operations.

[0004] At the same time, since the positioning tool may sometimes slip from the hand of the holder during use, it may be easily deformed or damaged.

[0005] Therefore, it is necessary to provide a positioning tool and a positioning system that can expand the effective recognition range of the camera. Utility Model Content

[0006] In order to solve at least one aspect of the above-mentioned problems and defects in the prior art, an embodiment of the present invention provides a positioning tool and a positioning system, which can at least solve the problem that the positioning tool cannot be identified when facing away from the camera.

[0007] According to one purpose of the present utility model, a positioning tool is provided.

[0008] According to another object of the present invention, a positioning system is also provided.

[0009] According to one aspect of the present invention, a positioning tool is provided. The positioning tool comprises:

[0010] Supporting body;

[0011] An identification unit provided on the supporting body and configured to be identified by a collection device at multiple viewing angles; and

[0012] A contact unit that directly or indirectly contacts the subject is provided on at least one end of the support body.

[0013] Specifically, the recognition unit is at least partially exposed to the effective recognition range of the acquisition device at any viewing angle.

[0014] Furthermore, the recognition unit includes at least three recognition modules.

[0015] Among the at least three identification modules, at most two identification modules are arranged colinearly on the support body.

[0016] Specifically, the recognition unit includes an active recognition module and / or a passive recognition module.

[0017] The light emitted by the active identification module is displayed on at least part of the surface of the supporting body.

[0018] The passive identification module is at least partially disposed on the surface of the supporting body.

[0019] Furthermore, when the recognition unit includes an active recognition module, the active recognition module is arranged inside the supporting body, and one or more side surfaces of the supporting body at positions corresponding to the active recognition module are set as transparent surfaces.

[0020] Specifically, the transparent surface has a texture structure for avoiding specular reflection.

[0021] Specifically, a power supply unit for supplying power to the active identification module is provided inside the supporting body.

[0022] The active identification module is an infrared light emitting unit.

[0023] Further, when the recognition unit includes a passive recognition module, the passive recognition module is protrudingly provided on the surface of the support body.

[0024] Specifically, the passive identification module is fixed to the surface of the supporting body through a connecting piece.

[0025] A supporting element is provided between the passive identification module and the supporting body.

[0026] Furthermore, the size of the passive identification module is greater than the width of the surface of the supporting body on the same side thereof.

[0027] Furthermore, the passive identification module is a small reflective ball, and the outer diameter of the small reflective ball is larger than the width of the surface of the supporting body located on the same side as the small reflective ball.

[0028] Specifically, the supporting body includes a first body, a second body and a third body, at least one identification module is respectively arranged on the first body, the second body and the third body, the contact unit is arranged at one end of the first body, and the other end of the first body is connected to the second body and the third body, and at least two bodies among the first body, the second body and the third body are arranged coplanar with each other.

[0029] Preferably, the top of the second body and the top of the third body are each provided with an identification module.

[0030] The second body and the third body are arranged at a first angle, the second body and the first body are arranged at a second angle, and the third body and the first body are arranged at a third angle.

[0031] More preferably, the identification module on the second body and the identification module on the third body are arranged asymmetrically.

[0032] The angle range of the second angle and the third angle is set to 90° to 180°.

[0033] The first angle is set to range from 20° to 180°.

[0034] Specifically, the shape of the support body is set to be an asymmetric "Y" shape.

[0035] The at least three identification modules include a first identification module, a second identification module, a third identification module and a fourth identification module. The first identification module and the second identification module are arranged side by side and at intervals on the same side of the first body, the third identification module is arranged at the top of the second body, and the fourth identification module is arranged at the top of the third body. The second body and the third body are arranged asymmetrically.

[0036] Furthermore, a supporting connection member is provided between the second body and the third body, and / or

[0037] A gripping unit is provided at one end of the supporting body close to the contact unit.

[0038] Specifically, when a supporting connection member is provided between the second body and the third body, the supporting connection member is provided as a curved connection segment.

[0039] When a holding unit is provided at one end of the supporting body close to the contact unit, the holding unit is a non-reflective silicone sleeve provided at one end of the first body close to the contact unit, and the non-reflective silicone sleeve is detachably mounted on one end of the first body close to the contact unit.

[0040] Specifically, the support body is configured as a non-mirror reflective support member.

[0041] The first body, the second body and the third body are integrally formed or detachably connected.

[0042] The shape of the first body is set to be any one of a regular tetrahedron, a cylinder and a trihedron,

[0043] The shape of the second body is set to any one of a regular tetrahedron, a cylinder and a trihedron,

[0044] The shape of the third body is set to any one of a regular tetrahedron, a cylinder and a trihedron.

[0045] The shapes of any two of the first body, the second body, and the third body are set to be the same or different.

[0046] Furthermore, the contact unit includes a tip portion, the shape of an end of the tip portion that directly or indirectly contacts the subject is set to be blunt, and the tip portion is integrally formed with the support body or is detachably connected.

[0047] Furthermore, the tip portion comprises at least two tip segments detachably connected to each other,

[0048] The tip is set as a transparent silicone pen tip.

[0049] The contact unit further includes a pen head provided with a cavity for accommodating a tip portion, wherein the tip portion is detachably and partially disposed in the pen head.

[0050] Specifically, a groove or vent hole is provided on the inner wall of the pen tip close to the cavity for connecting the cavity with the outside world.

[0051] When the contact unit only includes a detachable tip portion, the support body is provided with an inner cavity for accommodating the tip portion, and a groove or vent hole is provided at one end of the support body close to the tip portion to connect the inner cavity with the outside.

[0052] The pen tip is integrally formed with the supporting body or is detachably connected.

[0053] According to another aspect of the present invention, a positioning system is provided. The positioning system includes:

[0054] control equipment;

[0055] Acquisition equipment, connected to the control equipment signal; and

[0056] The positioning tool recognized by the acquisition device is the positioning tool described in the above aspects.

[0057] Specifically, the positioning system further includes a foot switch for sending a signal to the control device when the positioning tool is registered, and the foot switch is connected to the control device by wire or wirelessly, or

[0058] A control button connected to the positioning system signal is provided on the supporting body of the positioning tool.

[0059] The positioning tool and positioning system provided by the embodiments of the present invention have at least one of the following advantages:

[0060] (1) The positioning tool and positioning system of the present invention can be recognized by the acquisition device at multiple viewing angles, even in 360° directions (i.e., at any viewing angle), by arranging the recognition module at the top of the supporting body;

[0061] (2) The positioning tool and positioning system of the present invention can adapt to different operating environments by designing the recognition module as an active recognition module and / or a passive recognition module. For example, when the operating environment is not well lit, the active recognition module is more conducive to the acquisition device capturing the image. When the operating environment is not well lit, the passive recognition module is more conducive to the acquisition device capturing the image.

[0062] (3) The positioning tool and positioning system of the present invention increase the stability of the positioning tool by providing a connecting piece between the second body and the third body;

[0063] (4) The positioning tool and positioning system of the present invention improve the experience during the holding process by designing the holding unit;

[0064] (5) The positioning tool and positioning system of the present invention use components with high structural strength, made of non-reflective materials or processes, and with good biocompatibility, which increases the accuracy of the positioning tool being recognized by the acquisition equipment, reduces the probability of recognition errors and the weight of the positioning tool;

[0065] (6) The positioning tool and positioning system of the present invention reduce the risk of injury to the user or subject by designing one end of the tip to be blunt-tipped;

[0066] (7) The positioning tool and positioning system of the present invention reduce the resistance of the tip portion being fastened in the pen tip by designing the pen tip portion with a groove or vent hole that is connected to the outside world. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] These and / or other aspects and advantages of the present invention will become apparent and readily understood from the following description of preferred embodiments in conjunction with the accompanying drawings, in which:

[0068] Figure 1 1 is a schematic structural diagram of a positioning tool according to an embodiment of the present utility model;

[0069] Figure 2A for Figure 1 A schematic structural diagram of another modified embodiment of the support body shown;

[0070] Figure 2B 2 is a schematic structural diagram of another modified embodiment of the contact unit shown in FIG;

[0071] Figure 3 for Figure 1 The structural diagram of another modified embodiment of the support body shown;

[0072] Figure 4 for Figure 3 The schematic structural diagram of the contact unit shown;

[0073] Figure 5 for Figure 3 The schematic diagram of the structural model of the positioning tool shown;

[0074] Figure 6 for Figure 1 Schematic diagram of the positioning tool setting shown. DETAILED DESCRIPTION

[0075] The following examples and accompanying drawings further illustrate the technical solution of the present invention. In the specification, the same or similar reference numerals indicate the same or similar components. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the overall inventive concept of the present invention and should not be construed as limiting the present invention.

[0076] See also Figure 1 , which shows a positioning tool 100 according to one embodiment of the present invention. Positioning tool 100 includes a support body 10, an identification unit 20, and a contact unit 30. The identification unit 20 is disposed on the support body 10 and is used to be recognized by a collection device (not shown) under multiple viewing angles. The contact unit 30 is disposed on at least one end of the support body 10 and is in direct or indirect contact with the subject during use.

[0077] In one example, the acquisition device can be configured as any one of a camera, a visual system, a monitoring device, a photosensitive device, etc., or any combination thereof.

[0078] In an example, the acquisition device can sense (eg, identify, capture, observe, detect, monitor, etc.) any angle in 360° to the recognition unit 20 .

[0079] In one example, the contact unit 30 may be provided on any one end of the support body 10 , or on any two or more of all ends of the support body 10 .

[0080] In one example, when in use, the contact unit 30 can directly contact the subject (not shown), and of course can indirectly contact the subject, for example, when the subject wears protective equipment (e.g., a protective mask, gauze, etc.) on the corresponding part.

[0081] In one example, the recognition unit 20 is at least partially exposed to the effective recognition range of the acquisition device at any viewing angle of the acquisition device. This configuration allows the acquisition device to still acquire (e.g., identify, capture, observe, detect, monitor) the recognition unit 20 when the positioning tool 100 is rotated so that the recognition unit 20 faces away from the acquisition device (e.g., the positioning tool 100 faces partially or completely away from the acquisition device).

[0082] For example, the recognition unit 20 can be designed as a target object that is larger than the support body 10, so that the recognition unit 20 can be partially exposed within the effective recognition range of the acquisition device at any viewing angle of the acquisition device. This example is merely an illustrative example and should not be construed by those skilled in the art as limiting the present invention.

[0083] For another example, the recognition unit 20 can be designed as a light-emitting unit, so that the recognition unit 20 can be partially or fully recognized at any viewing angle within the effective field of view of the acquisition device, thereby increasing the flexibility of the viewing angles that can be captured. This example is merely an illustrative example and should not be construed by those skilled in the art as limiting the present invention.

[0084] Those skilled in the art will appreciate that the effective recognition range should be broadly understood as the visual range of the acquisition device. Examples include the viewing angle range, visual distance range, and so on. Those skilled in the art will appreciate that the effective recognition range of an acquisition device varies depending on its specific product type and model, and those skilled in the art can select the appropriate range based on actual needs.

[0085] In one embodiment, the recognition unit 20 includes at least three recognition modules. That is, the recognition unit 20 may include a first recognition module, a second recognition module, and a third recognition module. Of course, those skilled in the art will appreciate that the recognition unit 20 may also include a fourth recognition module, a fifth recognition module, and so on. The number of recognition units 20 can be designed based on actual needs and may be 3, 4, 5, 8, or more.

[0086] In one example, at least three recognition modules are disposed at different positions of the support body 10 , as long as they can be sensed at any viewing angle of the acquisition device and within its effective recognition range.

[0087] In one example, among the at least three recognition modules, at most two recognition modules are collinearly arranged on the support body 10. That is, among the at least three recognition modules, any two recognition modules may form a straight line in space (for example, a portion of any two recognition modules may be located on the same straight line in space, or all of any two recognition modules may be located on the same straight line in space). However, the two recognition modules may be arranged in the same space or on the same plane, or in different planes or in different spaces.

[0088] In one example, three or more recognition modules in the recognition unit 20 cannot be arranged in a collinear manner. Through such a design, it is possible to avoid inaccurate data obtained during the recognition and / or positioning process of the recognition unit 20, or even the inability to resolve its spatial position.

[0089] In one embodiment, the recognition unit 20 includes an active recognition module 201 and / or a passive recognition module 202. That is, the recognition unit 20 may include only the active recognition module 201, only the passive recognition module 202, or both the active recognition module 201 and the passive recognition module 202.

[0090] For example, when the recognition unit 20 includes a first recognition module 21, a second recognition module 22, a third recognition module 23, and a fourth recognition module 24, the first recognition module 21, the second recognition module 22, the third recognition module 23, and the fourth recognition module 24 can all be active recognition modules 201 or all be passive recognition modules 202. Figure 1 As shown, the first recognition module 21 and the second recognition module 22 are active recognition modules 201 , and the third recognition module 23 and the fourth recognition module 24 are passive recognition modules 202 .

[0091] In one example, the light emitted by the active identification module 201 is displayed on at least a portion of the surface of the support body 10. For example, the light emitted by the active identification module 201 can at least partially pass through the support body 10 and be collected by the collection device. For example, the active identification module 201 can be a portion of the support body 10, and this portion of the support body 10 is made of a transparent material such as acrylic. In another example, the active identification module 201 can be a light-emitting device (such as an infrared light emitting unit, or a unit emitting light in other spectral bands) that is disposed on the support body 10. When the light-emitting device emits light, the collection device can capture the light emitted by the light-emitting device at any viewing angle. In another example, the active identification module 201 can cooperate with the support body 10 to form a light-emitting unit. The energy emitted by the active identification module 201 in the form of light or the like excites a special material on the support body 10, such as a fluorescent material, thereby emitting a light signal that can be captured by the collection device, thereby causing the corresponding surface of the support body 10 to display the emitted light. That is to say, the light emitted by the active identification module 201 can be the light emitted by the active identification module 201 itself, or it can be the light emitted by the active identification module 201 in the form of electrical energy, magnetic energy, mechanical energy, light energy, etc. to stimulate the surface of the supporting body 10, so that the corresponding part of the surface of the supporting body 10 emits and displays light that can be collected by the collection device.

[0092] In one example, if Figure 1 As shown, the active identification module 201 may be completely embedded in the support body 10 , and the light emitted by the active identification module 201 may be partially or completely transmitted to the outside through the surface of the support body 10 .

[0093] In one example, the active identification module 201 may be partially embedded in the support body 10, with the remaining portion protruding from the surface of the support body 10. Light emitted by the active identification module 201 may be emitted to the outside world through the portion protruding from the surface of the support body 10. Alternatively, light emitted by the active identification module 201 may be emitted to the outside world through the portion protruding from the surface of the support body 10, while the portion embedded in the support body 10 is transmitted to the outside world through the surface of the support body 10. This example is merely illustrative and should not be construed by those skilled in the art as limiting the present invention.

[0094] For example, Figure 1 As shown, the active identification module 201 is arranged inside the supporting body 10 (for example, completely embedded inside it or partially embedded inside it), and one or more side surfaces of the supporting body 10 at the position corresponding to the active identification module 201 are set as transparent surfaces (for example, transparent material surfaces such as acrylic) to transmit the light emitted by the active identification module 201.

[0095] For another example, the support body 10 may be provided with a fluorescent material on one or more sides, and the active identification module 201 may be provided on a portion corresponding to the fluorescent material. The active identification module 201 may emit energy in the form of light or other means to excite a special material, such as a fluorescent material, on the support body 10, thereby emitting a light signal that can be captured by a data collection device. The surface of the fluorescent material may be part of the active identification module 201 or part of the support body 10.

[0096] In one example, the transparent surface (not shown) has a textured structure to prevent specular reflection. For example, the transparent surface can be frosted, have raised granular features, have stripes, or have a textured surface, as long as it does not affect the light emitted by the active recognition module collected by the acquisition device. This example is merely illustrative and should not be construed by those skilled in the art as a limitation of the present invention.

[0097] In one example, the active identification module 201 can be arranged along part of the circumference or the entire circumference of the support body 10. For example, when the support body 10 is a cylinder, the active identification module 201 can be arranged in a circular ring shape, which is arranged along the circumferential direction of the support body 10, so that the circumferential surface of the support body 10 has light that can be collected by the collection device (for example, it directly transmits the light emitted by the active identification module 201 and / or the active identification module 201 directly emits light to the outside world). For another example, when the support body 10 is a cylinder, the active identification module can be arranged in a C-shape, which is arranged along the circumferential direction of the support body 10, so that part of the circumferential surface of the support body 10 (for example, it directly transmits and / or is emitted by the active identification module) has light that can be collected by the collection device. It will be understood by those skilled in the art that the support body 10 can also be arranged in a truncated cone, cone, prism, pyramid or polyhedron shape, etc. This example is only an illustrative example, and those skilled in the art should not be understood as a limitation of the present invention. The shape of the surface of the active recognition module 201 facing the support body 10 can be set to be circular, annular, C-shaped (such as Figure 1 As shown), D-shaped (as Figure 1 As shown), triangles, quadrilaterals, polygons, etc. This example is only an illustrative example, and those skilled in the art should not be understood as a limitation of the present invention.

[0098] In one example, a power supply unit (not shown) is provided inside the support body 10 for supplying power to the active identification module 201. The power supply unit can be a battery, a solar energy conversion unit, a wireless charging receiving unit, other energy conversion units, a circuit board that can be connected to a power source, etc.

[0099] In one example, the passive identification module 202 is at least partially disposed on the surface of the support body 10. For example, the passive identification module 202 can be entirely protruding from the surface of the support body 10, or partially protruding from the surface of the support body 10 while the rest is embedded in the support body 10.

[0100] In one example, the passive identification module 202 is configured as a reflective device to reflect ambient light or light emitted by an emitting device to a collection device, and the reflected light is collected by the collection device (e.g., identified, captured, detected, monitored, etc.).

[0101] In one example, the passive identification module 202 is fixed to the surface of the support body 10 via a connector (not shown). For example, the passive identification module 202 can be fixed to the surface of the support body 10 via bonding, snap-fitting, welding, threaded connection, screw connection, etc. In other words, the connector can be an adhesive material (such as an adhesive), a snap-fit ​​connector, a welding material, a threaded connector, a screw connector, a gasket (e.g., 2 mm to 4 mm), etc. This example is merely illustrative and should not be construed by those skilled in the art as limiting the present invention.

[0102] In one example, if Figure 1 As shown, a support element 40 is provided between the passive identification module 202 and the support body 10. One end of the support element 40 is connected to the passive identification module 202, and the other end is connected to the support body 40. The provision of the support element 40 allows the passive identification module 202 to protrude as much as possible within the effective field of view of the acquisition device, thereby increasing the acquisition device's visible range of the passive identification module 202.

[0103] In one example, the shape of the support element 40 can be a hollow cylinder, a hollow annular piece, a hollow polygonal piece, a hollow polyhedron, or the like. For example, when the passive identification module 202 is secured via a threaded connector, one end of the threaded connector is inserted into the passive identification module 202 and fixedly connected, while the other end is threadedly connected to the support body 10 after the support element 40 is sleeved. For another example, when the passive identification module 202 is secured via an adhesive, the support element 40 is fixedly connected to one end of the hollow cylinder, and then the other end of the hollow cylinder is bonded to the support body 10 via the adhesive. This example is merely illustrative and should not be construed by those skilled in the art as a limitation of the present invention.

[0104] In one example, the size of the passive recognition module 202 is larger than the width of the surface of the support body 10 on the same side thereof. This configuration can prevent the passive recognition module 202 from being blocked by the support body 10 when facing away from the acquisition device.

[0105] In one example, the passive identification module 202 is a reflective ball whose outer diameter is greater than the width of the surface of the supporting body on the same side as the reflective ball. For example, the reflective ball can be an infrared reflective ball, or a reflective ball that reflects light of other wavelengths, or a fully reflective ball. This example is merely illustrative and will not be enumerated here. Those skilled in the art should not interpret this as a limitation of the present invention.

[0106] For example, when the support body 10 is set to have a cross-sectional shape of any one of a regular quadrilateral (when the support body 10 rotates, each rotation is 90°), a regular hexagon, a regular octagon, etc., the first identification module 21 in the support body 10 is set to a spherical shape and fixed on one side of the support body 10, the spherical diameter (i.e., the outer diameter of the sphere) of the first identification module 21 is larger than the width of the side to which it is fixed (such as the side length of the regular hexagon).

[0107] For another example, when the support body 10 is set to a spherical shape and the first recognition module 21 in the passive recognition module 202 is set to a rectangular parallelepiped, the length of the first recognition module 21 is set to be greater than the diameter of the sphere so that the acquisition device can acquire the passive recognition module 202.

[0108] In one example, Figure 2A and Figure 2B As shown, the support body 10 includes a first body 11, a second body 12, and a third body 13. At least one identification module is provided on each of the first body 11, the second body 12, and the third body 13. A contact unit 30 is provided at one end of the first body 11, and the other end of the first body 11 is connected to the second body 12 and the third body 13. At least two of the first body 11, the second body 12, and the third body 13 are arranged coplanar with each other.

[0109] In one example, the first body 11, the second body 12, and the third body 13 are integrally formed or detachably connected. For example, the first body 11, the second body 12, and the third body 13 may be integrally formed, or detachably connected. Alternatively, the first body 11 and the second body 12 may be integrally formed and then detachably connected to the third body 13, or the second body 12 and the third body 13 may be integrally formed and then detachably connected to the first body 11. This example is merely illustrative and should not be construed by those skilled in the art as limiting the present invention.

[0110] In one example, the shape of the first body 11 is set to any one of a regular tetrahedron, a cylinder, and a trihedron, the shape of the second body 12 is set to any one of a regular tetrahedron, a cylinder, and a trihedron, and the shape of the third body 13 is set to any one of a regular tetrahedron, a cylinder, and a trihedron. The shapes of any two of the first body 11, the second body 12, and the third body 13 are set to be the same or different. In other words, the shapes of the first body 11, the second body 12, and the third body 13 can be the same or different. For example, the shapes of the three bodies can be the same or different, and of course two of them can be the same but different from one another.

[0111] In one example, combining Figures 2A-4 As shown, the contact unit 30 includes a tip portion 31. The tip portion 31 has a blunt tip 311 at one end that directly or indirectly contacts the subject. The tip portion 31 is integrally formed with the support body 10 or is detachably connected thereto.

[0112] For example, the tip portion 31 is integrally formed with the support body 10 (eg Figure 2B As shown), the tip portion 31 is configured to be a blunt cone. For another example, the tip portion 31 can also be configured to be detachably connected to the support body 10 (as shown). Figure 2A As shown), one end of the tip portion 31 can be connected to the support body 10 by a slot, a threaded connection, a mortise and tenon connection, etc. This example is only an illustrative example, and those skilled in the art should not be understood as a limitation of the present invention.

[0113] In one example, since the tip 31 needs to be in direct contact with the subject's skin, it needs to meet the requirements of medical device biocompatibility (i.e., the ability of the tip 31 to induce an appropriate reaction when in contact with the subject's skin). However, there are not many materials that can meet the biocompatibility requirements, and their properties are likely to conflict with other functions of the positioning tool 100 (for example, easy to deform or bend). Therefore, the tip 31 is configured as a transparent silicone pen tip 312 (such as Figure 4 For example, the support body 10 and the tip portion 31 are combined into a bullet shape, wherein the transparent silicone pen tip 312 is set to a bullet tip shape (as shown). Figure 2A As another example, the transparent silicone pen tip 312 is configured as a blunt needle or blunt needle tube pen tip.

[0114] In one example, combining Figure 3 and Figure 4 As shown, the contact unit 30 further includes a pen tip 32. The pen tip 32 is provided with a cavity 321 for accommodating the tip portion 31. The tip portion 31 is detachably and partially disposed in the pen tip 32. One end of the tip portion 31 is inserted into the space 321 of the pen tip 32, and the other end protrudes from the pen tip 32. During use, the tip portion 31 (e.g., the blunt end 311 of the tip portion 31) is in direct or indirect contact with the subject.

[0115] In one example, if Figure 4As shown, the cavity 321 can be configured as a cavity extending through opposite ends of the pen tip 32. When the cavity 321 of the pen tip 32 is configured as a cavity extending through both ends of the pen tip 32, the tip portion 31 can be designed to be integrally formed with the support body 10 or the pen tip 32 or to be detachably connected. Of course, the cavity 321 can also be configured to have only one end open on the surface of the end of the pen tip 32 away from the support body 10. When only one end of the cavity 321 is open on the surface of the pen tip 32, the tip portion 31 is integrally formed with the pen tip 32 or to be detachably connected.

[0116] In one example, the tip portion 31 can be configured as an extendable type, that is, the tip portion 31 can be extended as needed to be composed of at least two tip segments (not shown). Thus, the user can adjust the length of the tip portion 31 according to actual needs.

[0117] In one example, the shape of the cavity 321 is configured to be consistent with the shape of the outer surface of the tip portion 31 , and the size of the cavity 321 is slightly larger than the tip portion 31 so as to accommodate and fix the tip portion 31 .

[0118] In one example, the pen tip 32 is integrally formed with the support body 10 or is detachably connected. That is, the pen tip 32 and the tip portion 31 are both integrally formed with the support body 10. Of course, it can also be arranged that the pen tip 32 and the tip portion 31 are integrally formed and then detachably connected to the support body 10 (for example, threaded connection, snap connection, etc.). Of course, it can also be arranged that after the pen tip 32 and the support body 10 are integrally formed, the tip portion 31 is detachably connected to the pen tip 32 or the support body 10 (for example, threaded connection, snap connection, etc.). Of course, it can also be arranged that after the tip portion 31 and the support body 10 are integrally formed, the pen tip 32 and the tip portion 31 or the support body 10 are detachably connected (for example, threaded connection, snap connection, etc.). Of course, it is also possible that the tip 31, the pen tip 32 and the support body 10 are all detachably connected, for example, the tip 31 and the pen tip 32 are detachably connected, and then the tip 31 or the pen tip 32 are detachably connected to the support body 10. For another example, after the tip 31 and the support body 10 are detachably connected, the pen tip 32 is detachably connected to the tip 31 or the support body 10. For another example, after the pen tip 32 and the support body 10 are detachably connected, the tip 31 and the pen tip 32 or the support body 10 are detachably connected.

[0119] In one example, in order to achieve a detachable connection between the tip portion 31 and the pen head 32, a threaded adjustment rod is provided on the pen head 32 for fixing the tip portion 31, one end of which is provided outside the pen head 32. When in use, by rotating the end located outside the pen head 32, the other end is made to contact or separate from the tip portion 31 in the cavity 321, so as to achieve fixation, position adjustment and / or disassembly of the tip portion 31.

[0120] In one example, if Figure 4 As shown, to prevent an airtight seal between the tip 31 and the pen tip 32, a groove or vent 33 is provided on the inner wall of the pen tip 32 near the cavity 321 to connect the cavity 321 to the outside world. This allows one end of the groove or vent 33 to connect to the outside world, while the other end connects to the cavity 321 or to a through-hole for accommodating an adjustment rod, screw, or other device. Those skilled in the art will appreciate that when the contact unit 30 includes only the tip 31 and the tip 31 is detachably connected to the support body 10, a groove and vent 33 may also be provided in the inner cavity of the support body 10 for accommodating or mounting the tip 31, connecting the inner cavity to the outside world. This design is an equivalent alternative to the groove or vent 33 provided in the cavity 321 of the pen tip 32. Those skilled in the art may also adopt other designs with the same effect to replace the design of the present invention. The design provided in the present invention is merely an illustrative example and should not be construed as limiting the present invention.

[0121] In one example, Figure 5 and Figure 6 As shown, an identification module is provided at the top of each of the second body 12 and the third body 13 of the support body 10. This arrangement significantly expands the viewing angle of the identification module of the positioning tool 100 with respect to the acquisition device, enabling the support body 10 and / or the identification module to be recognized, captured, detected, or monitored by the acquisition device at any viewing angle. This eliminates the need for the user to deliberately orient the identification module toward the acquisition device during operation, thereby effectively improving operational convenience.

[0122] In one example, the identification modules on the second body 12 and the identification modules on the third body 13 are arranged asymmetrically to facilitate the calculation and positioning of the spatial positions of each identification module and / or the supporting body 10 (e.g., the tip 31). Figure 1 and Figure 5 The third identification module 23 and the fourth identification module 24 are shown to be arranged asymmetrically. Of course, those skilled in the art will understand that any active identification module, passive identification module, or combination of active and passive identification modules provided on the second body 12 and the third body 13 should be arranged asymmetrically.

[0123] In one example, if Figure 6 As shown, the second body 12 and the third body 13 are arranged at a first angle α, the second body 12 and the first body 11 are arranged at a second angle β, and the third body 13 and the first body 11 are arranged at a third angle θ.

[0124] For example, the second angle β and the third angle θ are set to a range of 90° to 180°, and the first angle α is set to a range of 20° to 180°. Those skilled in the art will appreciate that the second angle β and the third angle θ between the first body 11 and the second body 12 and the third body 13, respectively, as well as the first angle α between the second body 12 and the third body 13, are designed to be as wide as possible (i.e., as large as possible) to facilitate the acquisition device in locating each recognition module.

[0125] In one example, the shape of the support body 10 is set to be an asymmetric "Y" shape to avoid inaccurate positioning of the identification module or even failure to position the identification module due to spatial symmetric arrangement.

[0126] In one example, the support body 10 may avoid being arranged in a nearly symmetrical "T" shape to ensure that each identification module can be simultaneously visible to the acquisition device.

[0127] In one example, the distances between the various recognition modules can be designed to be equidistant, or can be designed to be unequal as needed.

[0128] In one example, the at least three recognition modules include a first recognition module 21, a second recognition module 22, a third recognition module 23, and a fourth recognition module 24. The first recognition module 21 and the second recognition module 22 are arranged side by side and spaced apart on the same side of the first body 11, the third recognition module 23 is arranged at the top of the second body 12, and the fourth recognition module 24 is arranged at the top of the third body 13. The second body 12 and the third body 13 are arranged asymmetrically, so that the third recognition module 23 and the fourth recognition module 24 are arranged asymmetrically with each other, thereby ensuring that the first recognition module 21, the second recognition module 22, the third recognition module 23, and the fourth recognition module 24 can be simultaneously recognized, captured, detected, or monitored by the collection device.

[0129] In one example, to ensure and / or enhance the stability of the support body 10, a support connector 14 is provided between the second body 12 and the third body 13. One end of the support connector 14 is connected to the end of the second body 12 near the top identification module, and the other end is connected to the end of the third body 13 near the top identification module. The support connector 14 is integrally formed with the second body 12 and the third body 13.

[0130] In one example, when a support connector 14 is provided between the second body 12 and the third body 13, the support connector 14 is configured as a curved connecting segment, such as an arc-shaped connecting segment, a wavy chain-shaped connecting segment, an "8"-shaped connecting segment, a bridge-shaped connecting segment, etc. Of course, those skilled in the art can also configure it to be a straight line, a triangle, an arrow-shaped connecting segment, etc., which are not listed here. This example is merely illustrative and should not be construed by those skilled in the art as limiting the present invention.

[0131] In one example, Figure 6 As shown, a gripping unit 50 is provided at one end of the support body 10 close to the contact unit 30. For example, a gripping unit 50 is provided at one end of the first body 11 close to the contact unit 30 (for example, the tip 31). The gripping unit 50 is configured as a non-reflective silicone sleeve, which is detachably mounted on the first body 11 when in use. Of course, those skilled in the art will appreciate that the non-reflective silicone sleeve can also be fixed to the support body 10 (for example, the first body 11). The gripping unit 50 can be configured as a non-reflective hard silicone sleeve, a non-reflective silicone hollow cylinder, a non-reflective silicone hollow cube, a non-reflective silicone hollow polyhedron, a non-reflective silicone hollow sphere, etc. This example is merely an illustrative example, and those skilled in the art should not understand it as a limitation of the present invention.

[0132] In one example, the gripping unit 50 may be integrally formed or separately provided, and those skilled in the art may determine this based on actual needs. This example is merely an illustrative example and those skilled in the art should not understand it as a limitation of the present invention.

[0133] In one example, the support body 10 is configured as a non-mirror reflective support member, including but not limited to a non-mirror reflective support frame, a non-mirror reflective support rod, a non-mirror reflective support kit, an aluminum alloy support frame, an aluminum alloy support rod, an aluminum alloy support kit, a titanium alloy support frame, a titanium alloy support rod, a titanium alloy support kit, an anodized aluminum support frame, an anodized aluminum support rod, an anodized aluminum support kit, etc.

[0134] For example, when the support body 10 of the positioning tool 100 does not meet the hardness requirements, it is prone to deformation or bending, or when the support body 10 is designed in a split style, decoupling between the main body and the main body, and between the components occurs because the biocompatibility requirements cannot be met. Therefore, in order to ensure that the support body 10 is both biocompatible and can meet the hardness requirements of the calibration tool, the support body 10 is designed as an aluminum alloy support frame. At the same time, through such a design, the positioning tool 100 also achieves a lightweight design, and takes into account anti-drop, cost expenditure, etc., and is also convenient for replacing and using the tip 31 of different materials, different lengths and different shapes.

[0135] In one embodiment, the present invention further provides a positioning system (not shown). The positioning system includes a control device (not shown), a collection device (not shown), and a positioning tool 100. The collection device is signal-connected to the control device. The positioning tool 100 is any of the positioning tools 100 described in the above embodiments.

[0136] In one example, the positioning system further includes a foot switch (not shown) for sending a signal to the control device when the positioning tool 100 is registered. The foot switch is connected to the control device by wire or wirelessly (e.g., USB connection, WiFi connection, Bluetooth connection, etc.). For example, the foot switch is a control switch (not shown) that can issue a command.

[0137] In one example, a control button connected to the positioning system signal is provided on the support body 10 of the positioning tool 100. The control button is a control switch (not shown) provided on the positioning tool 100 for issuing instructions to the positioning system. The control switch is connected to the positioning system by wire or wirelessly (for example, USB connection, WiFi connection, Bluetooth connection, etc.).

[0138] For example, the foot switch can send a signal to the control device during the registration process of the positioning tool 100 to confirm, modify, or cancel the operation, thereby completing the registration of the positioning tool 100 in the positioning system. The design of a wired foot switch can reduce the overall weight of the positioning tool 100, avoid the disadvantages of needing to re-pair the wireless connection when it is disconnected, and avoid the influence (e.g., interference) of other signals (such as Wi-Fi, microwave oven, and mobile phone signals) on the signal of the positioning tool 100.

[0139] For another example, the control button can communicate with the control device of the positioning system through a proprietary protocol, and simulate keyboard input to complete operations such as confirmation, modification, and cancellation of the positioning tool 100 during the calibration registration process.

[0140] The positioning tool and positioning system provided by the embodiments of the present invention have at least one of the following advantages:

[0141] (1) The positioning tool and positioning system of the present invention can be recognized by the acquisition device at multiple viewing angles, even in 360° directions (i.e., at any viewing angle), by arranging the recognition module at the top of the supporting body;

[0142] (2) The positioning tool and positioning system of the present invention can adapt to different operating environments by designing the recognition module as an active recognition module and / or a passive recognition module. For example, when the operating environment is not well lit, the active recognition module is more conducive to the acquisition device capturing the image. When the operating environment is not well lit, the passive recognition module is more conducive to the acquisition device capturing the image.

[0143] (3) The positioning tool and positioning system of the present invention increase the stability of the positioning tool by providing a connecting piece between the second body and the third body;

[0144] (4) The positioning tool and positioning system of the present invention improve the experience during the holding process by designing the holding unit;

[0145] (5) The positioning tool and positioning system of the present invention use components with high structural strength, made of non-reflective materials or processes, and with good biocompatibility, which increases the accuracy of the positioning tool being recognized by the acquisition equipment, reduces the probability of recognition errors and the weight of the positioning tool;

[0146] (6) The positioning tool and positioning system of the present invention reduce the risk of injury to the user or subject by designing one end of the tip to be blunt-tipped;

[0147] (7) The positioning tool and positioning system of the present invention reduce the resistance of the tip portion being fastened in the pen tip by designing the pen tip portion with a groove or vent hole that is connected to the outside world.

[0148] Although some embodiments of the overall inventive concept of the present invention have been shown and described, it will be understood by those skilled in the art that changes may be made to these embodiments without departing from the principles and spirit of the overall inventive concept of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A positioning tool, characterized in that: The positioning tool includes: Supporting body; An identification unit provided on the supporting body and configured to be identified by a collection device at multiple viewing angles; and A contact unit that directly or indirectly contacts the subject is provided on at least one end of the support body.

2. The positioning tool according to claim 1, characterized in that The recognition unit is at least partially exposed to the effective recognition range of the acquisition device at any viewing angle.

3. The positioning tool according to claim 2, characterized in that The recognition unit includes at least three recognition modules. Among the at least three identification modules, at most two identification modules are co-linearly arranged on the support body.

4. The positioning tool according to claim 3, characterized in that The identification unit includes an active identification module and / or a passive identification module. The light emitted by the active identification module is displayed on at least a portion of the surface of the supporting body. The passive identification module is at least partially disposed on the surface of the supporting body.

5. The positioning tool according to claim 4, characterized in that When the recognition unit includes an active recognition module, the active recognition module is disposed inside the support body, and one or more side surfaces of the support body corresponding to the active recognition module are configured as transparent surfaces.

6. The positioning tool according to claim 5, characterized in that The transparent surface has a texture structure for avoiding specular reflection.

7. The positioning tool according to any one of claims 4 to 6, characterized in that: A power supply unit for supplying power to the active identification module is provided inside the support body. The active identification module is an infrared light emitting unit.

8. The positioning tool according to claim 4, characterized in that When the identification unit includes a passive identification module, the passive identification module is protrudingly provided on the surface of the supporting body.

9. The positioning tool according to claim 8, characterized in that The passive identification module is fixed to the surface of the supporting body through a connecting piece. A supporting element is provided between the passive identification module and the supporting body.

10. The positioning tool according to claim 8, characterized in that The size of the passive identification module is larger than the width of the surface of the supporting body on the same side thereof.

11. The positioning tool according to any one of claims 8 to 10, characterized in that: The passive identification module is a small reflective ball, and the outer diameter of the small reflective ball is larger than the width of the surface of the supporting body located on the same side as the small reflective ball.

12. The positioning tool according to any one of claims 3-6 and 8-10, characterized in that The supporting body includes a first body, a second body and a third body, at least one identification module is respectively provided on the first body, the second body and the third body, the contact unit is provided at one end of the first body, and the other end of the first body is connected to the second body and the third body, and at least two bodies among the first body, the second body and the third body are provided coplanarly with each other.

13. The positioning tool according to claim 12, characterized in that The top of the second body and the top of the third body are respectively provided with an identification module. The second body and the third body are arranged at a first angle therebetween, the second body and the first body are arranged at a second angle therebetween, and the third body and the first body are arranged at a third angle therebetween.

14. The positioning tool according to claim 13, characterized in that The identification module on the second body and the identification module on the third body are arranged asymmetrically. The angle range of the second angle and the third angle is set to 90°~180°, The angle range of the first angle is set to 20°~180°.

15. The positioning tool according to claim 14, characterized in that The shape of the supporting body is set to an asymmetric "Y" shape, The at least three identification modules include a first identification module, a second identification module, a third identification module and a fourth identification module. The first identification module and the second identification module are arranged side by side and at intervals on the same side of the first body, the third identification module is arranged at the top of the second body, and the fourth identification module is arranged at the top of the third body. The second body and the third body are arranged asymmetrically.

16. The positioning tool according to claim 14, wherein: A supporting connection member is provided between the second body and the third body, and / or A gripping unit is provided at one end of the support body close to the contact unit.

17. The positioning tool according to claim 16, characterized in that When the supporting connection member is provided between the second body and the third body, the supporting connection member is provided as a curved connection segment. When a holding unit is provided at one end of the supporting body close to the contact unit, the holding unit is a non-reflective silicone sleeve provided at one end of the first body close to the contact unit, and the non-reflective silicone sleeve is detachably mounted on the end of the first body close to the contact unit.

18. The positioning tool according to claim 12, wherein: The support body is configured as a non-mirror reflective support member, The first body, the second body and the third body are integrally formed or detachably connected. The shape of the first body is set to be any one of a regular tetrahedron, a cylinder and a trihedron, The shape of the second body is set to be any one of a regular tetrahedron, a cylinder and a trihedron, The shape of the third body is set to be any one of a regular tetrahedron, a cylinder and a trihedron, The shapes of any two of the first body, the second body and the third body are set to be the same or different.

19. The positioning tool according to claim 12, wherein: The contact unit includes a tip portion, an end of the tip portion that directly or indirectly contacts the subject is configured to be blunt-headed, and the tip portion is integrally formed with the support body or is detachably connected thereto.

20. The positioning tool according to claim 19, wherein The tip portion comprises at least two tip segments detachably connected to each other, The tip portion is configured as a transparent silicone pen tip, The contact unit further includes a pen head provided with a cavity for accommodating the tip portion, and the tip portion is detachably and partially disposed in the pen head.

21. The positioning tool according to claim 20, characterized in that The inner wall of the pen tip close to the cavity is provided with a groove or vent hole for connecting the cavity with the outside world. When the contact unit only includes a detachable tip portion, the support body is provided with an inner cavity for accommodating the tip portion, and a groove or vent hole is provided at one end of the support body close to the tip portion for connecting the inner cavity with the outside. The pen tip is integrally formed with the supporting body or is detachably connected to the supporting body.

22. A positioning system, characterized in that: The positioning system comprises: control equipment; an acquisition device, the acquisition device being signal-connected to the control device; and A positioning tool recognized by the acquisition device, wherein the positioning tool is the positioning tool according to any one of claims 1 to 21.

23. The positioning system according to claim 22, wherein: The positioning system further comprises a foot switch for sending a signal to the control device when the positioning tool is registered, wherein the foot switch is connected to the control device by wire or wirelessly, or A control button connected to the positioning system signal is provided on the supporting body of the positioning tool.

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