Wide-angle optical navigation tracking device

Abstract

The utility model discloses a wide-angle optical navigation tracking device, which comprises a fixed platform, two extension arms and two optical navigation assemblies, the fixed platform comprises a fixed part and a positioning table which are fixedly connected with each other, the two extension arms are respectively arranged on two sides of the positioning table, and an inclined angle between the two extension arms is an obtuse angle; the two optical navigation assemblies are correspondingly installed at the ends of the two extension arms respectively, the arrangement range of the optical navigation assemblies is expanded and the identified angle is increased through the inclination angle and extension design of the two extension arms, and when one optical navigation assembly is shielded, the other optical navigation assembly can still be identified for use, so that the identification efficiency is improved. And the influence of interference is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to medical instrument technical field especially, and it is a wide angle optical navigation tracking device. BACKGROUND

[0002] There are many scenes needing real-time accurate positioning of each part of the human body in the field of medical instruments, such as positioning navigation for the head during transcranial magnetic stimulation navigation, positioning navigation for certain organs during operation, etc.

[0003] Among them, the treatment position and posture of the head surface are different when the transcranial magnetic stimulation technology is used to treat different diseases, and the stimulation coil needs to be placed in the correct position and posture angle after positioning. When treating, the treatment tool used by the doctor and the optical navigation tracking tool are rigidly fixed, the optical navigation system captures and identifies the tracking tool, calculates the position of the effective end of the treatment tool, and synchronously tracks the position in real time, so that the treatment tool can reach the best position and posture predetermined by medicine, and the treatment effect is improved.

[0004] However, the optical navigation system has problems such as limited tracking distance, limited tracking angle, and weak anti-shielding ability. UTILITY MODEL CONTENT

[0005] The utility model aims at the technical problem existing in the background art, and provides a wide angle optical navigation tracking device.

[0006] To achieve the above technical purpose, the utility model adopts the following technical scheme in the first aspect:

[0007] A wide angle optical navigation tracking device, comprising a fixed platform, two extension arms and two optical navigation assemblies, the fixed platform comprises a fixed part and a positioning table fixedly connected with each other, the two extension arms are respectively installed on the two sides of the positioning table and the included angle between them is obtuse, and the two optical navigation assemblies are respectively installed on the end portions of the two extension arms.

[0008] Preferably, the fixed part comprises a fastening ring and a connecting plate, the fastening ring is fixedly connected with the positioning table through the connecting plate, and the fastening ring, the connecting plate and the positioning table are integrally formed.

[0009] Preferably, the connecting plate is an L-shaped plate structure.

[0010] Preferably, a plurality of through holes are arranged on the connecting plate.

[0011] Preferably, a plurality of mounting holes are arranged on the positioning table.

[0012] Preferably, the optical navigation assembly comprises a cross base plate and four optical parts, and the four optical parts are respectively installed on the four end portions of the cross base plate.

[0013] Preferably, the horizontal-vertical structure of the cross-shaped substrate is in a non-orthogonal relationship with each other.

[0014] Preferably, the length dimensions of the four sides of the cross-shaped substrate are different from each other.

[0015] Preferably, a positioning block is arranged on the end of the extension arm, and a fixing hole is arranged at the intersection of the cross-shaped substrate, and the cross-shaped substrate is fixed on the end of the extension arm through the cooperation and connection of the fixing hole and the positioning block.

[0016] Preferably, the optical part is a light-reflecting ball.

[0017] Compared with the prior art, the utility model has the beneficial technical effects that: it comprises a fixed platform, two extension arms and two optical navigation assemblies, the fixed platform comprises a fixed part and a positioning table fixedly connected with each other, the two extension arms are respectively installed on the two sides of the positioning table and have an obtuse angle between each other, and the two optical navigation assemblies are respectively installed on the ends of the two extension arms, through the extension design and the obtuse angle of the two extension arms, the arrangement range of the optical navigation assemblies is expanded, the recognized angle is improved, and the optical navigation assemblies have two, when one is blocked, the other can still be recognized and used, and the influence of interference is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a structural schematic view of the embodiment of the utility model;

[0019] Figure 2 It is a structural schematic view of the fixed platform in the embodiment of the utility model Figure One ;

[0020] Figure 3 It is a structural schematic view of the fixed platform in the embodiment of the utility model Figure Two ;

[0021] Figure 4 It is a structural schematic view of the optical navigation assembly in the embodiment of the utility model.

[0022] The number: 100 fixed platform, 101 fixed part, 1011 fastening ring, 1012 connecting plate, 1013 through hole, 102 positioning table, 1021 mounting hole, 200 extension arm, 201 positioning block, 300 optical navigation assembly, 301 cross-shaped substrate, 3011 fixing hole, 302 optical part. DETAILED DESCRIPTION

[0023] It should be noted that the embodiments in the utility model and the features in the embodiments can be combined with each other without conflict.

[0024] In the description of the utility model, it needs to be understood that, the orientation or position relation indicated by the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is the orientation or position relation shown based on the drawings, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or component must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model. In addition, the terms "first", "second" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" and the like can explicitly or implicitly include one or more features. In the description of the utility model, the meaning of "a plurality of" is two or more, unless otherwise specified.

[0025] In the description of the utility model, it needs to be understood that, the orientation or position relation indicated by the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is the orientation or position relation shown based on the drawings, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or component must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model. In addition, the terms "first", "second" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" and the like can explicitly or implicitly include one or more features. In the description of the utility model, the meaning of "a plurality of" is two or more, unless otherwise specified.

[0026] The specific embodiments of the utility model will be described in detail below with reference to the drawings.

[0027] As Figures 1-4 shown, the utility model provides a wide-angle optical navigation tracking device, it includes fixed platform 100, two extension arms 200 and two optical navigation assemblies 300, fixed platform 100 includes fixed piece 101 and positioning table 102 mutually fixedly connected, two extension arms 200 are installed on the both sides of positioning table 102 respectively and the included angle between each other is obtuse angle, two optical navigation assemblies 300 are correspondingly installed on the end of two extension arms 200 respectively.

[0028] Specifically, two extension arms 200 are outwardly extended from fixed platform 100 in the way of abduction, so that the included angle between two extension arms 200 is obtuse angle, the specific value of the angle of the included angle is selected by actual clinical application, two optical navigation assemblies 300 are correspondingly installed on the end of two extension arms 200 respectively to serve as two coordinate positioning function devices, wherein it needs to be noted that the coordinate positioning function of two optical navigation assemblies 300 has conversion relationship, and is specifically obtained by homogeneous transformation matrix.

[0029] Before use, the optical navigation tracking device is rigidly fixed to the medical tool to be tracked (such as fixed to the treatment coil of the transcranial magnetic stimulation device), and then the medical tool is calibrated, and through the calibration, the medical tool and the tracking device position are bound, and at this time, the preset medical tool end (such as the focal point of the transcranial magnetic stimulation coil) can be tracked through the optical navigation system.

[0030] During calibration, since the conversion relationship is known, only one set of optical navigation assemblies 300 needs to be identified, and the calibration of the two sets of optical navigation assemblies 300 can be completed at the same time.

[0031] During tracking, only one set of optical navigation assemblies 300 needs to be identified, and the specified end of the medical tool used can be tracked in real time, so that the tracking can be switched between the two sets of optical navigation assemblies 300 at will, greatly increasing the angle range of tracking.

[0032] Further, the fixing member 101 includes a fastening ring 1011 and a connecting plate 1012, and the fastening ring 1011 is fixedly connected with the positioning table 102 through the connecting plate 1012, wherein the fastening ring 1011, the connecting plate 1012 and the positioning table 102 are integrally formed. The connecting plate 1012 is an L-shaped plate structure, and a plurality of through holes 1013 are arranged on the connecting plate 1012. A plurality of mounting holes 1021 are arranged on the positioning table 102.

[0033] Specifically, the fastening ring 1011 is specifically sleeved on the rod-shaped structure of the transcranial magnetic device, and of course the structure of the fastening ring 1011 can also adopt other fixing structures to adapt to more devices. The plurality of mounting holes 1021 on the positioning table 102 are used to install the required devices, and the through holes 1013 on the connecting plate 1012 are used to facilitate the arrangement of wires and the like, so as to avoid the disorder of the wires between the devices and affect the subsequent arrangement and installation.

[0034] Further, the optical navigation assembly 300 includes a cross-shaped substrate 301 and four optical members 302, the four optical members 302 are respectively installed on the four end portions of the cross-shaped substrate 301, the horizontal and vertical structures of the cross-shaped substrate 301 are in a non-orthogonal relationship, and the lengths of the four edges of the cross-shaped substrate 301 are different from each other.

[0035] The end portion of the extension arm 200 is provided with a positioning block 201, and the intersection of the cross-shaped substrate 301 is provided with a fixing hole 3011, which is connected with the positioning block 201 through the fixing hole 3011, so as to fix the cross-shaped substrate 301 on the end portion of the extension arm 200.

[0036] The optical member 302 is a reflective ball.

[0037] The above one or more embodiments provided in combination with specific content, and do not recognize the specific implementation of the utility model is limited to these descriptions. Any approximation, similarity, or replacement of the method, structure, etc. of the utility model, or the technical deduction or replacement made under the premise of the concept of the utility model, should be regarded as the protection scope of the utility model.

Claims

1. A wide-angle optical navigation and tracking device, characterized in that, include: A fixed platform (100) includes a fixing member (101) and a positioning platform (102) that are fixedly connected to each other; Two extension arms (200) are respectively installed on both sides of the positioning platform (102) and the angle between them is obtuse. Two optical navigation components (300) are respectively mounted on the ends of the two extension arms (200).

2. The wide-angle optical navigation and tracking device according to claim 1, characterized in that, The fastener (101) includes a fastening ring (1011) and a connecting plate (1012). The fastening ring (1011) is fixedly connected to the positioning platform (102) through the connecting plate (1012). The fastening ring (1011), the connecting plate (1012) and the positioning platform (102) are integrally formed.

3. The wide-angle optical navigation and tracking device according to claim 2, characterized in that, The connecting plate (1012) has an L-shaped plate structure.

4. A wide-angle optical navigation and tracking device according to claim 3, characterized in that, The connecting plate (1012) is provided with multiple through holes (1013).

5. A wide-angle optical navigation and tracking device according to claim 1, characterized in that, The positioning platform (102) is provided with multiple mounting holes (1021).

6. A wide-angle optical navigation and tracking device according to claim 1, characterized in that, The optical navigation component (300) includes a cross base plate (301) and four optical components (302), which are respectively mounted on the four ends of the cross base plate (301).

7. A wide-angle optical navigation and tracking device according to claim 6, characterized in that, The horizontal and vertical structures of the cross-shaped base plate (301) are not orthogonal to each other.

8. A wide-angle optical navigation and tracking device according to claim 6, characterized in that, The four sides of the cross-shaped base plate (301) have different lengths.

9. A wide-angle optical navigation and tracking device according to claim 6, characterized in that, The extension arm (200) has a positioning block (201) at its end, and a fixing hole (3011) is provided at the intersection of the cross base plate (301). The cross base plate (301) is fixed to the end of the extension arm (200) by cooperating with the positioning block (201) through the fixing hole (3011).

10. A wide-angle optical navigation and tracking device according to claim 6, characterized in that, The optical component (302) is a reflective sphere.

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