Tracking device and surgical robotic system

Abstract

The application relates to a tracking device and a surgical robot system. The tracking device comprises a bearing shell, a tracking piece and a cover. The bearing shell comprises a covering side, and the cover is covered with the bearing shell from the covering side. The bearing shell is internally provided with a first content section and a second content section. The first content section extends into the bearing shell from the covering side of the bearing shell. The second content section extends along the extension direction of the first content section from the part of the first content section extending into the bearing shell. The inner diameter of the first content section is larger than that of the second content section. The tracking piece is located in the first content section. The cover comprises a cover bottom and a cover wall. The cover bottom is provided with an identification through hole corresponding to the part of the tracking piece used for identification. The cross-sectional size of the tracking piece is larger than that of the identification through hole. The outer wall of the covering side of the bearing shell is provided with a bearing shell fastening step. The inner wall of the cover wall is provided with a cover fastening step corresponding to the bearing shell fastening step. The bearing shell and the cover are connected through the fastening connection of the bearing shell fastening step and the cover fastening step.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a tracking device and a surgical robot system. Background Technology

[0002] In related technologies, with the increasing aging of the population, diseases such as osteoarthritis and rheumatoid arthritis can lead to cartilage damage or abnormal wear and tear in the knee joint, causing ligament imbalance and limited flexion and extension of the lower limbs. Joint surgery is required to restore lower limb function. Therefore, hospitals are performing an increasing number of joint surgeries each year.

[0003] In joint surgeries performed by surgical robots, or those assisted by surgical robots, accurate knowledge of the position and orientation of various medical devices is crucial. This necessitates the use of tracking arrays to track the position and orientation of these devices. These tracking arrays are primarily identified by tracking devices mounted on them to achieve this tracking. However, current tracking devices are prone to structural loosening, which can affect the identification of the correct position and orientation. Utility Model Content

[0004] To address the aforementioned problems, according to a first aspect of the embodiments of this application, a tracking device is provided, applied to a tracking array and used to be identified by the outside world to determine the pose of the tracking array, comprising: a carrier shell, a tracking component, and a cover;

[0005] The carrier shell includes a closing side, and the cover closes to the carrier shell from the closing side; the carrier shell has a first content segment and a second content segment; the first content segment starts from the closing side of the carrier shell and extends into the carrier shell; the second content segment starts from the portion of the first content segment extending into the carrier shell and extends along the extending direction of the first content segment; the inner diameter of the first content segment is larger than the inner diameter of the second content segment; the cross-sectional dimension of the tracking element is less than or equal to the cross-sectional dimension of the first content segment, and the tracking element is located within the first content segment;

[0006] The cover includes a cover bottom and a cover wall, the cover wall extending from all sides of the cover bottom toward the same side of the cover bottom; the cover bottom has an identification through hole corresponding to the identification portion of the tracking component; the cross-sectional dimension of the tracking component is larger than the cross-sectional dimension of the identification through hole;

[0007] The outer wall of the cover side of the bearing shell is provided with a bearing shell fastening step; the inner wall of the cover wall is provided with a cover fastening step corresponding to the bearing shell fastening step; the bearing shell and the cover are fastened and connected by the bearing shell fastening step and the cover fastening step.

[0008] As can be seen from the above embodiments, the connection between the carrier shell and the cover is achieved by interlocking the carrier shell interlocking step and the cover interlocking step. This can effectively avoid the problem of loosening that easily occurs in high-frequency vibration scenarios when the carrier shell and the cover are connected by threads. Therefore, the interlocking connection can effectively improve the ability of the carrier shell and the cover to cope with high-frequency vibration scenarios, improve their structural stability, and thus effectively improve the reliability of the outer shell structure of the tracking device, that is, effectively improve the connection reliability between the carrier shell and the cover.

[0009] According to a second aspect of the embodiments of this application, a surgical robot system is provided, including any of the aforementioned tracking devices;

[0010] The surgical robot system also includes an array support and a robotic arm; the array support is mounted on the end of the robotic arm for movement; a plurality of tracking devices are mounted on the array support; and the plurality of tracking devices mounted on the array support are located on different straight lines.

[0011] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0012] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0013] Figure 1 This is a schematic diagram of a tracking device according to an embodiment of this application.

[0014] Figure 2 As shown in the embodiments of this application Figure 1 A cross-sectional view along section line AA.

[0015] Figure 3 This is an exploded view of a tracking device according to an embodiment of this application.

[0016] Figure 4 This is a tracking array structure shown in the embodiments of this application. Detailed Implementation

[0017] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0018] In existing robotic joint surgeries, or robot-assisted joint surgeries, accurate knowledge of the position and orientation of various medical devices is crucial for the robot to effectively assist or perform the surgery. Current tracking devices typically use threaded connections to form a single, integrated housing. However, frequent vibrations occur during the transportation and use of these devices. Particularly during orthopedic surgery, there is significant impact from hammering, grinding, or vibratory abrasion. These high-frequency vibrations can easily loosen the threaded connections, affecting the tracking device's functionality. Therefore, preventing the tracking device's housing structure from loosening due to high-frequency vibration remains a critical issue that needs to be addressed.

[0019] To address the aforementioned problems, this application provides a tracking device 10, which is applied to a tracking array and is used to be identified by external sources to determine the pose of the tracking array. Figure 1 The diagram shown is a schematic of the tracking device 10. Figure 2 What is shown is Figure 1 A cross-sectional view along section line AA. Figure 3 The image shown is an exploded view of the tracking device 10. Figure 1 , Figure 2 and Figure 3 As shown, the tracking device 10 includes: a carrier shell 11, a tracking component 12, and a cover 13.

[0020] The carrier housing 11 includes a cover side G1, and a cover 13 closes to the carrier housing 11 from the cover side G1. The carrier housing 11 has a first content segment 111 and a second content segment 112. The first content segment 111 extends into the carrier housing 11 from the cover side G1. The second content segment 112 extends along the extending direction of the first content segment 111 from the portion of the first content segment 111 extending into the carrier housing 11. The inner diameter of the first content segment 111 is larger than the inner diameter of the second content segment 112. The cross-sectional dimension of the tracking member 12 is less than or equal to the cross-sectional dimension of the first content segment 111, and the tracking member 12 is located within the first content segment 111.

[0021] The cross-sectional dimension of the tracking element 12 is less than or equal to the cross-sectional dimension of the first content segment 111. That is, the orthographic projection of the cross-section of the tracking element 12 onto the cross-section of the first content segment 111 lies within or coincides with the cross-section of the first content segment 111. Preferably, the cross-sectional dimension of the tracking element 12 is smaller than the cross-sectional dimension of the first content segment 111. By maintaining a gap between the cross-section of the tracking element 12 and the cross-section of the first content segment 111, the installation of the tracking element 12 can be facilitated, and problems such as bending of the tracking element 12 during installation can be avoided, which would affect the subsequent identification by the tracking device 10.

[0022] and, Figure 2 The first direction Y is shown. The second content segment 112 extends from the portion of the first content segment 111 that extends into the carrier shell 11, along the extension direction of the first content segment 111. That is, the second content segment 112 extends from the portion of the first content segment 111 that extends into the carrier shell 11, along the opposite direction of the first direction Y.

[0023] The cover 13 includes a cover bottom 131 and a cover wall 132, the cover wall 132 extending from all sides of the cover bottom 131 toward the same side of the cover bottom 131. The cover bottom 131 has an identification through hole 133 corresponding to the identification portion of the tracking member 12. The cross-sectional dimension of the tracking member 12 is larger than the cross-sectional dimension of the identification through hole 133.

[0024] The bottom of the cover 131 has an identification through hole 133 corresponding to the part of the tracking member 12 used for identification. That is, the orthographic projection of the part of the tracking member 12 used for identification on the bottom of the cover 131 is located inside the identification through hole 133. The orthographic projection of the part of the tracking member 12 not used for identification on the bottom of the cover 131 is located outside the identification through hole 133. Figure 2 The diagram shows the identification portion 121 of the tracking member 12 used for identification and the non-identification portion 122 not used for identification. The orthographic projection of the identification portion 121 onto the bottom of the cover 131 is located within the identification through-hole 133, while the orthographic projection of the non-identification portion 122 onto the top of the cover 131 is located outside the identification through-hole 133. By pressing the non-identification portion of the tracking member 12 against the bottom of the cover 131, the tracking member 12 is secured. Furthermore, the identification through-hole 133 allows the tracking member 12 to be identified by the outside world while the cover 131 secures it.

[0025] The outer wall of the cover side G1 of the carrier shell 11 is provided with a carrier shell fastening step 110. The inner wall of the cover wall 132 is provided with a cover fastening step 134 corresponding to the carrier shell fastening step 110. The carrier shell 11 and the cover 13 are fastened together by the carrier shell fastening step 110 and the cover fastening step 134.

[0026] The connection between the carrier shell 11 and the cover 13 is achieved by interlocking the carrier shell interlocking step 110 and the cover interlocking step 134. This effectively avoids the problem of loosening that can easily occur in high-frequency vibration scenarios when the carrier shell 11 and the cover 13 are connected by threads. Therefore, the interlocking connection can effectively improve the ability of the carrier shell 11 and the cover 13 to cope with high-frequency vibration scenarios and improve their structural stability. In turn, it can effectively improve the reliability of the outer shell structure of the tracking device 10, that is, it can effectively improve the connection reliability of the carrier shell 11 and the cover 13.

[0027] In some embodiments, such as Figure 2 and Figure 3 As shown, and refer to Figure 1As shown, the diameter of the outer wall of the bearing shell 11 on the bearing shell fastening step 110 towards the fastening side G1 gradually decreases along the direction from the bearing shell fastening step 110 towards the cover side G1. Specifically, the direction from the bearing shell fastening step 110 towards the cover side G1... Figure 2 The direction of the first direction Y is shown in the figure. The diameter of the outer wall of the aforementioned bearing shell 11 located on the bearing shell fastening step 110 facing the fastening side G1 gradually decreases along the first direction Y. That is, a sloped structure corresponding to the cover 13 is provided on the outer wall of the bearing shell 11.

[0028] Furthermore, the bearing shell 11 is located on the outer wall of the bearing shell fastening step 110 facing the fastening side G1, that is... Figure 2 The image shows the outer wall of the bearing shell 11 between the fastening step 110 and the fastening side G1. This section of the outer wall can be entirely configured as described above, with the diameter gradually decreasing, or it can be arranged as follows... Figure 2 The outer wall shown is only partially reduced in diameter in the manner described above.

[0029] The inner diameter of the inner wall of the capping wall 132 on the side of the capping engagement step 134 away from the capping bottom 131 gradually increases along the direction of the capping engagement step 134 away from the capping bottom 131. The direction of the capping engagement step 134 away from the capping bottom 131, that is... Figure 2 The first direction Y is shown in the opposite direction. The inner diameter of the inner wall of the aforementioned cover wall 132 on the side of the cover fastening step 134 away from the cover bottom 131 gradually increases along the opposite direction of the first direction Y. That is, a slope structure corresponding to the bearing shell 11 is provided on the inner wall of the cover 13.

[0030] Similarly, the inner wall of the capping wall 132, located on the side of the capping engagement step 134 away from the capping bottom 131, can be arranged entirely as described above, with the inner diameter gradually increasing, or as... Figure 2 The inner wall shown is only partially shown, with the inner diameter gradually increasing in the manner described above.

[0031] By setting up the aforementioned configuration, corresponding inclined structures can be provided on the outer wall of the carrier shell 11 and the inner wall of the cover 13, thereby effectively reducing the assembly difficulty of the carrier shell 11 and the cover 13. Furthermore, reducing the assembly difficulty by setting the inclined surfaces can also avoid damage caused by excessive force during assembly. In this way, the production cost of the outer shell of the tracking device 10 can be effectively reduced, and damage that may occur during the assembly process can be reduced at the same time.

[0032] In some embodiments, such as Figure 2 and Figure 3 As shown, and refer to Figure 1As shown, the tracking device 10 also includes a magnetic component 14. The magnetic component 14 includes a first magnetic portion 141 and a second magnetic portion 142. The cross-sectional diameter of the first magnetic portion 141 is larger than the cross-sectional diameter of the second magnetic portion 142.

[0033] By providing a magnetic component 14 within the tracking device 10, the magnetic component 14 can be applied to the tracking array by magnetic attraction, thus facilitating the maintenance and replacement of the tracking device 10.

[0034] The housing 11 also includes a third content section 113. The third content section 113 extends from the side of the second content section 112 away from the cover side G1, along the extending direction of the first content section 111. The inner diameter of the third content section 113 is smaller than that of the second content section 112. The first magnetic part 141 is located within the second content section 112, and the second magnetic part 142 is located within the third content section 113.

[0035] The third content segment 113 extends along the extension direction of the first content segment 111, that is, the third content segment 113 starts from the side of the second content segment 112 away from the cover side G1 and extends in the opposite direction of the first direction Y.

[0036] In a typical design, the base 114 of the carrier housing 11 directly supports the magnetic component 14. Furthermore, the tracking device 10 encounters numerous high-frequency vibrations during transportation and use. Consequently, the base 114 is prone to breakage due to repeated impacts from the magnetic component 14, preventing it from magnetically securing the tracking device 10 and thus affecting its normal operation.

[0037] By configuring the second content segment 112 and the third content segment 113, and the corresponding magnetic element 14 including the first magnetic part 141 and the second magnetic part 142, a stepped structure can be formed on the inner wall of the supporting shell 11. This stepped structure distributes the weight of the magnetic element 14 to the side wall structure of the supporting shell 11. Furthermore, the force exerted by the magnetic element 14 on the supporting shell 11 is in the opposite direction to the first direction Y, and is consistent with the extension direction of the supporting shell 11. Therefore, the weight of the magnetic element 14 can be borne by the side wall structure of the supporting shell 11 extending in the first direction Y. The thickness of the side wall structure of the supporting shell 11 extending in the first direction Y is equal to the length of the supporting shell 11 in the first direction Y. At this point, the structural strength of the side wall of the supporting shell 11 is at its strongest, effectively withstanding the impact of the magnetic element 14.

[0038] Therefore, the aforementioned settings can reduce or avoid the impact force of the magnetic component 14 on the bottom of the support shell 114, thereby reducing the probability of damage to the bottom of the support shell 114, and further reducing the probability of damage to the tracking device 10, thus effectively improving the reliability of the tracking device 10.

[0039] In some embodiments, such as Figure 2 and Figure 3 As shown, and refer to Figure 1 As shown, the carrier shell 11 includes a carrier shell bottom 114. The third content segment 113 starts from the side of the second content segment 112 away from the cover side G1 and extends to the carrier shell bottom 114. That is, one side of the carrier shell 11 has an opening corresponding to the arrangement of the first content segment 111, while the second content segment 112 and the third content segment 113 are both located inside the carrier shell 11, and the other side of the carrier shell 11 does not have an opening corresponding to the third content segment 113.

[0040] There is a predetermined gap between the surface of the second magnetic part 142 away from the first magnetic part 141 and the bottom of the support shell 114. The second magnetic part 142 does not contact the bottom of the support shell 114, that is, the magnetic component 14 does not contact the bottom of the support shell 114.

[0041] By preventing the magnetic component 14 from contacting the bottom of the supporting shell 114, the impact of the magnetic component 14 on the bottom of the supporting shell 114 can be directly avoided, and all the impact of the magnetic component 14 is transferred to the supporting shell 11 to bear, that is, all the impact of the magnetic component 14 is transferred to the structure of the supporting shell 11 along the first direction Y. Therefore, the probability of damage to the bottom of the supporting shell 114 can be further reduced, and consequently, the probability of damage to the tracking device 10 can be further reduced, thereby further improving the reliability of the tracking device 10.

[0042] In some embodiments, such as Figure 2 and Figure 3 As shown, and refer to Figure 1 As shown, the tracking device 10 also includes a tracking base 15. The tracking base 15 is located on the side of the tracking member 12 facing away from the cover side G1 and is situated within the first content segment 111. The thickness of the tracking base 15 is greater than the thickness of the tracking member 12. The cross-sectional dimension of the tracking base 15 is the same as the inner diameter of the first content segment 111. The cross-sectional dimension of the tracking member 12 is smaller than the cross-sectional dimension of the tracking base 15.

[0043] The cross-sectional dimension of the tracking element 12 is smaller than that of the tracking element base 15, while the cross-sectional dimension of the tracking element base 15 is the same as the inner diameter of the first content segment 111. That is, the cross-sectional dimension of the tracking element 12 is smaller than the inner diameter of the first content segment 111.

[0044] By making the cross-sectional dimension of the tracking component 12 smaller than the inner diameter of the first content segment 111, it is easier for the tracking component 12 to be assembled into the first content segment 111. Furthermore, since the tracking component 12 is relatively thin, the tracking component base 15 can effectively support the tracking component 12, reducing the possibility of damage to the tracking component 12, thereby improving the reliability of the tracking device 10.

[0045] In some embodiments, such as Figure 2 As shown, the sum of the thicknesses of the tracking element 12 and the tracking element base 15 is greater than the length of the first content segment 111. The thicknesses of the tracking element 12 and the tracking element base 15 are the thicknesses of the tracking element 12 and the tracking element base 15 in the first direction Y. The length of the first content segment 111 is the length of the first content segment 111 in the first direction Y.

[0046] This configuration allows the stepped structure formed by the first content segment 111 and the second content segment 112 to better fix the tracking element 12 and the tracking element base 15 with the cover 13, thereby effectively improving the firmness of the tracking element 12 and the tracking element base 15, and thus improving the reliability of the tracking device 10.

[0047] In some embodiments, such as Figure 2 As shown, the first distance L1 is the distance from the bearing shell 11 starting from the bearing shell fastening step 110 and extending to the end in the direction toward the cover side G1. The second distance L2 is the distance from the cover bottom 131 to the cover fastening step 134. The first distance L1 is greater than the second distance L2.

[0048] This configuration allows pressure to be applied to the engagement point of the carrier shell fastening step 110 and the cover fastening step 134 by utilizing the material strength of the carrier shell 11 itself. This makes the carrier shell fastening step 110 and the cover fastening step 134 fit more firmly, thereby improving the reliability of the tracking device 10.

[0049] In some embodiments, such as Figure 2 and Figure 3 As shown, and refer to Figure 1 As shown, the carrier shell 11 includes a first sub-shell 115 and a second sub-shell 116. The second sub-shell 116 is located on the side of the first sub-shell 115 facing away from the cover side G1, and the second sub-shell 116 is connected to the bottom 114 of the carrier shell. The outer diameter of the first sub-shell 115 is larger than the outer diameter of the second sub-shell 116.

[0050] refer to Figure 4The tracking array 20 structure shown includes an array support 22 and a mounting slot 21 disposed on the array support 22. By configuring the carrier housing 11 to include a first sub-housing 115 and a second sub-housing 116, the second sub-housing 116 can mate with the mounting slot 21 on the array support 22. The first sub-housing 115, due to its larger outer diameter, is located outside the mounting slot 21. This allows for easy removal and replacement of the tracking device 10 by applying force to the first sub-housing 115 during maintenance, thus facilitating maintenance and replacement, reducing the operating cost and simplifying the process, and effectively improving the overall operational reliability of the tracking array 20 through convenient replacement.

[0051] In some embodiments, the tracking element 12 includes a reflective element. The tracking device 10 is used to be identified by reflecting light emitted from an external system. The reflective element may be for reflecting visible light, infrared light, or ultraviolet light, but is not limited to these. The external structure determines the pose of the tracking array on which the tracking device 10 is mounted by receiving the light reflected by the tracking element 12 of the tracking device 10, and thus obtains the pose of the structure on which the tracking array is mounted.

[0052] This configuration allows for the acquisition of the poses of the tracking device 10 and the structure on which the tracking device 10 is installed.

[0053] This application also provides a surgical robot system. The surgical robot system includes the tracking device 10 of any of the foregoing embodiments.

[0054] refer to Figure 4 The schematic diagram shows that the surgical robot system also includes an array support 22 and a robotic arm. The array support 22 is mounted on the end effector of the robotic arm for movement. Multiple tracking devices 10 are mounted on the array support 22, and the multiple tracking devices 10 mounted on the array support 22 are located on different straight lines.

[0055] Among them, multiple tracking devices 10 installed on the array bracket 22 are located on different straight lines. That is, after any two tracking devices 10 are connected in a straight line, any other tracking device 10 is located outside the range of that straight line.

[0056] With this configuration, when the surgical robot system is performing or assisting in the performance of surgery, the tracking device 10 installed on the array support 22 can specifically acquire the pose of the tracking array 20 and the pose state of the end effector of the surgical robot's robotic arm. Thus, by acquiring the pose state of the end effector of the robotic arm, the surgical robot system can specifically perform or assist in the performance of surgery.

[0057] The above embodiments of this application can complement each other without causing conflict.

[0058] It should be noted that the dimensions of layers and regions may be exaggerated in the accompanying drawings for clarity. Furthermore, it is understood that when an element or layer is referred to as being "on" another element or layer, it can be directly on the other element, or there may be intermediate layers. Additionally, it is understood that when an element or layer is referred to as being "below" another element or layer, it can be directly below the other element, or there may be more than one intermediate layer or element. Furthermore, it is also understood that when a layer or element is referred to as being "between" two layers or two elements, it can be the only layer between the two layers or two elements, or there may be more than one intermediate layer or element. Similar reference numerals throughout indicate similar elements.

[0059] The term “multiple” means two or more, unless otherwise expressly defined.

[0060] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0061] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A tracking device, applied to a tracking array and used to be identified by an external source to determine the pose of the tracking array, characterized in that, include: Housing, tracking components, and cover; The carrier shell includes a cover side, and the cap closes onto the carrier shell from the cover side; The carrier shell has a first content segment and a second content segment; the first content segment starts from the cover side of the carrier shell and extends into the carrier shell; the second content segment starts from the portion of the first content segment that extends into the carrier shell and extends along the extension direction of the first content segment; the inner diameter of the first content segment is larger than the inner diameter of the second content segment; the cross-sectional dimension of the tracking element is less than or equal to the cross-sectional dimension of the first content segment, and the tracking element is located within the first content segment; The cap includes a cap bottom and a cap wall, the cap wall extending from all sides of the cap bottom toward the same side of the cap bottom; The bottom of the cover has an identification through hole corresponding to the identification part of the tracking component; the cross-sectional dimension of the tracking component is larger than the cross-sectional dimension of the identification through hole; The outer wall of the cover side of the bearing shell is provided with a bearing shell fastening step; the inner wall of the cover wall is provided with a cover fastening step corresponding to the bearing shell fastening step; the bearing shell and the cover are fastened and connected by the bearing shell fastening step and the cover fastening step.

2. The tracking device according to claim 1, characterized in that, The diameter of the outer wall of the bearing shell located on the fastening step of the bearing shell towards the fastening side gradually decreases along the direction from the fastening step of the bearing shell towards the closing side; The inner diameter of the inner wall of the capping wall located on the side of the capping step away from the capping bottom gradually increases along the direction of the capping step away from the capping bottom.

3. The tracking device according to claim 1, characterized in that, It also includes a magnetic component; the magnetic component includes a first magnetic part and a second magnetic part; the cross-sectional diameter of the first magnetic part is larger than the cross-sectional diameter of the second magnetic part; The supporting shell is further provided with a third content segment; the third content segment starts from the side of the second content segment away from the cover side and extends along the extension direction of the first content segment; the inner diameter of the third content segment is smaller than that of the second content segment; the first magnetic part is located in the second content segment and the second magnetic part is located in the third content segment.

4. The tracking device according to claim 3, characterized in that, The supporting shell includes a supporting shell bottom; the third content segment begins from the side of the second content segment away from the cover side and extends to the supporting shell bottom; There is a predetermined gap between the surface of the second magnetic part away from the first magnetic part and the bottom of the supporting shell.

5. The tracking device according to claim 3, characterized in that, It also includes a tracking base; the tracking base is located on the side of the tracking member facing away from the cover side and within the first content segment; the thickness of the tracking base is greater than the thickness of the tracking member; the cross-sectional dimension of the tracking base is the same as the inner diameter of the first content segment; the cross-sectional dimension of the tracking member is smaller than the cross-sectional dimension of the tracking base.

6. The tracking device according to claim 5, characterized in that, The sum of the thicknesses of the tracking element and the tracking element base is greater than the length of the first content segment.

7. The tracking device according to claim 1, characterized in that, The first distance is the distance from the mounting shell starting from the mounting shell fastening step and extending to the end in the direction toward the cover side; the second distance is the distance from the bottom of the cover to the cover fastening step; the first distance is greater than the second distance.

8. The tracking device according to claim 1, characterized in that, The supporting shell includes a first sub-shell and a second sub-shell; the second sub-shell is located on the side of the first sub-shell facing away from the cover side, and the second sub-shell is connected to the bottom of the supporting shell; the outer diameter of the first sub-shell is larger than the outer diameter of the second sub-shell.

9. The tracking device according to claim 1, characterized in that, The tracking element includes a reflective element; the tracking device is used to be identified by reflecting light emitted from an external system.

10. A surgical robot system, characterized in that, Includes the tracking device as described in any one of claims 1 to 9; The surgical robot system also includes an array support and a robotic arm; the array support is mounted on the end effector of the robotic arm for movement; and multiple tracking devices are mounted on the array support. Furthermore, the multiple tracking devices mounted on the array bracket are located on different straight lines.

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