A tracking device

Abstract

The application discloses a tracking device, which comprises a positioning cylinder and a chip module; at least one side of the positioning cylinder is provided with an opening part, and an inner space extending inwards from the opening part is used for accommodating the chip module; the size of the opening part meets the mounting and dismounting of the chip module; a clamp is arranged on the positioning cylinder and used for clamping a target instrument; the clamp is movably arranged on the target instrument; the main body of the positioning cylinder comprises a plurality of positioning metals and is used for calibrating the position of the target instrument; the main body of the chip module comprises a posture sensor, a communication circuit and a power supply and is used for calibrating the posture of the target instrument. Through the application, the position and the posture of the target instrument, including the angle change and the motion track, can be tracked and calibrated.

Description

Technical Field

[0001] This application relates to the field of medical devices, and more specifically, to a tracking device. Background Technology

[0002] In some minimally invasive puncture surgeries, such as percutaneous biopsy, percutaneous multi-electrode radiofrequency ablation, and joint puncture, accurate positioning and guidance are crucial for surgical success and patient safety. The problem with traditional surgical methods is that they place immense demands on the surgeon's skill, proficiency, and experience. Surgeons need to perform multiple scans using imaging equipment to determine the position of surgical instruments within the body, which undoubtedly increases surgical risks and patient discomfort, and is also a waste of time and energy for the surgeon. Improper operation can also lead to damage to surrounding tissues or organs, and in severe cases, even endanger the patient's life. Therefore, achieving the tracking of surgical instruments and obtaining their real-time position and orientation is of paramount importance. Summary of the Invention

[0003] To address the aforementioned technical problems, this application provides a tracking device. Through the design of this application, the position and attitude of a target device, including changes in angle and movement trajectory, can be tracked and calibrated.

[0004] The technical solution of this application is as follows:

[0005] In a first aspect, this application discloses a tracking device, including a positioning cylinder (1) and a chip module (2);

[0006] The positioning cylinder (1) has at least one opening (11) on its surface, and the internal space (111) extending inward from the opening (11) is used to accommodate the chip module (2); the size of the opening (11) is sufficient for the installation and removal of the chip module (2);

[0007] The positioning cylinder (1) is provided with a clamp (12), which is used to clamp the target device; the clamp (12) is movably mounted on the target device;

[0008] The main body of the positioning cylinder (1) includes several positioning metals for marking the position of the target device; the main body of the chip module (2) includes an attitude sensor, a communication circuit and a power supply for marking the attitude of the target device.

[0009] In some embodiments, the clamp (12) includes an inwardly engaging first clamping piece (121) and a second clamping piece (122); the first clamping piece (121) and the second clamping piece (122) form a slot penetrating the positioning cylinder (1); the slot is used to place the target device;

[0010] The clamp (12) further includes a knob buckle (123) connecting the first clamping piece (121) and the second clamping piece (122). The knob buckle (123) rotates in a specified direction to tighten the slot, so that the clamp (12) is fixedly installed on the target device.

[0011] In some embodiments, the first clip (121) and the second clip (122) are integrally connected to form a through hole through the positioning cylinder (1); the through hole is used to insert a target device.

[0012] In some embodiments, the opening (11) and the clamp (12) are disposed opposite to each other on the positioning cylinder (1).

[0013] In some embodiments, the inner wall (112) of the internal space (111) is provided with a first guide groove structure (113) that protrudes inward from the opening (11);

[0014] A second guide groove structure (211) is provided on a chip module sidewall (21) that is recessed opposite to the first guide groove structure (113) and is connected to the inner sidewall (112);

[0015] When the chip module (2) is installed in the positioning cylinder (1), the first guide groove structure (113) and the second guide groove structure (211) are in close contact;

[0016] The first guide groove structure (113) and the second guide groove structure (211) are used to guide the installation of the chip module (2) and prevent the chip module (2) from being reversed.

[0017] In some embodiments, the first guide groove structure (113) and the second guide groove structure (211) are used to prevent the chip module (2) from falling off accidentally.

[0018] In some embodiments, the chip module (2) is provided with an indicator light (22) on its surface to indicate the working status of the chip module (2);

[0019] In some embodiments, when the chip module (2) is installed in the positioning cylinder (1), the opening (11) is also used to display the indicator light (22).

[0020] In some embodiments, the outer wall (13) of the positioning cylinder (1) has at least two anti-slip structures (131); the anti-slip structures (131) are recessed inward to facilitate the operator's grip on the positioning cylinder (1);

[0021] The anti-slip structure (131) is recessed to a depth less than the thickness of the outer wall (13) to the inner space (111).

[0022] In some embodiments, a light-transmitting hole (132) is provided in the anti-slip structure (131); the light-transmitting hole (132) connects the internal space (111) and the outer wall (13);

[0023] When the chip module (2) is installed in the positioning cylinder (1), the light-transmitting hole (132) is used to display the indicator light (22).

[0024] In some embodiments, the main body of the positioning cylinder (1) and the main body of the chip module (2) are made of polymer materials.

[0025] Compared with the prior art, this application has at least one of the following beneficial effects:

[0026] This application provides a tracking device that is widely applicable to various minimally invasive puncture surgeries. Its structure is lightweight, simple, and low-cost, and it can acquire the angle information of surgical instruments in real time, so that the operator can flexibly adjust the angle of the surgical instruments in the intraoperative images, realize the navigation guidance function, reduce the number of intraoperative image scans, improve surgical efficiency, and shorten the operation time. Attached Figure Description

[0027] The preferred embodiments will now be described in a clear and easy-to-understand manner, in conjunction with the accompanying drawings, to further explain the above-mentioned characteristics, technical features, advantages, and implementation methods of this application.

[0028] Figure 1 A schematic diagram of the positioning cylinder in an embodiment of this application is shown;

[0029] Figure 2 A schematic diagram of the chip module structure in an embodiment of this application is shown;

[0030] Figure 3 This illustration shows a schematic diagram of the chip module and positioning cylinder installation process in an embodiment of this application;

[0031] Figure 4 A schematic diagram of the structure of the tracking device after assembly is shown in the embodiment of this application. Detailed Implementation

[0032] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application can also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, and circuits have been omitted so as not to obscure the description of this application with unnecessary detail.

[0033] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or sets.

[0034] To keep the drawings concise, each figure only schematically shows the parts relevant to the invention, and these do not represent the actual structure of the product. Furthermore, to facilitate understanding, in some figures, only one of components with the same structure or function is schematically depicted, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one."

[0035] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0036] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0037] In specific implementations, the terminal devices described in the embodiments of this application include, but are not limited to, other portable devices such as mobile phones, laptops, educational computers, or tablet computers with touch-sensitive surfaces (e.g., touchscreen displays and / or touchpads). It should also be understood that in some embodiments, the terminal device is not a portable communication device, but a desktop computer with touch-sensitive surfaces (e.g., touchscreen displays and / or touchpads).

[0038] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0039] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the specific implementation methods of this application will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without creative effort.

[0040] In some minimally invasive surgical procedures, such as percutaneous biopsy, percutaneous multi-electrode radiofrequency ablation, and joint puncture, accurate puncture angles are crucial for surgical success and patient safety. The problem with traditional surgical methods is that they place immense demands on the surgeon's skill, proficiency, and experience. Surgeons need to perform multiple imaging scans to determine the position of surgical instruments within the body, which undoubtedly increases surgical risks and patient discomfort, and is also a waste of time and energy for the surgeon. Furthermore, multiple CT scans pose a risk of excessive X-ray radiation exposure for both the surgeon and the patient. Therefore, developing reliable surgical instrument tracking devices has become a key requirement for improving surgical precision and safety.

[0041] In these types of minimally invasive puncture surgeries, the most crucial aspect is accurately determining the insertion point and angle of the surgical instruments on the patient's skin. Once the insertion point and angle are accurate, the lesion can be reached by advancing the instruments at the correct angle to a known depth. If the actual puncture angle deviates from the pre-set navigation path, there is a risk of damaging surrounding tissues or organs, and in severe cases, even endangering the patient's life. Therefore, obtaining real-time angle information for the surgical instruments is of paramount importance.

[0042] Based on this, our invention aims to provide a tracking device that is widely applicable to various minimally invasive puncture surgeries. The device is lightweight, simple, and low in cost, and can acquire the angle information of surgical instruments in real time. This allows the operator to flexibly adjust the angle of the surgical instruments in the intraoperative images, thereby achieving a navigation and guidance function, reducing the number of intraoperative image scans, improving surgical efficiency, and shortening the operation time.

[0043] One embodiment of the tracking device provided in this application includes a positioning cylinder (1) and a chip module (2).

[0044] The positioning cylinder (1) has at least one opening (11) on its surface, and an internal space (111) extending inward from the opening (11) is used to accommodate the chip module (2). The size of the opening (11) is sufficient for the installation and removal of the chip module (2).

[0045] The positioning cylinder (1) is provided with a clamp (12), which is used to clamp the target device. The clamp (12) is movably mounted on the target device.

[0046] The main body of the positioning cylinder (1) includes several positioning metals for marking the position of the target device. The main body of the chip module (2) includes an attitude sensor, a communication circuit, and a power supply for marking the attitude of the target device.

[0047] Reference manual attached Figure 1 , Figure 1 A schematic diagram of the positioning cylinder in this embodiment is shown. The main body of the positioning cylinder is shaped like a cuboid, with all eight corners chamfered to prevent scratches from sharp points. Figure 1 The positioning cylinder shown is merely an example. In other embodiments of this application, the positioning cylinder can be designed as an approximate cylinder (cylinder, prism), cone, sphere, or other irregular shape. This application does not specifically limit the shape of the main body of the positioning cylinder.

[0048] In this embodiment, reference Figure 1 An opening (11) is made on the two outer side walls of the positioning cylinder (1) to form an internal space (111). In some other embodiments of this example, an opening (11) can be made on only one side wall of the positioning cylinder to meet the requirements for installing and removing the chip module (2).

[0049] Designing the chip module (2) and positioning cylinder (1) as a detachable structure facilitates the replacement of the chip module (2). When the chip module's power supply is insufficient or cannot meet the current testing requirements, timely replacement with a new chip module can improve efficiency and reduce production costs.

[0050] The main function of the positioning cylinder (1) is to fix the chip module (2) to the target device. The main function of the chip module (2) is to provide the angle data of the target device (i.e., to measure its own angle change) and to upload the angle data to the upper-level terminal.

[0051] The target instruments are mainly those used during the surgical procedure, and the tracking device is used to calibrate the angle and pose of these instruments during the operation. The upper-level terminal is a medical imaging workstation. The angle data measured by the tracking device is used to establish puncture path navigation or simulate intraoperative VR / MPR views in the medical imaging workstation to assist in completing the puncture task.

[0052] Of course, the tracking device described in this application can also be used for tracking movable objects in other scenarios, and to acquire their angle change data and motion trajectory.

[0053] In this embodiment, the chip module includes an attitude sensor, a communication circuit, and a power supply.

[0054] An attitude sensor is a sensor used to measure the posture (position and orientation) of an object. It can sense and record the angular changes and motion states of an object in space, such as rotation angle and tilt angle, and convert them into electrical signals or digital data. This embodiment uses a nine-axis attitude sensor as an example. The sensor module can obtain its own angle information in the world coordinate system through the Earth's magnetic field. The collected angle information is transmitted to the upper-level terminal through a communication circuit.

[0055] The communication circuit is based on existing wireless information transmission technologies, such as Bluetooth, Wi-Fi, and ZigBee. Taking Bluetooth as an example, Bluetooth enables the chip module to connect and transmit data with the upper-level terminal via the Bluetooth protocol. The transmitted data includes Bluetooth connection status, Bluetooth signal status, sensor angle information, and battery level.

[0056] The power module is connected to the communication circuit and sensor module for power supply. The power can be transmitted to the upstream terminal through the communication circuit.

[0057] The main body of the positioning cylinder (1) is embedded with multiple positioning metal balls. After being scanned by medical imaging equipment, the positioning metal balls can be imaged and developed in the medical image. Through the segmentation algorithm built into the navigation software, the coordinates of the center of gravity of the positioning metal balls in the image coordinate system and the vector of the balls can be obtained. This facilitates the positioning of the tracking device, that is, the positioning of a fixed target device.

[0058] Another embodiment of the tracking device disclosed in this application, based on the above-described embodiment, further includes:

[0059] The clamp (12) includes a first clamping piece (121) and a second clamping piece (122) that snap together inward. The first clamping piece (121) and the second clamping piece (122) form a slot that penetrates the positioning cylinder (1). The slot is used to place the target device.

[0060] The clamp (12) further includes a knob buckle (123) connecting the first clamping piece (121) and the second clamping piece (122). The knob buckle (123) rotates in a specified direction to tighten the slot, so that the clamp (12) is fixedly installed on the target device.

[0061] Specifically, the clamp (12) has a groove formed by two interlocking clips in the middle, allowing the chip module to be inserted into the groove and assembled as a whole. The fixing knob in its structure can fix the assembled chip module onto the surgical instrument. (See reference) Figure 1As shown. The knob latch (123) is a key component on the clamp (12) used to adjust the size of the slot. The knob needs to be fixed or locked in a certain position on the clamp to ensure that it will not move accidentally during adjustment. Rotating the knob will move the latch, and the user needs to turn the knob, which will cause the position or shape of the latch to change. As the knob is turned, the latch will move or adjust accordingly, thereby reducing the size of the clamp's slot. This adjustment is usually to more tightly fix or clamp the target device, increasing the clamping force of the clamp by reducing the size of the slot.

[0062] In another embodiment of the above embodiments, the first clamping piece (121) and the second clamping piece (122) are integrally connected to form a through hole penetrating the positioning cylinder (1). The through hole is used to insert a target device.

[0063] In this embodiment, the size of the through hole needs to be set to a specific size so that it can be precisely locked onto the surgical instrument and will not easily fall off. During disassembly, the surgical instrument can be forcefully pulled off the through hole of the positioning cylinder. Alternatively, a component similar to a knob or latch can be provided outside the through hole to secure the connection between the tracking device and the surgical instrument.

[0064] In one embodiment of this example, the opening (11) and the clamp (12) are disposed opposite to each other on the positioning cylinder (1).

[0065] The purpose of this design is to optimize the size of the tracking device. The positions of the opening (11) and the clamp (12) on the positioning cylinder (1) do not affect the actual technical concept of this application. Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

[0066] In another embodiment of the tracking device described in this application, based on the above embodiment, the inner wall (112) of the internal space (111) is provided with a first guide groove structure (113) that protrudes inward from the opening (11).

[0067] A second guide groove structure (211) is provided on a chip module sidewall (21) that is in the opposite recess to the first guide groove structure (113) and is connected to the inner sidewall (112).

[0068] When the chip module (2) is installed in the positioning cylinder (1), the first guide groove structure (113) and the second guide groove structure (211) fit tightly together.

[0069] The first guide groove structure (113) and the second guide groove structure (211) are used to guide the installation of the chip module (2) and prevent the chip module (2) from being reversed.

[0070] The first guide groove structure (113) and the second guide groove structure (211) are used to prevent the chip module (2) from falling off accidentally.

[0071] Reference manual attached Figure 2 , Figure 2 A schematic diagram of the chip module in this embodiment is shown. In this embodiment, the chip module (2) has an approximately cubic structure, and its size corresponds to the size of the internal space (111) in the positioning cylinder (1).

[0072] Reference manual attached Figure 3 , Figure 3 A schematic diagram of the installation process between the chip module and the positioning cylinder in this embodiment is shown. The first guide groove structure (113) in the positioning cylinder (1) is a raised groove, and the second guide groove structure (211) in the chip module (2) is a recessed groove. The two are opposite to each other and achieve a tight connection.

[0073] In other embodiments of this example, the first guide groove structure (113) is a groove, and the second guide groove structure (211) is a protrusion. The two can also be reversed and tightly connected. Figure 3 The effect shown is illustrated. The assembled structure is shown in the attached instruction manual. Figure 4 As shown.

[0074] In another embodiment of this application, based on any of the above embodiments, a tracking device further includes the following features:

[0075] Reference manual attached Figure 2 The chip module (2) has wave-shaped push-texture (23) on the side facing the opening (11) to enhance the friction of the chip module (2) surface and facilitate the installation or removal of the chip module (2).

[0076] The chip module (2) facing the internal space (111) of the positioning cylinder and the side that is in contact with the inner wall (112) of the positioning cylinder is provided with a battery isolation plate groove (24) to prevent leakage.

[0077] The opening (11) is partially designed with a recessed chamfer where it connects to the chip module (2), which facilitates the application of force when disassembling the chip module (2).

[0078] In other embodiments, a "cover" or baffle / plate structure is provided outside the opening (11) to prevent the chip module (2) from accidentally falling out of the internal space (111).

[0079] Another embodiment of the tracking device disclosed in this application, based on the above-described embodiment, further includes:

[0080] The chip module (2) has an indicator light (22) on its surface to indicate the working status of the chip module (2). Specifically, the indicator light (22) displays the power supply status.

[0081] Preferably, the indicator light (22) is set to multi-color light, and each color of light is used to indicate different states of the tracking device, such as the tracking device is transmitting data, the data transmission is finished, the power is sufficient, the power is insufficient, etc.

[0082] In one embodiment of this example, when the chip module (2) is installed in the positioning cylinder (1), the opening (11) is also used to display the indicator light (22).

[0083] Accordingly, the indicator light (22) is located on the chip module (2) within the range of the corresponding opening (11).

[0084] In some other embodiments of this example, the outer wall (13) of the positioning cylinder (1) has at least two anti-slip structures (131). The anti-slip structures (131) are recessed inward to facilitate the operator's grip on the positioning cylinder (1).

[0085] The anti-slip structure (131) is recessed to a depth less than the thickness of the outer wall (13) to the inner space (111).

[0086] The anti-slip structure (131) has a light-transmitting hole (132). The light-transmitting hole (132) connects the internal space (111) with the outer wall (13).

[0087] When the chip module (2) is installed in the positioning cylinder (1), the light-transmitting hole (132) is used to display the indicator light (22).

[0088] For details, please refer to the attached instruction manual. Figure 4 As shown, the light-transmitting hole (132) is set inside the anti-slip structure (131). Correspondingly, the indicator light (22) on the chip module (2) is set at the position corresponding to the light-transmitting hole (132).

[0089] In another embodiment of the tracking device of this application, based on any of the above embodiments, the main body of the positioning cylinder (1) and the main body of the chip module (2) are made of polymer materials.

[0090] Using this tracking device, the coordinate system between the surgical instrument and the imaging equipment can be calibrated. The first tracking device is fixedly mounted on the surgical instrument.

[0091] The first tracking device is used to measure a first angle of the surgical instrument in the first coordinate system. The first coordinate system has its origin at the location of the first chip module in the first tracking device.

[0092] When the imaging device scans the surgical instrument with the first tracking device.

[0093] The positioning metal in the first tracking device is also used to calibrate the first transformation relationship between the first coordinate system and the imaging coordinate system. The imaging coordinate system takes the imaging center point of the imaging device as its origin and the length, width, and height directions of the imaging device as its axes.

[0094] The first angle and the first transformation relationship are used to obtain the second angle of the surgical instrument in the imaging coordinate system.

[0095] Preferably, each final device carries at least three positioning metal pieces, which are distributed at the corners of the positioning cylinder body. More preferably, the positioning metal pieces are located at random corners among the eight corners of the cuboid positioning cylinder. The positioning metal pieces provide directional feature data to indicate the position of the chip module. The directional feature data includes: a set of intersecting vectors formed by the positioning metal pieces in a coordinate system with the chip module as the origin, or a quaternion, or a rotation angle. The set of intersecting vectors formed by connecting at least three positioning metal pieces is orthogonally intersecting.

[0096] When the imaging device is a movable imaging device, the movement of the imaging device will affect the calibration results in the above embodiments. Based on the above embodiments, at least one second tracking device is fixedly installed on the imaging device.

[0097] The at least one second tracking device is used to measure the change in angle of the imaging coordinate system in the second coordinate system before and after the imaging device moves.

[0098] The second coordinate system takes the location of the second chip module in the second tracking device as its origin.

[0099] The angle change is used to calibrate the second transformation relationship between the imaging coordinate system and the moved imaging coordinate system.

[0100] The second transformation relationship is used to correct the first transformation relationship.

[0101] The first angle and the corrected first transformation relationship are also used to obtain the second angle of the surgical instrument in the post-movement imaging coordinate system.

[0102] This tracking device is used to achieve real-time tracking of surgical instruments. The aforementioned transformation matrix can convert the sensor's angle information into the image coordinate system in real time. When tracking surgical instruments in real time, the actual posture angle of the surgical instruments can be visualized in the software in real time, realizing the function of navigation guidance.

[0103] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described module division is merely an example. In practical applications, the above functions can be assigned to different program modules as needed, that is, the internal structure of the device can be divided into different program units or modules to complete all or part of the functions described above. The program modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one processing unit. The integrated unit can be implemented in hardware or as a software program unit. Furthermore, the specific names of the program modules are only for easy differentiation and are not intended to limit the scope of protection of this application.

[0104] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0105] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0106] In the embodiments provided in this application, it should be understood that the disclosed apparatus and devices can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; the division of modules or units is merely a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings or direct couplings or communication connections may be through some interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0107] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0108] Furthermore, the functional units in the various embodiments of this application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The integrated unit described above can be implemented in hardware or as a software functional unit.

[0109] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

Claims

1. A tracking device, characterized in that: It includes a positioning cylinder (1) and a chip module (2); The positioning cylinder (1) has at least one opening (11) on its surface, and the internal space (111) extending inward from the opening (11) is used to accommodate the chip module (2); the size of the opening (11) is sufficient for the installation and removal of the chip module (2); The positioning cylinder (1) is provided with a clamp (12), which is used to clamp the target device; the clamp (12) is movably mounted on the target device; The main body of the positioning cylinder (1) includes several positioning metals for marking the position of the target device; the main body of the chip module (2) includes an attitude sensor, a communication circuit and a power supply for marking the attitude of the target device.

2. The tracking device according to claim 1, characterized in that: The clamp (12) includes an inwardly engaging first clamping piece (121) and a second clamping piece (122); the first clamping piece (121) and the second clamping piece (122) form a slot penetrating the positioning cylinder (1); the slot is used to place the target device; The clamp (12) further includes a knob buckle (123) connecting the first clamping piece (121) and the second clamping piece (122). The knob buckle (123) rotates in a specified direction to tighten the slot, so that the clamp (12) is fixedly installed on the target device.

3. The tracking device according to claim 2, characterized in that: The first clamping piece (121) and the second clamping piece (122) are integrally connected to form a through hole through the positioning cylinder (1); the through hole is used to insert the target device.

4. A tracking device according to claim 2 or 3, characterized in that: The opening (11) and the clamp (12) are arranged opposite to each other on the positioning cylinder (1).

5. A tracking device according to claim 1, characterized in that: The inner wall (112) of the internal space (111) is provided with a first guide groove structure (113) that protrudes inward from the opening (11); A second guide groove structure (211) is provided on a chip module sidewall (21) that is recessed opposite to the first guide groove structure (113) and is connected to the inner sidewall (112); When the chip module (2) is installed in the positioning cylinder (1), the first guide groove structure (113) and the second guide groove structure (211) are in close contact; The first guide groove structure (113) and the second guide groove structure (211) are used to guide the installation of the chip module (2) and prevent the chip module (2) from being reversed.

6. A tracking device according to claim 5, characterized in that: The first guide groove structure (113) and the second guide groove structure (211) are used to prevent the chip module (2) from falling off accidentally.

7. A tracking device according to claim 1, characterized in that: The chip module (2) is provided with an indicator light (22) on its surface to indicate the working status of the chip module (2); When the chip module (2) is installed in the positioning cylinder (1), the opening (11) is also used to display the indicator light (22).

8. A tracking device according to claim 7, characterized in that: The outer wall (13) of the positioning cylinder (1) has at least two anti-slip structures (131); the anti-slip structures (131) are recessed inward to facilitate the operator's grip on the positioning cylinder (1); The anti-slip structure (131) is recessed to a depth less than the thickness of the outer wall (13) to the inner space (111).

9. A tracking device according to claim 8, characterized in that: The anti-slip structure (131) has a light-transmitting hole (132) inside; the light-transmitting hole (132) connects the internal space (111) and the outer wall (13); When the chip module (2) is installed in the positioning cylinder (1), the light-transmitting hole (132) is used to display the indicator light (22).

10. A tracking device according to any one of claims 1-9, characterized in that: The main body of the positioning cylinder (1) and the main body of the chip module (2) are made of polymer materials.

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