97 results about "Optical navigation" patented technology

The invention relates to a transcranial magnetic stimulation high-precision positioning method, device and equipment based on optical navigation. Comprising the steps of selecting non-coplanar reference points based on a three-dimensional brain model of a patient, obtaining image coordinates and physical coordinates of all the reference points, carrying out corresponding point matching through the image coordinates and the physical coordinates, calculating and generating an optimal rigid transformation matrix, carrying out target registration error calculation, and realizing registration of an image coordinate system and a physical coordinate system. And according to the registered brain tissue conductivity parameters, calculating electric field space distribution induced by the transcranial magnetic stimulation coil in a target brain area, dynamically correcting stimulation target point coordinates of the virtual coil, and according to a completed coordinate system registration result, dynamically displaying the position and direction of the virtual coil corresponding to the transcranial magnetic stimulation coil on the three-dimensional brain model. And synchronously updating the brain slice view based on the corrected target point coordinates, and highlighting the actually stimulated brain region boundary. According to the method, adaptive neural navigation is driven through electric field remapping, and compensation target point correction is achieved.

The invention provides a unicompartmental knee arthroplasty robot navigation and positioning system and method. The system comprises a preoperative planning module, a positioning and navigation module and a mechanical arm control module. The preoperative planning module is used for carrying out knee joint segmentation and reconstruction according to the obtained knee joint medical image, carrying out preoperative planning and determining a unicompartmental knee arthroplasty scheme; the positioning navigation module is used for registering the intraoperative solid knee joint and the preoperative knee joint three-dimensional model according to the navigator and the tracer, and tracking the poses of the osteotomy tool and the solid knee joint in real time; and the mechanical arm control module is used for planning a motion path of the mechanical arm and controlling the mechanical arm to execute the motion path. In this way, the mechanical arm can be controlled to assist in completing the osteotomy operation of unicompartmental knee arthroplasty in a preoperative planning and intraoperative optical navigation mode, and the problems that the operation level is uneven and the operation effect is not expected due to different individuals in the current manual operation are solved.

The invention belongs to the technical field of orthopedic surgery navigation, discloses a communication and positioning integrated orthopedic surgery navigation method and system based on multi-dimensional perception, and aims to solve the problems that in an existing orthopedic navigation technology, optical navigation is prone to being shielded, multipath interference of UWB positioning is serious, and real-time performance is insufficient. Comprising the steps of obtaining measurement values including positioning data of a UWB positioning module, ranging data of a laser ranging module and an attitude angle of an IMU module; according to the method, extended Kalman filtering is adopted, positioning data of a UWB positioning module, ranging data of a laser ranging module and an attitude angle of an IMU module are taken as state vectors, dynamic adjustment of credibility is realized by adjusting a process noise matrix of a state equation and a measurement noise matrix of a measurement equation according to task characteristics, and the credibility of the UWB positioning module is improved according to data of different credibility. And resolving the pose state of the tail end of the surgical instrument. The method has the advantages of high positioning precision, high response speed, high environmental adaptability and high resource efficiency.

The invention discloses an optical and neural feedback multi-modal data analysis method for a nerve regulation target, and belongs to the technical field of cranial nerve treatment, and the method specifically comprises the steps: receiving a head movement instruction of a patient through an interactive interface, pausing transcranial magnetic stimulation after receiving the instruction, and switching to a head movement monitoring state; an infrared optical navigation device is combined with a magnetic resonance image to construct an individualized brain three-dimensional model, head position changes are tracked in real time, and autonomic nerve feedback signals are collected at the same time; synchronously aligning the head coordinates with the neural feedback signals to generate a multi-modal data set, and analyzing relevance to obtain real-time regulation and control parameters; the positioning and stimulation intensity of the transcranial magnetic stimulation coil are adaptively adjusted according to the parameters, and related information is displayed on a treatment interface; after the head of the patient finishes moving and is stable, a rapid re-calibration process is automatically triggered, high-precision monitoring is recovered, and magnetic stimulation output is reactivated; according to the invention, the treatment stability and adaptability are improved.

The application provides a navigation method and system, a readable storage medium and a robot system. The navigation method comprises the following steps: acquiring a field of view boundary of an optical navigation device and a current pose of a tool target installed at the end of a mechanical arm in a coordinate system of the optical navigation device; judging whether the tool target is in the field of view range of the optical navigation device according to the current pose of the tool target and the field of view boundary of the optical navigation device; if the tool target is not in the field of view range of the optical navigation device, acquiring a target pose of the optical navigation device; when the optical navigation device is in the target pose, the tool target is in the field of view range of the optical navigation device; and driving the optical navigation device to move to reach the target pose. The navigation method can make the optical navigation device automatically track the tool target in the surgical process, so that the tool target is always located in the field of view range of the optical navigation device.

An optical navigation device includes a case, an illumination light source, an illumination lens, an optical detector and a first optical element. The case is movably located above a navigation surface. The illumination light source is disposed inside the case and adapted to emit an illumination beam. The illumination lens is disposed under the illumination light source and has an output surface. The illumination beam passes through the output surface to project onto the navigation surface. The optical detector is disposed inside the case and adapted to detect a reflection beam from the navigation surface. The first optical element is disposed adjacent to the output surface of the illumination lens and extended to an outer edge of the illumination lens, and adapted to eliminate a stray light beam generated by the illumination beam propagated between the illumination lens and the navigation surface from reaching the navigation surface.

A method of an optical navigation device includes: providing an optical sensor to generate at least one image frame to obtain displacement data; transmitting the displacement data into a microcontroller for optical navigation, the displacement being a relative displacement between the optical navigation device and an adjacent working surface; and, dynamically using different report rates to report the displacement data to a host device to be externally coupled to optical navigation device through a specific communication interface in response to a result of detecting environment signal interference or a result of a loading of the host device.

The present invention discloses an underwater cable-tethered beacon long-distance optical navigation system and method, comprising: a blue-green beacon array connected to a power control in a control cabin to form a cable-tethered optical navigation node; the control cabin and the optical navigation node are mounted on a cable-tethered branch to form a map navigation landmark; a submarine cable is connected to onshore and underwater base stations; an underwater camera and a visual recognition module in an underwater robot cabin form an underwater visual recognition system, which receives camera video signals and outputs navigation information to the underwater robot controller; and an optical long-distance navigation algorithm based on the optical navigation node, which obtains navigation information for SLAM positioning through node light source feature extraction, heading calculation, and data fusion. The present invention meets the large-scale, long-distance navigation requirements of underwater robots, has strong adaptability and good stability, and is suitable for long-term navigation and positioning of underwater robots in cable-tethered systems.

The invention particularly relates to a three-dimensional C arm and optical navigation fused spine screw placement path planning system, and relates to the technical field of intelligent medical treatment and surgical navigation. According to the system, a first coordinate set of coding characteristics in a C-arm image and a second coordinate set of optical navigation tracking are synchronously obtained through a reference device installed on a cone; respectively constructing a spatial topology network based on the image and the navigation coordinate system, and automatically establishing a mapping relation between the image and the navigation coordinate system by using an image matching algorithm to realize fusion registration; the planned path is converted to be stored in a dynamic coordinate system with the device as the reference; during operation, the dynamic coordinate system pose is tracked and solved in real time, and a path is mapped and displayed to guide instrument operation. According to the method, automatic and robust registration without manual marking is realized, and registration failure caused by movement of a patient in an operation is avoided through binding of a path and a dynamic coordinate system.

The invention discloses an intelligent joint replacement revision operation system and method based on CBCT and optical navigation, and the system comprises an imaging device which is used for collecting the positive and lateral two-dimensional images of a femur region and an ankle joint region of an affected limb and the three-dimensional image of a knee joint region, and reconstructing the three-dimensional models of the femur and the tibia; the optical tracking equipment is used for acquiring poses of the first tracing equipment and the second tracing equipment in real time; the key point acquisition module is used for acquiring three-dimensional positions of a femoral head central point and an ankle joint central point in the positive and lateral two-dimensional image and acquiring femoral inner and outer upper condyle points and a tibia marrow cavity point in the three-dimensional model; the affected limb section extraction module is used for obtaining the far-end section, the anterior section and the posterior section of the femur in the knee joint area and the plateau section of the tibia in the knee joint area; and the planning execution module is used for determining the target pose of the new implant according to the corresponding section, and performing planning execution according to the target pose. According to the invention, the accuracy and safety of the joint replacement revision operation can be improved.

There is provided an optical navigation device including a light sensor and a processor. The light sensor is configured to capture image frames using a predetermined frame period. The processor is configured to calculate image statistics according to a first image frame captured by the light sensor and determine an expected shutter interval for capturing a second image frame according to the image statistics. The processor is further configured to control the light sensor to capture additional shutter tuning frames between the first image frame and the second image frame upon confirming a mode transition at or prior to the first image frame.

There is provided an optical navigation device including a substrate, a light sensor, a first light source, a second light source and a light directing member. The light sensor is arranged on the substrate and has a field of view (FOV) perpendicular to the substrate. The emission light of the first light source forms a first illumination light beam after passing the light directing member. The emission light of the second light source forms a second illumination light beam after passing the light directing member. A first crossover region of the first illumination light beam with the FOV is closer to the substrate than a second crossover region of the second illumination light beam with the FOV.

The invention relates to the technical field of medical data processing and three-dimensional modeling, and discloses a skull thickness distribution diagram construction method and system fusing ultrasonic thickness measurement and optical localization. According to the method, an ultrasonic probe is used for obtaining a skull thickness value at a measuring point of the scalp of a subject, and meanwhile, a three-dimensional space coordinate of the measuring point is accurately determined through an optical navigation positioning system. The system binds the thickness value and the space coordinates in real time to form thickness-space data points, and performs multi-point repeated acquisition on the scalp surface, thereby constructing a three-dimensional thickness point cloud. And finally, the upper computer system performs interpolation processing on the point cloud data to generate a skull thickness distribution diagram with spatial continuity. According to the method, the defect that the skull thickness data and the anatomical space positioning information are mutually independent is overcome, accurate space-time correspondence of the measured value and the space position is realized, an individualized skull model can be constructed quickly at low cost, and an accurate sound field compensation calculation basis is provided for applications such as transcranial ultrasonic stimulation.

The invention discloses a low-cost laparoscope nasointestinal tube indwelling guiding device. The low-cost laparoscope nasointestinal tube indwelling guiding device comprises a light-emitting unit, a guiding handle and a guiding optical waveguide. The light-emitting unit is composed of a power supply device, a light-emitting body and a light-emitting connector, the power supply device supplies power to the light-emitting body, and the light-emitting connector is in butt joint with the connector of the guide handle. The near end of the guide handle is provided with a plurality of ports used for connecting the light-emitting unit and the injector. The far end of the guide optical waveguide is in a hemispherical head shape and is provided with a luminous point. In a limited space and view under the laparoscope, the functions of visible light spot real-time positioning and dynamic lubrication are integrated into a low-cost device, real-time optical navigation under direct vision of the laparoscope is achieved, external image equipment is not needed, and the method has the advantages of simplicity, accuracy, safety and economical efficiency.

The invention relates to the technical field of medical image processing and surgical navigation, and discloses a polyhedral tool registration method and device, equipment and a medium. The method comprises the steps that a polyhedral tool is designed, and pits with plane markers are formed in a plurality of planes of the tool; manufacturing a standard product and at least one replica; acquiring the three-dimensional coordinates of the standard marker in the unified coordinate system by using high-precision equipment to form a standard point set; the optical navigation system collects actual coordinates of replica markers to form an actual point set; screening an effective point set according to the included angle between the mark point corresponding vector and the Z-axis vector of the optical navigation coordinate system; and carrying out calibration and iterative optimization by a singular value decomposition algorithm to unify the coordinates of the marker to a standard coordinate system. According to the invention, the vertical octahedral asymmetric structure and the multi-pit position marker on each surface are used for improving the precision and shielding resistance, the batch consistency is ensured by means of a standard substance and an algorithm, and the marker is easy to manufacture and rapid to register and meets clinical requirements.

The invention discloses an autonomous pose estimation system of a spacecraft by utilizing earth-moon-star recognition, and relates to the technical field of optical autonomous navigation.The method comprises the steps that an earth-moon image is obtained through an optical navigation camera, image quality is improved by utilizing SwinIR super-resolution reconstruction, star point information is extracted by combining star map matching and an SIFT algorithm, and the attitude of the spacecraft is estimated. And estimating the attitude of the spacecraft relative to the ECI system by adopting a QUEST method. And further extracting earth-moon centroid coordinates and vectors, calculating an azimuth angle and a pitch angle in combination with attitude information, and determining the position of the spacecraft. And finally, fusing angle measurement information and position data based on extended Kalman filtering to realize high-precision pose estimation of the spacecraft. According to the method, more reliable pose information is provided for navigation control of the spacecraft, and the autonomous navigation capability and task execution precision of the spacecraft can be improved.

The invention provides an optical satellite positioning method and device based on an LM algorithm, and relates to the technical field of optical navigation. The method comprises the following steps: detecting a preliminary attitude quaternion and a preliminary optical satellite vector of a carrier through optical detection equipment, and determining a first optical satellite vector according to the preliminary attitude quaternion, the preliminary optical satellite vector and a preset first calculation mode; based on a preset second calculation mode, a satellite ephemeris and the first optical satellite vector, constructing a nonlinear objective function about the longitude and latitude of the carrier; calculating a Jacobian matrix based on a preset third calculation mode; and under the condition that the non-linear objective function does not meet the preset threshold condition, performing LM iterative optimization on the non-linear objective function based on a preset fourth calculation mode and a Jacobian matrix so as to determine the target position of the carrier according to the longitude and latitude meeting the preset threshold condition. By iteratively optimizing the longitude and the latitude of the carrier in a complex denial environment, the positioning accuracy is improved.

The invention discloses a three-phase H-bridge water-cooling inverter unit, which comprises a plurality of inverter modules arranged side by side, an input laminated busbar positioned on the rear sides of the inverter modules, and a support capacitor, an output busbar, a voltage sensor and a discharge resistor which are arranged below the inverter modules, each inversion module comprises a water cooling plate with a water inlet and outlet connector and a high-temperature-resistant epoxy resin protective cover arranged outside the water cooling plate, a driving plate, an IGBT (Insulated Gate Bipolar Translator), a current sensor and a fuse are sequentially arranged on the water cooling plate in the protective cover, and a front end plate of the protective cover is provided with an optical aviation plug port and an electric aviation plug port; the invention further discloses a frequency converter based on the three-phase H-bridge water-cooling inversion unit. The inversion unit has the characteristics of compact structural design, small volume, light weight, high space utilization rate, high reliability, high maintenance efficiency, strong redundancy expansibility and the like, is convenient to disassemble and assemble, and can greatly improve the maintenance efficiency.

Device for optical navigation, containing an image sensor array (2) with a plurality of array-like arranged image sensor units (20, 20') each having at least one light-sensitive area and at least one microlens array (3; 3', 3") assigned to the image sensor array and arranged between an object to be imaged (6) and the image sensor array, wherein at least one microlens (30) is assigned to each image sensor unit (20), wherein the microlenses (30) are aligned to each other such that the optical axes of the microlenses are parallel, characterized in that the image sensor array (2) is connected to the at least one microlens array (3, 3, 1, 3") via an optically transparent substrate or transparent intermediate layers (21, 21') and the image sensor array (2) is associated with at least one pinhole array (22, 23) which is arranged between the image sensor array (2) and the microlens array (3, 3', 3"); wherein the microlenses (30) are arranged in at least two (3, 3"), preferably three (3, 3', 3") microlens arrays, wherein at least one microlens of a first microlens array is in line with at least one microlens of a second microlens array, preferably a second and third microlens array.

The invention discloses an optical navigation device. The optical navigation device comprises a shell, an illumination light source, a light detector and a first optical element, the housing is movably located on the navigation surface. The illumination light source is arranged in the shell to provide an illumination light beam. The illumination lens is disposed under the illumination light source and has an output face through which the illumination beam is projected toward the navigation surface. The light detector is disposed within the housing to receive a reflected light beam from the navigation surface. The first optical element is arranged beside the output face of the illumination lens and extends to the outer edge of the illumination lens, and is used for eliminating noise light beams generated when the illumination light beams are transmitted between the illumination lens and the navigation surface and preventing the noise light beams from being projected to the navigation surface. According to the optical navigation device, the first optical element and the second optical element are designed beside the illuminating lens, so that the optical detector can be effectively prevented from detecting noise light beams and scattered light beams, and the detection accuracy of the optical detector is remarkably improved.

A method of an optical navigation device to be coupled to a host device includes: providing a pixel array circuit to capture and generate an image frame; performing a bandpass filter operation upon the image frame to remove a low-frequency image noise and a high-frequency image noise from the image frame so as to generate a bandpass-filtered image frame; and performing a correlation operation upon the bandpass-filtered image frame and a reference image frame to generate a displacement result between the bandpass-filtered image frame and the reference image frame as a motion result of the optical navigation device; the displacement result is to be reported to the host device if the displacement result indicates a motion.

The invention belongs to the technical field of photoelectric navigation, and discloses an all-optical navigation method and device of an integrated polarization sun fixed star inertial sensor. The device comprises a polarized light sensor, a sun sensor, a star sensor, an inertial measurement unit, an information comprehensive processing module, a clock module and a power supply module, and all-time and high-precision navigation positioning is realized through cooperative work of multiple sensors. The method comprises the following steps: selecting an optimal navigation observation source according to radiation differences of fixed stars, the sun and atmospheric polarized light in different time periods, and completing integrated navigation positioning with an inertial navigation system. The system overcomes the limitation of a single navigation mode, remarkably improves the all-time navigation capability of the system, has the advantages of small size, light weight, low power consumption, high precision and the like, and is suitable for navigation application scenes sensitive to space and cost, such as small and medium-sized unmanned aerial vehicle platforms.

The utility model relates to a biopsy sampling and positioning system. The biopsy sampling and positioning system comprises a sampling assembly and an auxiliary positioning assembly, wherein the sampling assembly comprises a sheath tube and an inner core, and a sampling structure is arranged at the front ends of the inner core and the sheath tube; the auxiliary positioning assembly comprises a positioning locking piece which is adjustably arranged on the sheathing canal in the length direction of the sheathing canal; the scale plate is provided with a first containing groove used for containing the sheathing canal and a second containing groove used for containing the positioning locking piece, the scale plate is further provided with scale marks arranged in the length direction of the first containing groove, and the second containing groove is communicated with the first containing groove and located at the starting end of the scale marks; and the optical navigation component comprises a reference frame arranged on the sheathing canal and an optical ball fixed on the reference frame. According to the scheme, the sampling length can be calibrated in advance, so that a sampling structure can quickly and accurately reach a focus part, the quick positioning of a sampling assembly is completed, accurate navigation can be performed, the visual operation of sampling is realized, and the sampling operation is more refined.

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.

The application relates to the technical field of medical treatment and discloses an axial calibration block for an optical navigation positioning system and a calibration method. The axial calibration block for the optical navigation positioning system comprises a calibration block, wherein a plurality of front-end hole positions with consistent hole depths are arranged on one side of the calibration block and are used for inserting front ends of surgical instruments; the number of the front-end hole positions is 10, and the front-end hole positions are numbered as No. 1-10; the diameters of the front-end hole positions from No. 1 to No. 10 are sequentially reduced; a sharp-end calibration hole is arranged on the calibration block and is used for placing a sharp-end point of a surgical instrument; and a plurality of infrared reflective balls are assembled on the calibration block and are used for positioning of an optical positioning system. The axial calibration block for the optical navigation positioning system and the calibration method provided by the application solve the problem that the cognitive axial direction of a surgical instrument with different axial directions of a front end and a clamping end does not conform to the actual axial direction, and the surgical navigation sense of a doctor is avoided from being affected.

The invention relates to the technical field of optical navigation positioning, and provides an array positioning method and system, a mark point array, electronic equipment and a storage medium. The method comprises the steps that position coordinates and geometric features of a plurality of mark points in a mark point image are obtained, and the geometric features of the mark points are not completely the same; determining vector features in the mark point image according to the position coordinates and geometric features of the plurality of mark points; matching the vector feature with an array vector feature of a to-be-tracked object to identify a corresponding mark point of the to-be-tracked object in the mark point image; and positioning the to-be-tracked object according to the position coordinates of the mark point corresponding to the to-be-tracked object in the mark point image. According to the scheme, more effective arrays can be designed in the same size space by designing the vector features, and meanwhile, the real-time performance of the array positioning method is improved.

A control device comprising a processing circuit and an optical navigation device is disclosed. The optical navigation device comprises: a circuit board; an optical touch sensor, provided to the circuit board, configured to generate a touch sensing result; and a movement detecting device, configured to detect a movement of the optical touch sensor. The processing circuit generates a control signal according to the touch sensing result and the movement. The movement detecting device may be a proximity sensor and the circuit board may be a FPC.

The utility model provides an otolaryngological maxillary sinus probe for an optical navigation system, which comprises a maxillary sinus probe body, the maxillary sinus probe body comprises a handle and a maxillary sinus probe, the tip of the maxillary sinus probe body is provided with a probe ball head, and the handle is provided with a fixing column; the positioning piece comprises a coordinate body, a reflective ball base and a reflective ball, the reflective ball base is mounted on the coordinate body, and the reflective ball is fixed on the reflective ball base; the buckle is used for connecting the positioning piece and the maxillary sinus probe body and comprises a positioning seat, a locking sliding block and a positioning bead, and the locking sliding block is matched with the positioning bead to fix the positioning seat and the maxillary sinus probe body together. The maxillary sinus probe can enable an optical navigation system to track within a tracking range of a space locator.

An optical navigation device includes a processing circuit, a first light source to emit a first light, a cover, a second light source to emit a second light to the cover, and a first optical sensor to sense first optical data generated from the first light and to sense second optical data generated from the second light on the cover. The processing circuit determines a degree of dirt on the cover based on the second optical data sensed by the first optical sensor. The present invention can automatically detect the degree of dirt on the cover.

The application relates to a surgical instrument verification method and system. The method comprises the following steps: acquiring first pose information of an optical tracking probe and second pose information of a surgical instrument by an optical navigation system in the case that a needle tip of the optical tracking probe abuts against a verification point on a surface of the surgical instrument; determining verification information of the surgical instrument according to the first pose information and the second pose information; and determining a verification result according to the verification information. The method can effectively determine whether the surgical instrument meets target requirements.