49 results about "Optical navigation" patented technology

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.

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 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 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.

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 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.

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 invention provides a multi-mode cooperative control method and system for an oral surgery robot, and belongs to the technical field of medical robots. The method comprises the steps that operation planning and space registration are completed, and a drill bit and an optical tracking ball are rigidly fixed to the tail end of a mechanical arm; a manual mode is started for coarse positioning, the mechanical arm is dragged, the optical navigator tracks the pose in real time and visualizes deviation, and the mechanical arm provides force assistance; after the drill bit reaches the preset range of the target area, the drill bit is switched to an automatic mode, and fine adjustment is completed through hand-eye calibration, probe calibration and closed-loop control; then switching to a cooperation mode, locking a preset direction dimension by the mechanical arm, controlling the implantation depth, and ensuring that a motion path is stable by the central processing unit through a dynamic constraint algorithm; and after the drill bit reaches the planned depth, the mechanical arm locks the depth direction, and the cooperation mode ends. According to the invention, the problems of insufficient precision and poor flexibility of the traditional technology are solved, and the positioning precision, the operation safety and the clinical execution efficiency of the oral surgery are 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.

The utility model belongs to the technical field of medical instruments, and discloses an optical navigation auxiliary puncture device capable of being freely held, which comprises a base, a spacer ring, a lantern ring and reflective stickers, a plurality of circular grooves distributed annularly are arranged on the outer circle of the base and the outer circle of the lantern ring, the reflective stickers are pasted in the circular grooves to form a polyhedral reflective marking structure, and the reflective stickers are arranged on the base and the outer circle of the lantern ring. A distance ring is connected between the base and the lantern ring, and different lengths of the distance ring are set according to different types of puncture needles so as to control the distance between the lantern ring and the base. The device is provided with an annular polyhedral reflective mark structure, the camera at each angle can shoot a mark point and track the position and posture of a needle point in real time, meanwhile, the distance ring is arranged between the base and the lantern ring, different puncture needle models are matched through the length of the distance ring, the position of the needle point is automatically calculated, a doctor does not need to input, input errors are avoided, and the accuracy of the device is improved. And the calibration accuracy is improved.

The invention provides a transcranial electrical stimulation parameter optimization method and system, and the method comprises the steps: carrying out the preprocessing of an MRI image, so as to obtain a processed MRI image; performing three-dimensional modeling based on the processed MRI image to obtain a three-dimensional head model; determining a scalp stimulated area according to a mapping relation between the target stimulated area and a scalp physical coordinate system in the three-dimensional head model, and performing stimulation parameter optimization on the scalp stimulated area to output transcranial electrical stimulation parameters; performing transcranial electrical stimulation on the target based on the transcranial electrical stimulation parameters, obtaining stimulated electroencephalogram data, and performing artifact removal on the electroencephalogram data to obtain processed electroencephalogram data; the transcranial electrical stimulation parameter is subjected to feedback adjustment based on the processed electroencephalogram data, the situation that surface holes are generated in the reconstruction process can be reduced, the reconstruction speed and reconstruction quality can be remarkably improved, and meanwhile the stimulation safety and the stimulation effect can be effectively improved by combining optical navigation.

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.

This application relates to the field of medical device technology, and more particularly to a lens support structure and a binocular optical navigation system. The lens support structure of the binocular optical navigation system includes: a housing assembly; a bracket including multiple support components and multiple shock-absorbing components, with each support component corresponding to at least one shock-absorbing component, the support components being connected to the housing assembly, each support component having a receiving hole, the shock-absorbing component being disposed inside the receiving hole, the inner wall of the receiving hole abutting against the shock-absorbing component, the shock-absorbing component having a mounting hole; and a support beam defining a longitudinal axis, the support beam passing through the mounting hole, the inner wall of the mounting hole abutting against the support beam, the support beam being used to mount the lens. The lens support structure and binocular optical navigation system provided by this application enable better stability of the two lenses of the optical navigation system, thereby achieving higher positioning accuracy of the optical navigation system.

The application discloses a spacecraft autonomous pose estimation system using earth-moon-star identification, and relates to the technical field of optical autonomous navigation, which comprises the following steps: acquiring an earth-moon image through an optical navigation camera, improving the image quality by using SwinIR super-resolution reconstruction, extracting star point information by combining star map matching and SIFT algorithm, and estimating the attitude of the spacecraft relative to the ECI system by using the QUEST method. Further, the earth-moon mass center coordinates and vectors are extracted, the azimuth and pitch angles are calculated in combination with the attitude information, and the position of the spacecraft is determined. Finally, the high-precision pose estimation of the spacecraft is realized based on the fusion of angle measurement information and position data by using the extended Kalman filter. The application provides more reliable pose information for the navigation control of the spacecraft, and helps to improve the autonomous navigation capability and task execution precision of the spacecraft.

The invention belongs to the technical field of intelligent medical assistance, and discloses an AR-based soft tissue tumor resection auxiliary planning method. By introducing a hybrid deep learning model based on SAMMMed and DeepSnake, high-precision tumor segmentation and boundary optimization are realized, and the problem of discontinuous soft tissue image boundaries is solved; a point cloud registration system combining rigid and non-rigid algorithms is constructed, and dynamic alignment and real-time updating of a preoperative model and intra-operative scanning data are achieved; a visualization method based on volume rendering ray casting is adopted, a high-fidelity three-dimensional visualization effect is generated, and a doctor is helped to obtain clear spatial cognition in an operation; an optical navigation system and an augmented reality head display equipment coordinate system are uniformly fused, so that accurate correspondence of virtual-real superposition is realized, and the stability and accuracy of model display in an operation are ensured; a voice recognition and gesture interaction mechanism is introduced, non-contact operation is achieved, the sterile requirement of an operating room is met, and the operation naturalness and convenience are improved.

This invention discloses a hierarchical matching pose estimation method for optical navigation landmarks in deep space probes, belonging to the field of autonomous navigation technology for deep space exploration. The implementation method is as follows: A probe pose dynamics model and an optical observation model are established to obtain the probe's initial position, attitude, and camera parameters, used to predict the probe's state and the set of visible landmarks at the observation time; a navigation landmark observability index function is constructed based on the Fisher information matrix; a hierarchical landmark selection and matching strategy is constructed, considering landmark visibility constraints, and selecting a primary landmark set, a secondary landmark set, and a candidate landmark set from the visible landmark set at the observation time based on the probe's trajectory and the set of visible landmarks at the observation time; sequential matching is performed during online matching to suppress the decrease in navigation information caused by landmark matching loss; and step-by-step matching is used during probe navigation to achieve rapid landmark identification and high-precision pose estimation.

The invention belongs to the technical field of rocket recovery navigation, and particularly relates to an anti-interference optical navigation method and system for a rocket recovery tail section. The navigation method comprises the following steps: synchronously starting a visible light camera, an infrared camera and a laser radar at the tail stage of rocket recovery, and quantitatively evaluating a pneumatic optical effect and tail flame interference intensity through image gradient energy and infrared statistical characteristics; the core lies in that a fuzzy logic self-adaptive decision module is adopted, the optimal fusion weight of each sensor is dynamically calculated according to real-time interference factors, and then weighted fusion and positioning calculation are carried out on multi-source features. According to the method, dynamic self-adaptive adjustment of the fusion weight of the sensor is realized through the fuzzy logic decision based on the interference scene rule, and a fixed weight strategy is replaced; the complementarity of the multispectral sensor is utilized to optimize a data source under specific interference, so that the robustness and the positioning precision of the system in an extreme environment are improved.

The present disclosure relates to a bone tunnel positioning method, device, equipment and storage medium. When it is detected that a mechanical arm stops, target calibration data of an end tool of the mechanical arm in a flange coordinate system of the mechanical arm is acquired, wherein the target calibration data is determined based on original calibration data of a rotatable calibration reference frame of an end point of the end tool by an infrared optical navigator; target positioning data of the end tool in a base coordinate system of the mechanical arm for a target bone tunnel is determined based on the target calibration data, entry point data and exit point data of the target bone tunnel; and if it is detected that a positioning error of the current position of the end tool is less than or equal to a preset error threshold, the target positioning data is taken as an actual positioning result of the target bone tunnel. In this way, the target calibration data determined based on the original calibration data of the rotatable calibration reference frame of the end point of the end tool by the infrared optical navigator is used to improve the positioning accuracy of the bone tunnel and improve the accuracy and safety of the operation of the bone tunnel by the mechanical arm.

The application provides a three-dimensional reconstruction optical navigation method and device for an electronic choledochoscope, and the navigation method specifically comprises the following steps: S1, extracting MRCP images of a patient meeting a condition from a clinical case library for depth processing and data labeling; S2, importing the labeled data into a liver and gallbladder three-dimensional reconstruction system to reconstruct a liver, a bile duct tree and a stone; S3, taking a target stone bile duct as a terminal point to calculate a shortest and safest three-dimensional channel from a laparoscope bile duct incision or a needle insertion point on the skin to the bile duct; S4, inserting a marked choledochoscope into the bile duct; S5, entering a double image fusion navigation mode; S6, performing puncture until the tip of the choledochoscope accurately reaches a target bile duct stone position; and the like. The application can lock and mark an intrahepatic target bile duct and a stone position before surgery, and reconstruct a three-dimensional map, so that the choledochoscope can be guided by the three-dimensional map to quickly enter the target bile duct after entering the intrahepatic bile duct, and the surgery and stone removal efficiency are improved.

The application provides a surgical robot system and a spatial relationship establishing method thereof. The spatial relationship establishing method comprises the following steps: before a target object is introduced, making a robot execution system be in a preset pose, and based on a tracking result of a first positioning tool by an optical navigation system, performing initial calibration on the robot execution system and the optical navigation system to obtain an initial calibration relationship; after the target object is introduced, making the robot execution system be in the preset pose again, and based on the initial calibration relationship, performing re-calibration on the robot execution system and the optical navigation system to obtain a current calibration relationship; after the current calibration relationship meets a preset condition, associating a second positioning tool with the target object; and based on tracking results of the first positioning tool and the second positioning tool by the optical navigation system, establishing a spatial relationship among the robot execution system, the optical navigation system and the target object. By using the above technical scheme, the positioning accuracy and positioning efficiency can be improved.

The invention discloses mobile medical imaging equipment integrated with optical navigation and a calibration method thereof, and relates to the technical field of medical imaging equipment and surgical navigation. Comprising a trolley used for interacting and storing images and patient information, a control panel and an image scanning rack used for collecting the images. A main control unit is installed on the trolley used for interacting and storing the images and the patient information, and a nonvolatile memory chip is carried on the main control unit. According to the mobile medical imaging equipment integrated with the optical navigation and the calibration method thereof, the problems of serious occupied space of an operating room, disordered equipment layout and tedious image registration are solved, and many defects caused by physically separating the imaging equipment from the independent optical navigation and a camera bracket thereof in the prior art are overcome; and human errors and accidental errors caused by manual registration operation in each operation are avoided, so that the navigation precision is higher, the navigation is more stable, the repeatability is better, and the clinical application prospect is good.

The cyst ultrasonic navigation device based on optical real-time positioning comprises an optical navigation marker and a fixing clamp, the fixing clamp is of a modular structure and comprises a fixing clamp body (3). The fixing clamp main body (3) further comprises a fixing clamp main body lower section (1) and a fixing clamp main body upper section (2); the upper section and the lower section are connected through a pluggable structure, and disinfection operation in an operation environment is facilitated; and the cable tie is adopted for fixing, so that puncture needles with various shapes and thicknesses can be flexibly adapted. The cyst ultrasonic navigation method based on optical real-time positioning comprises the following steps: (1) constructing an optical tracking module; (2) graphical display of puncture needle navigation; and (3) three-dimensional space display of the navigation image.

The utility model relates to an optical navigation system, including connecting assembly, setting up the base on connecting assembly, setting up the skeleton on the base, skeleton crosslinking each other, skeleton is hollow tubular, and the skeleton is distributed with lamp pearl hole, and the lamp pearl hole is installed with lamp pearl subassembly, and the lamp pearl subassembly includes the lamp holder set up in the lamp pearl hole, the LED lamp pearl set up in the top surface of lamp holder, the wire rod set up in the skeleton, and the wire rod one end connects LED lamp pearl, and the wire rod other end is from the base and goes out, and the connecting assembly is covered in dental mobile phone, and the skeleton is 3D metal printing structure, the utility model discloses through the skeleton structure of hollow, the protection of wire rod is convenient, and 3D printing metal structure is convenient personalized customization simultaneously, is applicable to the disinfection environment of high temperature, and is convenient for subsequent disinfection operation.

Systems and methods related to optical navigation systems for spacecrafts are disclosed herein. According to the optical navigation system, several types of sensors are combined into a compact optical sensor system, and the function of each type of sensor is kept. An optical navigation system uses optical sensors, artificial intelligence, automatic dimming, and other functions to perform navigation functions, such as sun sensing, horizon sensing, and star tracking. Artificial intelligence may include deep neural networks that can provide complex machine vision applications after being trained. The optical navigation system may be organized into modular slices to increase customizability. The types of slices may include optical slices, network switched slices, visual navigation slices, and inertial navigation system switched slices. Software packages for the navigation system are also customizable, reducing user cost and complexity to the extent required only by a given application.

The application relates to a sequence feature space-time construction method of autonomous optical navigation, and belongs to the technical field of spacecraft navigation, guidance and control. System state equations of visual aided inertial navigation in an unknown environment are established. Image features corresponding to unknown land marks which have the largest contribution to navigation accuracy in a field of view are selected in space. Land marks are observed, and observation information is taken as input of a Kalman filter to obtain optimal estimation of each state variable. The optimal estimation of each state variable is taken as a navigation parameter to perform landing navigation of a lander. A next observation time is calculated. Land marks are re-observed to obtain optimal estimation of each state variable. The optimal estimation of each state variable is taken as a navigation parameter at the time to perform landing navigation of the lander. The application obtains an optimal observation interval between two observations by solving an observation interval time which makes a proposed depth error model minimum, can effectively reduce unnecessary observation, and greatly reduces a calculation burden caused by image processing.