263 results about "Optical tracking" patented technology

A method for quality inspection of an etching paste material based on a spectral response difference, including: identifying a position of density mutation boundary through spectral collection and density gradient analysis. Applying a specific frequency beam to obtain the resonance response parameter, generating stress field reconstruction data. Performing a reverse optical tracking to obtain a defect formation path, generating degradation prediction data. Establishing a self-organizing optical monitoring grid, to form a hierarchical spectral fingerprint library. Constructing a multi-point linked defect blocking network, to form an interconnected optical energy field. Monitoring a cooperative response to obtain network stability data, Identifying abnormal position coordinates based on a material quality grade and the network stability data, obtaining the abnormal position coordinates. Performing a phase adjustment to obtain a phase difference spectral set, conducting a phase comparison marking on the abnormal position coordinates, completing the quality inspection of the etching paste material.

The invention relates to the technical field of biological feature recognition, and discloses a neural reflex motion feature extraction and quantitative evaluation method, which comprises the following steps that: multi-modal behavior data of a premature infant are synchronously acquired through a sensor array, and the multi-modal behavior data comprise a motion inertia signal, optical tracking data and plantar pressure distribution data; preprocessing the multi-modal behavior data, and performing dynamic feature fusion on the preprocessed multi-modal data to generate a joint feature vector; extracting a motion symmetry index and a reflection intensity grade from the joint feature vector; and inputting the joint feature vector, the motion symmetry index and the reflection intensity level into a hierarchical rule engine, and executing risk judgment of a behavior pattern. The invention also provides a neural reflex motion feature extraction and quantitative evaluation system. According to the invention, the accuracy of neural reflex motion feature extraction and quantitative evaluation can be improved.

The invention discloses a tumor needle biopsy robot and an image real-time navigation system thereof, and relates to the technical field of medical instruments, and the method comprises the following steps: extracting historical data, and constructing a segmentation model according to the historical data; acquiring a plurality of medical images of the patient, and constructing a three-dimensional model of the patient according to the plurality of medical images; constructing a visual puncture path according to the three-dimensional model; the method comprises the following steps: acquiring optical tracking data, acquiring a needle point position according to the optical tracking data, correcting a puncture path according to the needle point position, acquiring a path point sequence according to a puncture starting point, a target point, a cost function and a graph structure when an optimal path is planned, and continuously adjusting the path through a path optimization algorithm. The path is far away from key tissues such as important blood vessels and nerves, the path is prevented from excessively approaching or directly penetrating through a dangerous area, so that the rationality of optimal path planning is ensured, the precision controllability of the puncture process is enhanced, the puncture path is corrected in real time through the position of the needle tip, and the possibility of the scheme is further improved.

The invention provides an oral implant operation registration method and system, and the method comprises the steps: obtaining first CBCT data and second CBCT data, a registration device is provided with a plurality of groove points, and the second CBCT data is provided with an image coordinate system; arranging an optical tracking array on the dental region, and determining a first transformation matrix between a binocular camera coordinate system and a dental jaw bone reference coordinate system through a binocular camera; determining a first pose matrix of the needle point of the drill needle in the planting mobile phone coordinate system; the tip of the optical probe and the binocular camera are utilized to perform sampling operation on each groove point on the registration device to obtain a plurality of registration points; determining a second transformation matrix according to the plurality of registration points and each groove point; and determining a second pose matrix according to the first transformation matrix, the second transformation matrix, the first pose matrix and a transformation matrix between the coordinate system of the binocular camera and the coordinate system of the implant mobile phone, and preparing a hole in the dental region through the tip of the drill point. By adopting the scheme, the planting precision of the implant can be improved.

The invention discloses lithotripsy equipment and a control method thereof. The lithotripsy equipment comprises a lithotripsy device, an optical tracking device, a display and control device and an ultrasonic imaging device, the lithotripsy device comprises a mechanical arm module, a shock wave module and a control module; the mechanical arm module and the shock wave module are both electrically connected with the control module, and the control module and the optical tracking device are both electrically connected with the display and control device. The ultrasonic imaging device comprises a handheld ultrasonic probe; the handheld ultrasonic probe is in communication connection with the display and control device; the mechanical arm module comprises a mechanical arm, the shock wave module comprises a shock wave generator, and the shock wave generator is arranged at the front end of the mechanical arm; and a plurality of optical reflection markers are arranged on the backs of the handheld ultrasonic probe and the shock wave generator. According to the lithotripsy equipment provided by the embodiment of the invention, the intelligent degree of the extracorporeal shock wave lithotripsy machine is improved, the extracorporeal shock wave lithotripsy treatment process is simplified, and the treatment positioning precision is improved.

A system transforms video frames into event metadata reports on object recognition and occupancy patterns and trends. Each camera distinguishes foreground content and uploads meta data and changes. Occupancy within bounding boxes, and object pre-cognition are transformed to non-image event data sets. Objects and persons of interest are tagged for optical tracking and correlation. Cloud analytics estimate probabilities of occupancy and change. Periodic capture is augmented by expectation of peaks and valleys. Imagery and event meta data across multiple cameras are combined for object recognition. The cloud reports and predicts regions of interest due metrics of occupancy. Each edge device is trained on the local topology of other edge devices and actuators through which objects may pass before and after entering its region of interest. Edge devices collectively initiate physical access actuator controls, predict events for other edge devices, and transmit alerts when low probability events occur.

The invention discloses a mining chain wheel repaired based on an intelligent optical tracking technology and a technology. The repairing technology comprises the following steps that S1, an optical scanning device is used for scanning a worn chain wheel, surface point cloud data of the chain wheel are obtained, and an actual three-dimensional model of the chain wheel to be repaired is generated according to the point cloud data; s2, Boolean operation is carried out on the actual three-dimensional model generated in the step S1 and a preset chain wheel standard digital model, so that a relative wear model only representing a chain nest wear area is extracted; s3, based on the relative wear model, automatically generating a robot welding path for filling a wear area, and generating a repair program; and S4, the welding robot is controlled to execute the repairing program generated in the step S3, and self-adaptive surfacing repairing is conducted on the abrasion area of the chain nest. According to the method, through a digital closed loop of accurate scanning, model comparison, automatic programming and robot repairing, accurate repairing of irregular abrasion of each chain nest is achieved, the repairing quality is improved, and the maintenance period is shortened.

First and second tracker assemblies each having a single optical marker are secured to a bone, with the first tracker assembly also including a motion sensor. A localizer optically tracks the optical marker positions, and a pose of a tracker coordinate system (TCS) associated with the tracker assemblies according to three positional DOF and two rotational DOF is determined from the tracked marker positions. Measurements from the motion sensor are utilized to determine an angle of inclination with respect to gravity, and an orientation of the TCS according to a further rotational DOF defined about a virtual line extending between the optical markers is determined from the angle of inclination. A pose of the bone according to six DOF is then determined from the determined pose of the TCS according to three positional and two rotational DOF and the orientation of the TCS according to the further rotational DOF.

The invention provides a river flow velocity intelligent monitoring method and system based on multi-scale optical tracking velocity measurement. A plurality of detectors with different characteristics are organically combined, and dynamic grid density adjustment based on flow velocity gradient is realized through adaptive grid adjustment; establishing a multi-dimensional track quality evaluation system through intelligent track evaluation; the real-time performance optimization realizes the performance optimization of multi-thread parallel processing, integrates an intelligent grid optical flow detection and dynamic density adjustment mechanism, and optimizes the detection precision and performance in real time according to the flow velocity gradient and the flow field complexity; a multi-track quality evaluation system is utilized, tracks are screened and fused from three dimensions of motion consistency, physical constraint and time stability, and the accuracy and reliability of data are remarkably improved. The method overcomes the problems that a traditional speed measurement method is complex in operation, limited in environment, insufficient in precision and the like, supports real-time processing, can be widely applied to the fields of water conservancy projects, environment monitoring, flood prevention early warning, scientific research and education and the like, and has remarkable advancement and practical value.

The invention discloses a transcranial stimulation magnetic therapy coil navigation method, a transcranial stimulation magnetic therapy coil navigation system, a storage medium and equipment. The method comprises the following steps: acquiring three-dimensional structure information of the head of a target object, magnetic resonance imaging (MRI) data of an individual target object, or three-dimensional model data obtained by matching from a general MRI template library; real-time surface geometric information of the head of the target object is collected through an infrared optical tracking system; performing registration fusion on the three-dimensional structure information and the real-time surface geometric information, and generating an individualized three-dimensional brain model synchronized with a real space coordinate system on a navigation interface; the spatial position and posture of the optical marker fixed on the magnetic therapy coil are tracked in real time through an infrared optical tracking system and correspondingly mapped to the individualized three-dimensional brain model, and visual navigation of the magnetic therapy coil relative to the brain anatomical structure is achieved. Through the individualized three-dimensional navigation and real-time visualization technology, the problems that a traditional TMS is low in positioning precision, invisible in operation and poor in treatment repeatability are solved.

The invention discloses a navigation method of a surgical instrument, equipment, a medium and a program product, relates to the technical field of surgery, and discloses the navigation method of the surgical instrument, comprising: acquiring a calibration module DR image and a calibration module optical image; based on the imaging position of the mark point in the DR image of the calibration module and the imaging position of the mark point in the optical image of the calibration module, determining a conversion matrix between an optical tracking system coordinate system and a DR imaging plane coordinate system, and recording the conversion matrix as a first conversion matrix; the surgical instrument is tracked through the optical tracking system, the instrument feature points of the surgical instrument are projected to the DR image of the patient based on the first conversion matrix, the actual position of the surgical instrument can be presented in real time in the DR image of the patient on the basis of not depending on three-dimensional CT image equipment, and therefore the surgical precision and the operation convenience of a doctor are improved.

The invention provides a multi-target adaptive optical tracking method and system for an unmanned intelligent turntable. The method comprises the following steps: acquiring a video stream and turntable attitude data on an unmanned intelligent turntable; carrying out scene understanding operation on the video stream, fusing the dynamic attention area and extracting spatial distribution information of a plurality of moving targets in a rotary table coordinate system; calculating an optical deformation parameter of the liquid lens, and driving the liquid lens to execute non-uniform optical curved surface adjustment, so that a focus area simultaneously covers a plurality of spatially dispersed moving targets; receiving distance data fed back by the distance measuring equipment, carrying out cross validation on the distance data and actual optical parameters of the adjusted liquid lens, and generating a cooperative calibration instruction when the deviation exceeds the tolerance; and synchronously updating the dynamic region of interest identification logic of scene understanding and an optical deformation parameter calculation strategy according to the instruction. According to the invention, the stability and spatial positioning precision of multi-moving-target tracking in a wide-area complex scene are improved.

The invention relates to the technical field of optical measurement, in particular to a small two-axis precision optical tracking rotary table which comprises a base, an azimuth axis system, a rotary table system, a pitch axis system, an optical system bearing frame and an information comprehensive circuit board, the azimuth axis system is arranged on the base, and therefore the azimuth axis system has the azimuth freedom degree of a rotating shaft in the Z-axis direction; the rotary table system above the azimuth axis system comprises a rotary table base and rotary table frames on the two sides. The pitch axis system comprises a motor shaft system and an encoder shaft system which are arranged on the rotary table frames on the two sides respectively. The two sides of the optical system bearing frame are connected to the motor shaft system and the encoder shaft system, so that the optical system bearing frame has the pitching freedom degree of the rotating shaft in the Y-axis direction. The information integration circuit board is used for collecting optical signals and / or electric signals of the optical measurement system. Therefore, the small two-axis precision optical tracking rotary table can meet the use requirements of portability and high precision, and has arc-second-level positioning precision on the basis of being convenient to carry, so that the small two-axis precision optical tracking rotary table can be conveniently applied to modern optical measurement.

The invention discloses a TMS robot navigation control method based on visual localization. The method comprises the following steps: acquiring visual detection data, magnetic resonance image data and localization tracking data of the head of a diagnosis and treatment object; establishing a head three-dimensional model of the diagnosis and treatment object according to the visual detection data and the magnetic resonance image data; performing pose correction on the head three-dimensional model according to the positioning and tracking data; and generating a motion track of the diagnosis and treatment coil according to the head three-dimensional model after pose correction and the target stimulation target. The head of the TMS diagnosis and treatment object is positioned and tracked through the visual positioning technology and the optical tracking technology, the motion path of the diagnosis and treatment coil is adaptively planned based on the real-time three-dimensional model of the head, the coil positioning precision and positioning efficiency can be improved, and the treatment effect, safety and patient comfort are improved.

The invention discloses a fire detection method, device and system, and belongs to the technical field of fire detection, and the method comprises the steps: carrying out the fire detection of a pan-tilt image based on a target model, and obtaining a first prediction box set; screening out a small target prediction frame from the first prediction frame set according to a preset condition, and performing optical tracking and amplification on the small target prediction frame to obtain an amplified prediction frame; performing secondary detection on the amplified prediction frame based on a target model to obtain a second prediction frame set; and combining the first prediction frame set and the second prediction frame set, and screening the combined sets according to the overlapping degree between the prediction frames and the confidence and area of the prediction frames to obtain a final fire detection result. According to the invention, after the small target prediction frame of the first fire detection is subjected to optical tracking and amplification, the second fire detection is carried out, and through the strategy of the second detection, the accuracy of identifying the small target flame or smoke can be improved.

The invention provides a positioning method, electronic equipment and a positioning system, and relates to the technical field of medical treatment, in particular to the technical field of tumor positioning. According to the specific implementation scheme, an imaging device is used for obtaining a projection image of a target object at the current moment, and an optical tracking device is used for obtaining the position offset of the target object deviating in at least one direction of a preset three-dimensional coordinate system at the current moment; and determining the position offset of the target object in other directions of the preset three-dimensional coordinate system at the current moment based on the projection image, the reference image at the imaging angle corresponding to the projection image and the position offset of at least one direction of the preset three-dimensional coordinate system. Wherein the projection image is obtained by the imaging device at any imaging angle. Through the method, the three-dimensional offset of the patient can be accurately determined.

The invention discloses a navigation system for a liver tumor resection operation, and aims to solve the problems that in the prior art, the accuracy of the liver tumor resection operation is insufficient, the risk in the operation is high, and the evaluation after the operation is incomplete. The system comprises a preoperative data acquisition module, a preoperative three-dimensional modeling module, an intraoperative positioning module, an operation navigation module, a risk prompt module and a postoperative data analysis module. Through preoperative CT or MRI image data acquisition, automatic segmentation and three-dimensional reconstruction of liver, tumor and blood vessels are carried out by using a deep learning algorithm, and a high-precision anatomical model is generated. During the operation, the position of the surgical instrument is obtained in real time by using an optical tracking or electromagnetic positioning technology, spatial precise alignment of the surgical instrument with a tumor and surrounding tissues is realized in combination with a model registration algorithm, and a surgical path is displayed through a real-time navigation interface. And the risk prompting module calculates an excision risk coefficient and prompts a doctor in real time based on the shortest distance between the tumor and the blood vessel, the relative distance between the instrument and the target area and the trajectory change.

The invention relates to a light wave double-drive spherical floating type multi-energy complementary power generation device which comprises a spherical shell, a light energy power generation module, a wave energy power generation module and a central module set. The spherical shell is formed by fixedly connecting an upper semispherical shell and a lower semispherical shell; the upper semispherical shell is a semispherical light condensing and lighting cover; the light energy power generation module is arranged at the upper part in the spherical shell and comprises a photovoltaic panel, a circuit board, a photoresistor, an optical tracking module and a panel inclination angle fine adjustment mechanism; the wave energy power generation module is arranged at the lower position in the spherical shell and comprises an x-direction wave oscillation frame, a y-direction wave oscillation arm and four columnar generators. The central module group comprises a box body, and a counterweight module, a central line collection module and an energy storage module which are mounted in the box body; the upper end of an upper cover of the box body is connected with the lower end of an inclination angle fine adjustment mechanism through a stable bracket; the central line collection module is connected with the output ends of the four columnar generators and the photovoltaic electric energy output end on the circuit board through lines, and integration of electric energy generated by a photovoltaic panel and electric energy generated by wave energy is achieved. And the energy storage module realizes storage of the integrated electric energy. The power generation stability is guaranteed, and the energy utilization rate is increased.

The invention discloses a robot calibration method for spine endoscopic surgery, which comprises the following steps: S1, optical marking points are pasted on the skin or bony structure of a patient, the skin marking is used for fixing a reflective ball by using a medical adhesive tape, the bony marking is percutaneously implanted into a spinous process or crista iliaca through a titanium alloy bone nail, and at least six marking points are needed. According to the method, minimally invasive property and stability are both considered through a double marking strategy, six points cover three vertebral bodies to ensure the integrity of an anatomical range, registration errors caused by breathing / body position changes are reduced, meanwhile, non-rigid registration is combined with a B spline grid (10 mm) to consider calculation efficiency and spine physiological curvature adaptability, high-precision surface reconstruction is achieved through a Marching Cubes algorithm, and the method has the advantages of being high in precision and high in precision. An error suppression mechanism is formed by + / -0.25 mm precision and redundancy measurement (five times of sampling) of the optical tracking system, registration robustness is improved through SVD and ICP double-algorithm complementation, multi-constraint path planning is achieved through an A * algorithm and Monte Carlo simulation, and a 4 mm safety corridor provides a buffer space for instrument errors.

The embodiment of the invention provides a data acquisition system for dexterous operation of an end effector of a robot, and the system comprises a wearable data acquisition terminal which is used for executing a corresponding operation task on a target object based on an operation action of a human hand in an in-place state when the wearable data acquisition terminal is worn on the human hand, and collecting corresponding multi-modal data in an operation process; the optical tracking system is used for tracking the pose of the wearable data acquisition terminal in the operation process to obtain pose data; and the data collection device is used for collecting the multi-modal data and the pose data to obtain task data of the operation task, the task data is used for forming training data, and the training data is used for training a robot to execute the operation task. According to the data acquisition system, the motion ability and tactile feedback control of people can be fully utilized, and the efficiency, precision and operation smoothness of data acquisition in the operation learning process of the robot can be effectively improved.

The invention provides an equipment calibration method and system, electronic equipment and a storage medium. The equipment calibration method comprises the following steps: acquiring a first coordinate set obtained by measuring calibration plates at different positions by a laser tracker; acquiring a second coordinate set obtained by measuring the calibration plates at different positions by the optical tracking system, and acquiring a target point coordinate set obtained by measuring target points of the optical tracking system by the laser tracker; determining a first target conversion relation between a first coordinate system of the laser tracker and a second coordinate system of the optical tracking system based on the first coordinate set and the second coordinate set; based on the first target conversion relation and a target point coordinate set, determining a second target conversion relation between the second coordinate system and the target point; and completing calibration of the laser tracker and the optical tracking system based on the second target conversion relation. According to the method, the equipment calibration precision can be improved.

The invention relates to the technical field of neuroendoscopy, in particular to a neuroendoscopy under-endoscope guiding method based on multiple intraoperative scenes, which comprises the following steps: performing three-dimensional graph reconstruction based on a plurality of three-dimensional medical images shot by medical imaging equipment, and establishing a three-dimensional reconstruction scene; determining a space conversion matrix of the tail end of the neuroendoscope and the three-dimensional reconstruction scene according to a shooting result of the optical tracking locator and the three-dimensional medical image, and determining a virtual camera according to the space conversion matrix; adjusting the virtual camera according to the moving mode of the neuroendoscope, and obtaining a corresponding virtual endoscope picture after the neuroendoscope is moved; determining the axial direction of the endoscope according to the spatial transformation matrix, and determining a virtual section image along the axial direction of the endoscope according to the axial direction of the endoscope and the three-dimensional reconstruction scene; according to the invention, dynamic and high-precision three-dimensional guidance and augmented reality display of the neuroendoscope can be realized.

The invention discloses an intraspinal anesthesia puncture guide system with an optical visualization function. The intraspinal anesthesia puncture guide system comprises an epidural needle body module, an optical tracking and positioning module and an image processing and displaying module. The epidural needle body module comprises a needle body and an optical probe, and the optical probe is fixed to the needle body and used for collecting images of the environment in front of the needle body. The optical tracking and positioning module comprises a positioning marker and an optical positioning camera, the positioning marker is fixed to the needle body, and the optical positioning camera is used for determining space pose information of the positioning marker. And the image processing and displaying module is connected with the optical probe and the optical positioning camera, and is used for generating an intra-spinal anesthesia puncture auxiliary image according to the image of the environment in front of the needle body and the spatial pose information of the positioning marker, and displaying the intra-spinal anesthesia puncture auxiliary image. According to the application, convenience is provided for epidural puncture through an optical visualization function, so that the success rate of epidural puncture is improved, and the operation difficulty and risk are reduced.

The invention relates to a virtual reality and reality image fusion navigation method and system for temporal bone surgery, and the method comprises the steps: obtaining medical image data of a temporal bone region, and carrying out the three-dimensional reconstruction, thereby obtaining a temporal bone dynamic virtual model; optical tracking data and instrument space pose data are obtained, dynamic registration mapping is conducted on the temporal bone dynamic virtual model, and a real-time space fusion relation is obtained; performing navigation view construction on the instrument space pose data and the real-time space fusion relationship to obtain an augmented reality navigation view; performing structural distance analysis on the augmented reality navigation view to obtain dynamic early warning parameters; and performing display regulation and control according to the augmented reality navigation view and the dynamic early warning parameters to obtain a real-time navigation strategy. The problem of traditional static image registration lag can be effectively solved, and it is ensured that the virtual model and the actual anatomical structure are always kept in high-precision matching.

The invention relates to computer-aided medical equipment, a method, a device and a medium. The computer-aided medical equipment comprises a human-computer interaction interface, at least one memory and a processor, the human-computer interaction interface comprises a working mode definition area; the working mode definition area is used for receiving a working mode selection instruction; the at least one memory is used for storing a control instruction; the processor is used for executing the control instruction to realize the computer-aided medical equipment control method, and comprises the following steps: determining a working mode according to a working mode selection instruction; configuring a corresponding functional component according to the working mode; the functional assembly comprises an optical tracking unit, an image acquisition lower computer and an operation execution arm lower computer; and according to the workflow configuration nodes corresponding to the working modes, at each workflow configuration node, controlling at least one of the configured optical tracking unit, the image acquisition lower computer and the operation execution arm lower computer to execute a corresponding control instruction. By adopting the method, the problem of system redundancy can be solved.

The invention belongs to the technical field of laser three-dimensional reconstruction, and discloses a multi-line laser three-dimensional reconstruction method based on optical tracking. A binocular tracking system is erected outside a traditional multi-line laser system, and a set of tracking reflective balls is installed on the multi-line laser system. Through the binocular tracking system, accurate three-dimensional reconstruction of the tracking reflective ball can be realized, and unification of a coordinate system is further realized. According to the method, the accuracy of three-dimensional reconstruction is remarkably improved, the application range of the three-dimensional reconstruction technology in the industrial field is greatly expanded due to high efficiency and accuracy, and new possibility is brought to the fields of industrial automation, quality detection and the like.

The application provides a kind of optical tracking and depth camera coordinate calibration method based on new type calibration model, the method includes providing a chessboard with optical positioning mark, the chessboard is placed in the effective range of optical tracking device, and the front of the chessboard is towards depth camera;The spatial position and posture of optical mark point are obtained, and the position of each corner point in the optical tracking coordinate system is calculated according to the position offset of each corner point on the chessboard to the optical mark point;Image information of the chessboard is obtained, corner point coordinates of the chessboard are extracted, and the corner point coordinates are converted to depth camera coordinate system;When more than three groups of corresponding corner point coordinates are obtained, the spatial transformation matrix of depth camera coordinate system to optical tracking coordinate system is calculated, and the calibration process is completed.The application can solve the problems of traditional calibration method, such as the need for multiple manual movement of optical positioning mark and the difficulty of automatic extraction of mark point position for depth camera, and can automatically and quickly realize accurate calibration.

Medical devices and methods for using medical devices are disclosed. An example method for performing percutaneous nephrolithotomy includes registering an optical tracking system to a global coordinate system, registering a fluoroscope to the global coordinate system, generating a first image of a treatment area of a patient using the fluoroscope, generating a second image of the treatment area of the patient using the fluoroscope, selecting a target treatment point within the treatment area on the first image, the second image or both the first image and the second image and overlaying a medical instrument proposed guidance line on the first image, the second image or both the first image and the second image, wherein the medical instrument proposed guidance line depicts a proposed insertion pathway from an insertion point on the patient's body to the target treatment point.

The application relates to the technical field of medical devices, and discloses a positioning and tracking device, an optical positioning system and a surgical mechanical arm. The positioning and tracking device comprises a base and multiple groups of tracking arrays, the multiple groups of tracking arrays are arranged around the inside of the base, each group of tracking arrays comprises at least three tracking elements, and all the tracking elements in the same group of tracking arrays define a plane corresponding to a current tracking array. Alternatively, all the tracking elements in the same group of tracking arrays define a curved surface corresponding to the current tracking array. The positioning and tracking device, the optical positioning system and the surgical mechanical arm provided by the application can improve the problem in the related art that when the included angle between a tracking element and an optical tracking sensor changes greatly in the process of movement of an end instrument, the optical tracking sensor cannot acquire the position of the tracking element, so that the pose of the end instrument cannot be recognized.

To provide a throw-in type printer capable of detecting a residual amount of a recording paper sheet that is stored therein.SOLUTION: There is provided a printer comprising a medium storage part in which a roll body including a recording paper sheet wound in a roll shape is stored, a printing head for performing printing on the recording paper sheet pulled out from the roll body via rotation, and a residual amount detection circuit for detecting a residual amount of the recording paper sheet stored in the medium storage part. The medium storage part stores the roll body in such a manner that a center position of the roll body is varied in accordance with pulling-out of the recording paper sheet from the roll body. The residual amount detection circuit comprises: an optical type tracking sensor for irradiating a detection face of the roll body crossing a rotation axis of the roll body with light and detecting light reflected thereon; and a determination circuit for determining the residual amount of the recording paper sheet based on a detection result of the optical type tracking sensor.SELECTED DRAWING: Figure 5