CN216985142U - Optical tracing device - Google Patents

Abstract

The utility model relates to the technical field of surgical instruments, and provides an optical tracing device which comprises a fixed support structural part, at least three first light reflecting balls, a movable support structural part and at least one second light reflecting ball, wherein the position of the second light reflecting ball changes along with the movement of the movable support structure. The positions of the first light reflecting ball and the second light reflecting ball are collected by the optical capturing device, the pose of each light reflecting ball under the coordinate system of the optical capturing device is determined, meanwhile, the pose of the second light reflecting ball relative to the first light reflecting ball is calculated, the pose of the second light reflecting ball relative to the first light reflecting ball is changed by shifting the movable support structural member, therefore, the commands are recognized by using the different poses of the second light reflecting ball before and after shifting, and then corresponding electric signals are input to the terminal. The optical tracing device has a positioning function and also has a function of inputting instructions to a terminal, so that the problem of operation and control in the operation process is simplified.

Description

Optical tracing device

Technical Field

The utility model relates to the technical field of surgical instruments, and particularly provides an optical tracing device.

Background

An optical tracer is one of the core components of an optical navigation system, and is usually fixed on an object to be tracked to indicate the space of the object. Plays an important role in the operation of calculating navigation assistance.

Generally, the traditional optical tracer is matched with an optical capturing device through a light reflecting ball to realize space positioning, however, the traditional optical tracer has single function in use, so that inconvenience is brought to an operator in an operation process.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an optical tracer, aiming at solving the problem of poor user experience caused by single function of the existing optical tracer.

In order to achieve the purpose, the utility model adopts the technical scheme that: an optical tracer device comprises a fixed support structure, at least three first light reflecting balls which are arranged on the support structure and used for optical capture equipment to collect, a movable support structure movably connected to the support structure, and at least one second light reflecting ball arranged on the movable support structure, wherein the second light reflecting ball is coplanar with each first light reflecting ball, and the position of the second light reflecting ball changes along with the movement of the movable support structure.

The utility model has the beneficial effects that: according to the optical tracing device provided by the utility model, the fixed support structural member is fixed at a proper position, the optical capturing equipment is used for acquiring the positions of the first light reflecting ball and the second light reflecting ball, the poses of the light reflecting balls in the coordinate system of the optical capturing equipment are determined, the pose of the second light reflecting ball relative to the first light emitting ball is calculated, and the pose of the second light reflecting ball relative to the first light reflecting ball is changed by shifting the movable support structural member, so that the commands are recognized by using the different poses of the second light reflecting ball before and after shifting, and further, the corresponding electric signals are input to the terminal.

In one embodiment, the movable support structure is hinged to the fixed support structure, and the second light-reflecting ball is mounted at one end of the movable support structure far away from the fixed support structure.

In one embodiment, the movable support structure is a rod body hinged to the fixed support structure, and the second light-reflecting ball is mounted on the rod body.

In one embodiment, a middle portion of the rod body is hinged to the fixed bracket structural member, or one end of the rod body is hinged to the fixed bracket structural member.

In one embodiment, the movable support structure is a ring member, the middle part of the ring member is hinged to the fixed support structure, and the second light-reflecting ball is mounted on the ring member.

In one embodiment, the fixed bracket structure comprises an annular limiting part with a hollow structure, and the movable bracket structure is a circular part movably limited in the hollow structure of the annular limiting part.

In one embodiment, the ring member is hinged at its center point to the stationary frame structure, or is hinged eccentrically to the stationary frame structure.

In one embodiment, the movable bracket structure is slidably connected to the fixed bracket structure, and/or the second light-reflecting ball is slidably connected to the movable bracket structure.

In one embodiment, the optical tracing device includes a reset member having one end connected to the fixed frame structure member and the other end connected to the movable frame structure member.

In one embodiment, the movable support structure is provided with a handle structure.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an optical tracing apparatus according to an embodiment of the present invention;

fig. 2 is a front view of an optical tracing apparatus provided in an embodiment of the present invention;

fig. 3 is a schematic structural diagram of an optical tracing apparatus according to an embodiment of the present invention;

FIG. 4 is a front view of an optical tracing apparatus provided in another embodiment of the present invention;

fig. 5 is a schematic structural diagram of an optical tracing apparatus according to another embodiment of the present invention;

fig. 6 is a schematic structural diagram of an optical tracing apparatus according to another embodiment of the present invention.

Wherein, in the figures, the various reference numbers:

the optical tracer 100, a fixed bracket structure 10, an annular limiting part 10a, a first reflective ball 20, a movable bracket structure 30, a second reflective ball 40, a resetting piece 50 and a handle structure 60.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present invention and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring to fig. 1, the optical tracing apparatus 100 provided in the present application includes a fixed frame structure 10, at least three first reflective balls 20 mounted on the fixed frame structure 10 and used for the optical capturing device to collect, a movable frame structure 30 movably connected to the fixed frame structure, and at least one second reflective ball 40 mounted on the movable frame structure 30, wherein the position of the second reflective ball 40 changes as the movable frame structure moves. It will be appreciated that the plane in which the at least three first light-reflecting spheres 20 are positioned, is used to determine position coordinate information of the optical tracking device 100, and the optical capturing device can also acquire the initial pose of the second light reflecting ball 20, and then when the movable supporting structure 30 moves relatively to the fixed supporting structure 10, the optical capturing device continues to acquire the current pose of the second light reflecting ball 40, by comparing the initial pose information and the current pose information of the second reflective ball 40, the related electric signal command input to the terminal is preset according to the difference between the two poses, that is, when the current posture of the second reflective ball 40 in the next movement period is the same as or close to the posture in the previous movement period, corresponding electric signal instructions are input into the terminal, so that the input instructions of the terminal are input and set instead of the input of an operator through a keyboard and the like, and the input process is simplified. The instructions may be preset in advance, for example, the position and posture information of the second light-reflecting ball 40 or the position and posture information close to the position and posture information with the deviation coefficient may be preset to input a corresponding instruction type to the terminal, or the second light-reflecting ball 40 enters a corresponding area and is preset to edit the corresponding instruction type, for example, when the second light-reflecting ball 40 performs a certain movement track in a plane, the instruction input to the terminal may be start, confirm, cancel, switch the next, switch the mode, mark the current position, rotate the view, infinitely adjust the volume-brightness-transparency-sensitivity, and the like. Here, the optical capturing device is a camera or the like,

according to the optical tracing device provided by the utility model, the fixed support structure 10 is fixed at a proper position, the optical capturing equipment is used for acquiring the positions of the first light reflecting ball 20 and the second light reflecting ball 40, the poses of the light reflecting balls in the coordinate system of the optical capturing equipment are determined, the pose of the second light reflecting ball 40 relative to the first light emitting ball 20 is calculated, and the pose of the second light reflecting ball 40 relative to the first light reflecting ball 20 is changed by shifting the movable support structure 30, so that the commands are recognized by using the difference of the poses of the second light reflecting ball 40 before and after shifting, and corresponding electric signals are input to a terminal.

Referring to fig. 1, in one embodiment, the fixing frame structure 10 is a Y-shaped frame, and each first reflective ball 20 is mounted on the Y-shaped frame such that each first reflective ball 20 is in the same plane, and the position of the optical tracking device is determined according to the pose information of each first reflective ball 20, but the fixing frame structure 10 may be in a Y-shaped structure or other shapes, such as a U-shaped structure, a square-shaped structure, etc.

Referring to fig. 1, in one embodiment, the movable frame structure 30 is hinged to the fixed frame structure 10, and the second light-reflecting ball 40 is mounted at an end of the movable frame structure 30 away from the fixed frame structure 10. It will be understood that the movable frame structure 30 is hinged with respect to the fixed frame structure 10, so that the position of the second reflector ball 40 mounted on the movable frame structure 30 is changed, and since the second reflector ball 40 is mounted on the movable frame structure 30, when the operator dials it, the moving track of the second reflector ball 40 in the current plane is fixed, i.e. the position change is fixed, for example, when the movable frame structure 30 rotates around the hinge point with respect to the fixed frame structure 10, the moving track of the second reflector ball 40 is the arc track of the movable frame structure 30 with the radius, so that the moving track of the second reflector ball 40 in the plane area is the arc track, which can be collected by the optical capturing device when the second reflector ball 40 rotates in the corresponding position, and corresponding instructions are input to the terminal.

Specifically, referring to fig. 1 to 3, in one embodiment, the movable frame structure 30 is a rod hinged to the fixed frame structure 10, and the second reflective ball 40 is mounted on the rod. Here, the rod body rotates around the hinge point relative to the fixed frame structure 10, and then the second light reflecting ball 40 obtains an arc track in a plane with the length of the rod body as a radius, so that the position of the second light reflecting ball 40 in the plane is changed by poking, pushing and pressing the rod body, and a corresponding input command is activated, and the input command of the actions can be "start", "confirm", "cancel", and the like. Preferably, the second light reflecting ball 40 is slidably connected to the stick body, i.e. can move linearly along the stick body except for the circular motion track moving along the stick body, so that after the stick body is shifted, pushed and pressed, the second light reflecting ball 40 can be moved along the length direction of the stick body on the basis of the movement, and thus, the input commands of the movement can be "switch next", "switch mode", "mark current position", and the like. Of course, the shape of the rod body is not limited here, and the rod body may be a straight rod body, an arc rod body, or the like, or the rod body itself may be an irregular shape, or the like.

In one embodiment, the number of the second light-reflecting balls 40 is two or more, that is, each second light-reflecting ball 40 has a corresponding track when the movable support structure 30 is moved relative to the fixed support structure, and then the position change of each second light-reflecting ball 40 is used by the optical capturing device to input a corresponding command to the terminal. For example, as shown in fig. 3, two rod bodies are hinged to the fixed bracket structure 10, and a second reflective ball 40 is respectively disposed on the two rod bodies, so that an operator can dial the two rod bodies simultaneously to obtain the corresponding poses of the second reflective balls 40, that is, the poses of the two second reflective balls 40 are combined to input corresponding electrical signal commands to the terminal. Of course, more than two rod bodies can be arranged on the fixed support structure 10, and one or more second reflective balls 40 can be arranged on the corresponding rod body, so that corresponding electric signal commands can be input to the terminal through multi-pose combination.

Specifically, in one embodiment, the middle portion of the rod is hinged to the fixed bracket structure 10, or one end of the rod is hinged to the fixed bracket structure 10. It will be appreciated that the rod body may be adapted to its hinged position on the fixed bracket structure 10 according to actual requirements.

Referring to fig. 4, in one embodiment, the movable support structure 30 is an annular member, the middle of the annular member is hinged to the fixed support structure 10, and the second reflective balls 40 are mounted on the annular member. Similarly, when the annular member rotates around the fixed bracket structure 10, the second reflective ball 40 also has a corresponding motion track in a plane. Here, the ring member may be a closed ring structure or a non-closed ring structure.

In particular, in one embodiment, the central point of the ring-shaped element is hinged to the fixed frame structure 10, or the ring-shaped element is hinged eccentrically to the fixed frame structure 10. It will be appreciated that the annular member may rotate concentrically or eccentrically about the hinge point relative to the fixed support structure 10, such that the second reflective ball 40 may move about different motion trajectories. Similarly, the second light-reflecting ball 40 is slidably connected to the annular member, that is, the second light-reflecting ball can move for a second time relative to the annular member except for the circular motion track moving along with the annular member, that is, the optical capturing device inputs a corresponding instruction to the terminal after acquiring the two motion tracks of the second light-reflecting ball 40.

Alternatively, in another embodiment, referring to fig. 5, the fixed bracket structure 10 includes an annular limiting portion 10a having a hollow structure, and the movable bracket structure 30 is a circular member movably limited in the hollow structure of the annular limiting portion. It can be understood that the hollow structure of the annular limiting part can accommodate the circular member and limit the circular member to perform corresponding circular motion in a plane, i.e. the motion track is fixed. Similarly, when the operator drives the round piece to do circular motion in the annular limiting part, the optical capturing device can capture corresponding pose information.

In one embodiment, referring to fig. 6, the movable frame structure 30 is slidably connected to the fixed frame structure 10, and/or the second reflective balls 40 are slidably connected to the movable frame structure 30. It is understood that, in this embodiment, the movable bracket structure changes its connection with the fixed bracket structure 10, that is, the movable bracket structure 30 slides along the extending direction of the fixed bracket structure 10, or slides along the direction perpendicular to the fixed bracket structure 10, so as to drive the second light-reflecting ball 40 to slide on the corresponding motion track, and thus, the corresponding command can be input to the terminal as well. For example, the input of the corresponding command is obtained by pushing, shifting, etc. along the extending direction of the fixed support structure 10, such as rotating the view (e.g. pressing the reflective ball and then moving the tracer to make the three-dimensional model correspondingly rotate in the space, and after releasing the tracer, the three-dimensional model can be reset without following the reset), and adjusting the volume-brightness-transparency-sensitivity steplessly (e.g. pushing the reflective ball to move for a distance and stop there to make it correspond to a change, and then pushing the reflective ball to move for a distance and press down and then reset to make it correspond to the change of the position). Meanwhile, on the basis, the second light-reflecting ball 40 can also slide along the extending direction of the movable support structure 30, so as to further change the position of the second light-reflecting ball 40 in the plane, and the series of input instructions are realized by moving the movable support structure 30 and the second light-reflecting ball 40.

Referring to fig. 1 and 6, in one embodiment, the optical tracing apparatus 100 includes a restoring member 50, one end of the restoring member 50 is connected to the fixed bracket structure 10 and the other end is connected to the movable bracket structure 30. Here, but the piece that resets 50 structural component that can take place deformation and can resume to initial condition such as spring utilizes the piece that resets 50 to ensure that the movable support structural component 30 can also get back to initial position after relative fixed direct structure takes place relative motion, gets back to the initial coordinate point position in the plane promptly, is convenient for optical capture equipment to gather.

Referring to fig. 2, in one embodiment, the movable bracket structure 30 is provided with a handle structure 60. It will be appreciated that the handle structure 60 facilitates the operator's hand grip, increases the contact area of the movable bracket structure 30 with the operator's hand, and increases the grip stability. Here, the shape of the handle structure 60 is not limited.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. An optical tracing apparatus, characterized in that: including fixed bolster structure, install in on the support structure and supply optical capture equipment collection three at least first reflection of light ball, swing joint in activity support structure on the support structure and install in at least one second reflection of light ball on the activity support structure, the position of second reflection of light ball is along with the activity support structure removes and changes.

2. The optical tracing apparatus of claim 1, wherein: the movable support structural member is hinged to the fixed support structural member, and the second reflective ball is installed at one end, far away from the fixed support structural member, of the movable support structural member.

3. The optical tracing device of claim 2, wherein: the movable support structural part is a rod body, the rod body is hinged to the fixed support structural part, and the second light reflecting ball is arranged on the rod body.

4. An optical tracing device according to claim 3, wherein: the middle part of the rod body is hinged to the fixed support structural part, or one end of the rod body is hinged to the fixed support structural part.

5. The optical tracing device of claim 2, wherein: the movable support structural part is a ring-shaped part, the middle part of the ring-shaped part is hinged to the fixed support structural part, and the second light reflecting ball is arranged on the ring-shaped part.

6. Optical tracing apparatus according to claim 2, characterized in that: the fixed support structure part comprises an annular limiting part with a hollow structure, the movable support structure part is a circular part, and the circular part is movably limited in the hollow structure of the annular limiting part.

7. Optical tracing apparatus according to claim 5, characterized in that: the center point of the ring-shaped element is hinged to the fixed support structure, or the ring-shaped element is eccentrically hinged to the fixed support structure.

8. The optical tracing apparatus of claim 1, wherein: the movable support structure is connected with the fixed support structure in a sliding mode, and/or the second light reflecting ball is connected with the movable support structure in a sliding mode.

9. Optical tracing device according to any one of claims 1 to 8, characterized in that: the optical tracer device comprises a resetting piece, one end of the resetting piece is connected with the structural part of the fixed support, and the other end of the resetting piece is connected with the structural part of the movable support.

10. Optical tracing device according to any one of claims 1 to 8, characterized in that: and a handle structure is arranged on the movable support structural part.

Images