WO2019037605A1

WO2019037605A1 - Ar glasses and tracking system therefor

Info

Publication number: WO2019037605A1
Application number: PCT/CN2018/099848
Authority: WO
Inventors: 刘洋
Original assignee: 刘洋; 黄亚磊; 上海霖晏医疗科技有限公司
Priority date: 2017-08-21
Filing date: 2018-08-10
Publication date: 2019-02-28
Also published as: CN207164367U

Abstract

AR glasses and a tracking system therefor. The AR glasses comprise an AR glasses body (1) and a plurality of marking components (2). The marking components (2) are provided on the AR glasses body (1) and located in one horizontal plane. The distance between any two marking components (2) is not equal. The marking components (2) are used for feeding back signals representing location information to the outside. By providing the marking components (2) on the AR glasses body (1) to obtain location information of the AR glasses in real time, and incorporating the location information into an entire surgical three-dimensional image, after a doctor wears the AR glasses, with the movement of the head of the doctor, a virtual image displayed on the AR glasses can be precisely superimposed with an actual surgical site of a patient in the real environment, to better assist in surgery.

Description

AR glasses and their tracking system

The present application claims priority to Chinese Patent Application No. JP-A No. No. No. No. No. No. No. No. No. No. No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No

Technical field

The present application relates to an AR glasses and a tracking system therefor.

Background technique

Augmented Reality (AR) is a technology that calculates the position and angle of camera images in real time and adds corresponding images. The goal of this technology is to put the virtual world in the real world and interact on the screen.

In the prior art, in order to enable doctors to clearly understand the position of the surgical instrument relative to the patient's anatomy, computer-aided navigation technology is generally used, which is particularly common in orthopedic surgery. The technology uses the corresponding positioning means to accurately and accurately track the surgical site and the surgical instruments in the operation, and realizes that the image is sent to the AR glasses for display, thereby guiding the doctor to assist or guide the surgery according to the three-dimensional image. The position information of the AR glasses is incorporated into the surgical navigation system, and the image displayed on the AR glasses worn by the doctor does not follow the movement of the doctor's head well, so that the virtual image displayed on the AR glasses during the surgery cannot be performed. Accurately superimposed with the actual surgical site of the patient, but not for the purpose of assisting surgery.

Summary of the invention

The technical problem to be solved by the present application is to overcome the defect that the virtual image displayed on the AR lens body cannot be accurately superimposed on the actual surgical site of the patient when the position information of the AR glasses in the prior art is not added to the surgical navigation system. , an AR glasses and a tracking system thereof are provided.

The present application solves the above technical problems by the following technical solutions:

An AR glasses comprising an AR lens body and N marking members, N being an integer greater than 2;

The marking member is disposed on the AR lens body and located at the same horizontal plane, and the distance between any two of the marking members is not equal;

The marking component is for feeding back signals indicative of positional information to the outside.

In the present solution, by providing a marking member on the body of the AR lens, the marking member can feed back the position information to the outside, that is, the position information of the marking member can be obtained, and further according to the positional relationship between the existing marking member and the lens. The position information of the AR glasses, and the position information of the AR glasses is the viewpoint position information of the doctor when the AR glasses are worn.

Preferably, the marking component comprises an active marking component, the AR glasses further comprising a triggering device for transmitting a trigger signal to the active marking component, the active marking component for using the trigger signal Infrared light is emitted.

Preferably, the marking component comprises a passive marking component for receiving external infrared light and reflecting the infrared light.

In this solution, the marking component can use the active marking component according to requirements, that is, the marking component can emit infrared light by itself under the trigger of the electrical signal, and the external device receives the infrared light and derives the marking component according to the received infrared light. The location information, or the marking component uses a passive marking component, that is, the external device is required to first emit infrared light, the marking component reflects the infrared light, and the external device determines the position information of the marking component according to the reflected infrared light.

Preferably, the marking component is a spherical marking component, and the spherical center of the spherical marking component is located on the same horizontal plane.

Preferably, the AR glasses further include a supporting device, and the supporting device is fixedly connected to the AR lens body;

The support device is for supporting the marking member.

Preferably, the supporting device comprises a supporting base and a supporting column, the supporting base is fixedly connected with the AR glasses body, the supporting column is fixedly connected with the supporting base, and the supporting column is provided with the mark component.

In the present solution, in order to ensure the stability of the marking member on the AR lens body in order to ensure the doctor's use of the AR glasses, a supporting device for fixing the supporting marking member is provided.

Preferably, the distance is not less than 5 cm, and the difference between any two of the distances is not less than 5 mm.

In this solution, in order to ensure that the marking member can be effectively recognized, the distance between any two marking members is precisely set.

A tracking system for AR glasses, comprising an optical measuring device and AR glasses in any combination of the above various preferences;

The optical measuring device includes a position sensor and a data processor, the position sensor being communicatively coupled to the data processor;

The position sensor is configured to receive the signal and generate location information of the marking component, and send the location information to the data processor;

The data processor is configured to generate location information and orientation information of the AR glasses according to location information of at least three of the marking components.

In this solution, the position information of the AR glasses can be obtained by the position information of the three marking components. In the actual use process, it may be considered that some of the marking components are blocked during the operation of the doctor, and the position information cannot be obtained. Therefore, more than three marking members are provided on the AR lens body.

Preferably, when the marking component is an active marking component, the position sensor is configured to receive infrared light emitted by the active marking component and generate position information of the active marking component according to the infrared light.

Preferably, when the marking component is a passive marking component, the tracking system further comprises a illuminator;

The illuminator is configured to emit infrared light to the position sensor, the position sensor is configured to reflect the infrared light to the passive marking component, and the passive marking component is configured to receive and reflect the infrared light to a location The position sensor is configured to generate position information of the passive marking component according to the received infrared light.

The positive progress of the present application is that the position information of the AR glasses is acquired in real time by providing the marking member on the body of the AR lens, and the position information is incorporated into the entire surgical three-dimensional image, and the doctor can follow the doctor after wearing the AR glasses. The virtual image displayed on the moving AR glasses of the head can be accurately superimposed on the actual surgical site of the patient to better assist the operation.

DRAWINGS

1 is a schematic structural view of an AR glasses according to Embodiment 1 of the present application;

2 is a structural block diagram of an AR glasses provided with an active marking member according to Embodiment 2 of the present application;

3 is a structural block diagram of an AR glasses provided with a passive marking component according to Embodiment 3 of the present application;

4 is a schematic structural diagram of an AR glasses according to Embodiment 4 of the present application;

5 is a structural block diagram of a tracking system for an AR glasses according to Embodiment 5 of the present application;

FIG. 6 is a structural block diagram of another tracking system for AR glasses according to Embodiment 6 of the present application.

Detailed ways

The present application is further illustrated by the following examples, but is not intended to limit the scope of the embodiments.

Example 1

As shown in FIG. 1 , an AR glasses for tracking in real time by an optical measuring device, in particular, the AR glasses include an AR lens body 1 and at least three marking members 2, and in this embodiment, four marking members 2 are used. An example is given;

The marking member 2 is disposed on the AR lens body 1 and located at the same horizontal plane, and the distance between any two marking members 2 is not equal;

The marking member 2 is for feeding back a signal characterizing the position information to the outside. It should be noted that the position information includes not only the distance of the AR glasses with the marking member 2 in the optical measuring device but also the orientation direction of the AR glasses.

In this embodiment, by providing the marking member on the AR lens body, the positional information of the marking member in the coordinate system of the optical measuring device can be obtained in real time by the optical measuring device, since the relative positional relationship between the marking member and the viewpoint of the AR glasses is known. Therefore, the optical measuring device can indirectly acquire the position information of the viewpoint of the AR glasses through the marking component, and the computer adjusts the imaging position of the virtual image in the AR glasses in real time according to the position information of the AR glasses to ensure that it always coincides with the entity in the actual environment. In this way, after the doctor wears the AR glasses, even if the doctor moves, the position changes, and the virtual image seen by the doctor through the AR glasses always coincides with the entity in the actual environment seen through the AR glasses, thereby better assisting. The operation is carried out.

Example 2

As shown in FIG. 2, the AR glasses of the present embodiment are further improved on the basis of Embodiment 1, and the marking member 2 is a spherical marking member, and the spherical center of the spherical marking member is located at the same horizontal plane.

The marking member 2 comprises an active marking member 21, which further comprises a triggering device 3 for transmitting a trigger signal to the active marking member 21, the active marking member 21 for emitting infrared light in response to the triggering signal.

In this embodiment, the marking component used is an active marking component, the active marking component can be tracked by the optical measuring device, the marking component can emit infrared light, and the emitted infrared light is received by the optical measuring device and calculated to obtain the AR glasses. Acquisition of location information and location information.

Example 3

As shown in FIG. 3, the AR glasses of the embodiment are substantially the same as in Embodiment 2 except that the marking member 2 includes a passive marking member 22 for receiving external infrared light and reflecting infrared light.

In this embodiment, the used marking component is a passive marking component, the passive marking component can be tracked by the optical measuring device, and the passive marking component can reflect the infrared light emitted by the external device and reflect to the optical measuring device, and the optical measuring device performs The analysis process obtains the position information and the orientation information of the AR glasses.

Example 4

As shown in FIG. 4, the AR glasses of the present embodiment are further improved on the basis of Embodiment 1. The AR glasses further include a supporting device, and the supporting device includes a supporting base 4 and a supporting column 5, and the supporting base 4 and the AR glasses body 1 The support column 5 is fixedly connected to the support base 4, and each support post 5 is provided with a marking member 2.

The distance between any two marking members 2 is not less than 5 cm, and the difference between any two distances is not less than 5 mm, so that the orientation direction of the AR glasses is easily measured by the optical measuring device.

In this embodiment, in order to ensure the stability of the marking member during the use of the AR glasses, a supporting device is provided for fixing the marking member, and the distance between any two marking members is ensured to ensure that the marking member can be effectively recognized. There is a precise range of settings.

Example 5

As shown in FIG. 5, a tracking system for AR glasses includes an optical measuring device 6 and an AR glasses as in Embodiment 1;

The optical measuring device 6 includes a position sensor 61 and a data processor 62, and the position sensor 61 is communicatively coupled to the data processor 62;

The position sensor 61 is configured to receive a signal and generate position information of the marking component 2, and send the position information to the data processor 62;

The marking member 2 is an active marking member 21 for receiving infrared light emitted from the active marking member 21 and generating position information of the active marking member 21 based on the infrared light.

The data processor 62 is configured to generate position information and orientation information of the AR glasses based on the position information of the at least three marking members 2.

In this embodiment, the position sensor is used to detect the marking component on the AR lens body, and further, the position and orientation of the AR glasses calculated by the data processor, and the position information of the AR glasses can be obtained through the position information of the three marking components. In actual use, it is considered that a part of the marking member may be occluded and the position information thereof may not be obtained during the operation of the doctor, so more than three marking members are provided on the AR lens body.

Example 6

As shown in Figure 6, the tracking system of the AR glasses of this embodiment is substantially the same as the embodiment 5, except that the marking component 2 is a passive marking component 22, and the tracking system further includes a illuminator 7;

The illuminator 7 is for emitting infrared light to the position sensor 61, the position sensor 61 is for reflecting infrared light to the passive marking member 22, the passive marking member 22 is for receiving and reflecting infrared light to the position sensor 61, and the position sensor 61 is for The position information of the passive marking member 22 is generated based on the received infrared light.

While the invention has been described with respect to the specific embodiments of the present invention, it should be understood that the scope of the invention is defined by the appended claims. A person skilled in the art can make various changes or modifications to these embodiments without departing from the spirit and scope of the present application, and such changes and modifications fall within the scope of the present application.

Claims

An AR glasses, comprising: an AR glasses body and N marking members, wherein N is an integer greater than 2;

The marking member is disposed on the AR lens body and located at the same horizontal plane, and the distance between any two of the marking members is not equal;

The marking component is for feeding back signals indicative of positional information to the outside.
The AR glasses according to claim 1, wherein said marking member comprises an active marking member, said AR glasses further comprising a triggering means for transmitting a trigger signal to said active marking member, said A source marking component is operative to emit infrared light in accordance with the trigger signal.
The AR glasses according to claim 1, wherein said marking member comprises a passive marking member for receiving external infrared light and reflecting said infrared light.
The AR glasses according to claim 1, wherein the marking members are spherical marking members, and the spherical centers of the spherical marking members are located at the same horizontal plane.
The AR glasses according to claim 1, wherein the AR glasses further comprise a supporting device, and the supporting device is fixedly connected to the AR lens body;

The support device is for supporting the marking member.
The AR glasses according to claim 5, wherein the supporting device comprises a supporting base and a supporting column, the supporting base is fixedly connected with the AR lens body, and the supporting column is fixedly connected with the supporting base. The marking member is provided on the support column.
The AR glasses according to claim 1, wherein said distance is not less than 5 cm, and a difference between any two of said distances is not less than 5 mm.
A tracking system for AR glasses, characterized in that the tracking system comprises an optical measuring device and the AR glasses according to any one of claims 1-7;

The optical measuring device includes a position sensor and a data processor, the position sensor being communicatively coupled to the data processor;

The position sensor is configured to receive the signal and generate location information of the marking component, and send the location information to the data processor;

The data processor is configured to generate location information and orientation information of the AR glasses according to location information of at least three of the marking components.
A tracking system according to claim 8 wherein said position sensor is adapted to receive infrared light emitted by said active marking member and to generate said infrared light when said marking member is an active marking member Location information of the active tag component.
The tracking system of claim 8 wherein said tracking system further comprises a illuminator when said marking component is a passive marking component;

The illuminator is configured to emit infrared light to the position sensor, the position sensor is configured to reflect the infrared light to the passive marking component, and the passive marking component is configured to receive and reflect the infrared light to a location The position sensor is configured to generate position information of the passive marking component according to the received infrared light.