WO2022247582A1

WO2022247582A1 - Optical tracing apparatus and usage method therefor

Info

Publication number: WO2022247582A1
Application number: PCT/CN2022/090077
Authority: WO
Inventors: 孟李艾俐; 张兴鹏
Original assignee: 元化智能科技(深圳)有限公司
Priority date: 2021-05-25
Filing date: 2022-04-28
Publication date: 2022-12-01
Also published as: CN113274131A

Abstract

The present application relates to the technical field of surgical instruments. Provided are an optical tracing apparatus and a usage method therefor. The optical tracing apparatus comprises a fixed support structural member, at least three first reflective balls, a movable support structural member and at least one second reflective ball, wherein the position of the second reflective ball changes as the movable support structural member moves. The positions of the first reflective ball and the second reflective ball are collected by using an optical capture device, the pose of each reflective ball in a coordinate system of the optical capture device is determined, and at the same time, the pose of the second reflective ball relative to the first reflective ball is calculated, and the pose of the second reflective ball relative to the first reflective ball is changed by shifting the movable support structural member. Therefore, instructions are recognized by using different poses of the second reflective ball before and after shifting, and then corresponding electrical signals are input into a terminal. In addition to having a self-positioning function, the optical tracing apparatus further has the function of inputting instructions into a terminal, thereby simplifying operation and control problems thereof in a surgical process.

Description

Optical tracking device and method of use thereof

This application claims priority to Chinese Patent Application No. 202110573143.1 filed at the China Patent Office on May 25, 2021, the entire contents of which are incorporated herein by reference.

technical field

The present application relates to the technical field of surgical instruments, and in particular provides an optical tracking device and a method for using the optical tracking device.

Background technique

An optical tracker is one of the core components of an optical navigation system, which is usually fixed on the tracked object to indicate the space of the object. It plays a vital role in computerized navigation-assisted surgery.

Usually, the traditional optical tracer cooperates with the optical capture device through the reflective ball to achieve spatial positioning. However, the traditional optical tracer has a single function in use, which brings inconvenience to the operator during the operation.

technical problem

The purpose of the present application is to provide an optical tracer, which aims to solve the problem of poor user experience caused by the single function of the existing optical tracer.

technical solution

In order to achieve the above object, the technical scheme adopted by the application is:

In the first aspect, an optical tracking device includes a fixed support structure, at least three first reflective balls installed on the support structure and collected by an optical capture device, and The movable bracket structure and at least one second reflective ball installed on the movable bracket structure, the second reflective ball is coplanar with each of the first reflective balls, and the position of the second reflective ball varies with The movable support structure moves and changes.

Beneficial effects of the present application: the optical tracer provided by the present application fixes the fixed bracket structure at a suitable position, uses an optical capture device to collect the position of each first reflective ball and the second reflective ball, and determines the position of each reflective ball The pose in the coordinate system of the optical capture device, and calculate the pose of the second reflective sphere relative to the first light-emitting sphere, and change the position of the second reflective sphere relative to the first reflective sphere by moving the movable support structure. In this way, the position and posture of the second reflective ball before and after the dial are used to identify the command, and then input the corresponding electrical signal to the terminal. In this way, the optical tracking device not only has its own positioning function, but also has the function of inputting commands to the terminal. functions, thereby simplifying the operation of the operator during the operation, and the user experience is better.

In one embodiment, the movable support structure is hinged to the fixed support structure, and the second reflective ball is mounted on an end of the movable support structure away from the fixed support structure.

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

In one embodiment, the middle part of the rod is hinged to the fixed support structure, or one end of the rod is hinged to the fixed support structure.

In one embodiment, the movable support structure is a ring, the middle part of the ring is hinged to the fixed support structure, and the second reflective ball is installed on the ring; or, the fixed support The structural member includes an annular limiting part with a hollow structure, and the movable support joint is a circular part, and the circular part is movably limited in the hollow structure of the annular limiting part.

In one embodiment, the central point of the annular member is hinged on the fixed support structure, or the annular member is eccentrically hinged on the fixed support structure.

In one embodiment, the movable support structure is slidably connected to the fixed support structure, and/or, the second reflective ball is slidably connected to the movable support structure.

In one embodiment, the optical tracking device includes a reset member, one end of which is connected to the fixed support structure and the other end is connected to the movable support structure.

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

In the second aspect, the present application provides a method for using an optical tracking device, the steps of the method are as follows:

Fix the fixed bracket structure of the optical tracking device, use an optical capture device to capture the positions of the first reflective balls and the second reflective balls, and determine the positions of the first reflective balls and the second reflective balls. The pose of the second reflective ball in the coordinate system of the optical capture device, and calculating the initial pose of the second reflective ball relative to the first reflective ball;

Change the pose of the second reflective ball by toggling the movable bracket structure, that is, obtain the current pose of the second reflective ball, and at the same time, use the initial pose and current pose of the second reflective ball different, and then input a corresponding electrical signal to the terminal.

Beneficial effects of the application: the method for using the optical tracking device provided by the application, the steps are as follows: fix the fixed bracket structure of the optical tracking device, and use the optical capture device to capture the position of each first reflective ball, so as to Determine the plane where each first reflective ball is located, and position the fixed bracket structure. At the same time, the optical capture device also collects the initial pose of the second reflective ball; change the pose of the second reflective ball by moving the movable bracket structure , that is, the current pose of the second reflective ball is collected by the optical capture device, and the preset relevant electrical signal instructions input to the terminal are set according to the difference between the two poses before and after. When the pose is the same or similar to the pose of the previous movement cycle, the corresponding electrical signal instruction is input to the terminal. In this way, instead of the operator inputting instructions through the keyboard and other input settings, the input process is simplified.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only for the present application For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without any creative effort.

Fig. 1 is a schematic structural diagram of an optical tracking device provided by an embodiment of the present application;

Fig. 2 is a front view of an optical tracking device provided by an embodiment of the present application;

Fig. 3 is a schematic structural diagram of an optical tracking device provided by an embodiment of the present application;

Fig. 4 is a front view of an optical tracking device provided by another embodiment of the present application;

Fig. 5 is a schematic structural diagram of an optical tracking device provided by another embodiment of the present application;

FIG. 6 is a schematic structural diagram of an optical tracking device provided in another embodiment of the present application;

FIG. 7 is a flow chart of the method for using the optical tracking device provided by the embodiment of the present application.

Wherein, each reference sign in the figure:

The optical tracking device 100 , the fixed support structure 10 , the annular stopper 10 a , the first reflective ball 20 , the movable support structure 30 , the second reflective ball 40 , the reset member 50 , and the handle structure 60 .

Embodiments of the present invention

Embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary, and are intended to explain the present application, and should not be construed as limiting the present application.

In the description of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientation or positional relationship indicated by "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, rather than Nothing to indicate or imply that a referenced device or element must have a particular orientation, be constructed, and operate in a particular orientation should therefore not be construed as limiting the application.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present application, "plurality" means two or more, unless otherwise specifically defined.

In this application, terms such as "installation", "connection", "connection" and "fixation" should be interpreted in a broad sense, for example, it can be a fixed connection or a detachable connection, unless otherwise clearly specified and limited. , or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

Please refer to FIG. 1 , the optical tracing device 100 provided by the present application includes a fixed support structure 10, at least three first reflective balls 20 mounted on the fixed support structure 10 and collected by an optical capture device, and movably connected to the support. The movable support structure 30 on the structural member and at least one second reflective ball 40 installed on the movable support structure 30, the position of the second reflective ball 40 changes with the movement of the movable support structure. It can be understood that at least three first reflective balls 20 are used to determine the plane to determine the position coordinate information of the optical tracking device 100, and the optical capture device can also obtain the initial pose of the second reflective ball 20, and then through the activity When the bracket structure 30 moves relative to the fixed bracket structure 10, the optical capture device continues to collect the current pose of the second reflective ball 40, by comparing the initial pose information and the current pose information of the second reflective ball 40, according to the two pose difference to set the preset relevant electrical signal instructions input to the terminal, that is, when in the next movement cycle, the current pose of the second reflective ball 40 is the same or similar to the pose of the previous movement cycle, then send to the terminal Input the corresponding electric signal instruction, in this way, instead of the operator inputting the setting phase terminal input instruction through the keyboard etc., the input process is simplified. These instructions can be preset in advance, for example, preset the posture information of the second reflective ball 40 or the similar posture information with a deviation coefficient to input the corresponding instruction type to the terminal, or preset the second The reflective ball 40 enters the corresponding area and the corresponding number of times to edit the corresponding command type. For example, when the second reflective ball 40 performs a certain movement track in the plane, the command input to the terminal can be start, confirm, cancel, switch One, switch mode, mark current position, rotate view, steplessly adjust volume-brightness-transparency-transparency-sensitivity, etc. Here, the optical capture device is a camera or the like.

The optical tracer provided by the present application fixes the fixed support structure 10 at a suitable position, uses an optical capture device to collect the positions of the first reflective balls 20 and the second reflective balls 40, and determines the position of each reflective ball in optical capture. The pose in the coordinate system of the device, and calculate the pose of the second reflective ball 40 relative to the first light-emitting ball 20, and change the second reflective ball 40 relative to the first reflective ball by moving the movable support structure 30 20, in this way, the different poses of the second reflective ball 40 before and after the dial are used to identify the command, and then input the corresponding electrical signal to the terminal. In this way, the optical tracking device not only has its own positioning function, but also has The function of inputting instructions on the terminal simplifies the operation of the operator during the operation, and the user experience is better.

Please refer to Fig. 1, in one embodiment, the fixed bracket structure 10 is a Y-shaped bracket, and each first reflective ball 20 is installed on the Y-shaped bracket, so that each first reflective ball 20 is in the same plane, In this way, the position of the optical tracking device is also determined according to the position and orientation information of each first reflective ball 20. Of course, the fixed bracket structure 10 can also be in other shapes and structures, such as U-shaped and mouth-shaped, in addition to being Y-shaped. Wait.

Please refer to FIG. 1 , in one embodiment, the movable support structure 30 is hinged to the fixed support structure 10 , and the second reflective ball 40 is installed on the end of the movable support structure 30 away from the fixed support structure 10 . It can be understood that the movable bracket structure 30 is articulated and rotated relative to the fixed bracket structure 10, so that the pose of the second reflective ball 40 installed on the movable bracket structure 30 changes. At the same time, because the second reflective ball 40 is Installed on the movable bracket structure 30, therefore, when the operator toggles it, the trajectory of the second reflective ball 40 in the current plane is fixed, that is, its posture change is fixed, for example , when the movable support structure 30 rotates around the hinge point relative to the fixed support structure 10, then the trajectory of the second reflective ball 40 is a circular arc whose length is the radius of the movable support structure 30, so that the second The trajectory of the reflective ball 40 in the plane area is an arc trajectory, which can be collected by the optical capture device when the second reflective ball 40 rotates at the corresponding position, and the corresponding command can be input to the terminal.

Specifically, please refer to FIG. 1 to FIG. 3 , in one embodiment, the movable support structure 30 is a rod, the rod is hinged to the fixed support 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 bracket structure 10, then the second reflective ball 40 obtains an arc track with the length of the rod body as the radius in the plane, so that by stirring, pushing and pressing the rod body To change the position of the second reflective ball 40 in the plane, so as to activate the corresponding input command, the input command of the above action can be "start", "confirm", "cancel" and so on. Preferably, the second reflective ball 40 is slidably connected to the rod body, that is, it can move along the rod body in a straight line in addition to the arc motion track moving with the rod body, so that after the rod body is moved, pushed and pressed, it can also be used here. On the basis of the action, the second reflective ball 40 is moved along the length direction of the rod body. In this way, the input command of the above action can be "switch next", "switch mode", "mark the current position" and so on. Certainly, the shape of the rod body is not limited here, and the rod body may be a straight rod body, an arc-shaped rod body, etc., or the rod body itself may be in an irregular shape.

In one embodiment, the number of the second reflective balls 40 is two or more, that is, when the movable bracket structure 30 moves relative to the fixed bracket, each second reflective ball 40 has a corresponding track, Then, the position change of each second reflective ball 40 is used by the optical capturing device to input a corresponding command to the terminal. For example, as shown in Figure 3, two rod bodies are hinged on the fixed bracket structure 10, and a second reflective ball 40 is respectively arranged on the two rod bodies, so that the operator can perform the operation on the two rod bodies simultaneously. Toggle to obtain the corresponding pose of the second reflective ball 40, that is, the combination of the poses of the two second reflective balls 40 to realize the input of corresponding electrical signal instructions to the terminal. Of course, it is also possible to set more than two rods on the fixed bracket structure 10, and one or more second reflective balls 40 are arranged on the corresponding rods, and to input corresponding electrical signal commands to the terminal through multiple pose combinations.

Specifically, in one embodiment, the middle part of the rod body is hinged to the fixed bracket structure 10 , or one end of the rod body is hinged to the fixed bracket structure 10 . It can be understood that the hinge position of the rod body on the fixed support structure 10 can be changed according to actual needs.

Please refer to FIG. 4 , in one embodiment, the movable support structure 30 is a ring, the middle of the ring is hinged to the fixed support structure 10 , and the second reflective ball 40 is mounted on the ring. Similarly, when the ring rotates around the fixed bracket structure 10 , the second reflective ball 40 also has a corresponding movement track in the plane. Here, the ring member can be a closed ring structure, or a non-closed ring structure.

Specifically, in one embodiment, the central point of the ring is hinged on the fixed bracket structure 10 , or the ring is eccentrically hinged on the fixed bracket structure 10 . It can be understood that when the ring rotates around the hinge point relative to the fixed bracket structure 10, it can rotate concentrically or eccentrically, so that the second reflective ball 40 can move on different trajectories. In the same way, the second reflective ball 40 is slidably connected to the ring, that is, except for the arc motion track that moves with the ring, it can move relative to the ring for a second time, that is, the optical capture device collects the second reflective ball 40. After two movement trajectories, input the corresponding command to the terminal.

Or, in another embodiment, please refer to FIG. 5 , the fixed support structure 10 includes an annular spacer 10a having a hollow structure, the movable support joint 30 is a circular piece, and the circular piece is movable at the annular spacer. within the hollow structure. It can be understood that the hollow structure of the annular limiting portion can accommodate the circular member, and restrict the circular member from making a corresponding circular movement in the plane, that is, the movement trajectory is fixed. Similarly, when the operator drives the circular part to make a circular motion in the annular limit part, the optical capture device can also capture the corresponding pose information.

In one embodiment, please refer to FIG. 6 , the movable support structure 30 is slidably connected to the fixed support structure 10 , and/or, the second reflective ball 40 is slidably connected to the movable support structure 30 . It can be understood that, in this embodiment, the movable support structure changes its connection mode with the fixed support structure 10, that is, the movable support structure 30 slides along the extension direction of the fixed support structure 10, or, along the direction perpendicular to Sliding in the direction of the fixed bracket structure 10 drives the second reflective ball 40 to slide on the corresponding motion track, so that corresponding instructions can also be input to the terminal. For example, through actions such as pushing and toggling along the extension direction of the fixed bracket structure 10, the input of corresponding instructions is obtained, such as rotating the view (such as pressing and holding the reflective ball and then moving the tracer to make the corresponding rotation in the three-dimensional model space, loose After opening, the tracker can be reset and the 3D model does not follow the reset), and the volume-brightness-transparency-transparency-sensitivity can be adjusted steplessly (for example, push the reflective ball to move a certain distance and stop here to make it correspond to a change, and then push the reflective ball Move a distance and press and then reset to make it correspond to the change in position). At the same time, on this basis, the second reflective ball 40 can also slide along the extension direction of the movable bracket structure 30, thereby further changing the position of the second reflective ball 40 in the plane. The movable support structure 30 and the second reflective ball 40 are realized.

Please refer to FIG. 1 and FIG. 6 , in one embodiment, the optical tracking device 100 includes a reset member 50 , one end of the reset member 50 is connected to the fixed support structure 10 and the other end is connected to the movable support structure 30 . Here, the return member 50 can be a structural member that can deform and return to the original state, such as a spring. The return member 50 can be used to ensure that the movable support structure 30 can return to the original position after relative movement with respect to the fixed direct structure, that is, return to the original position. to the initial coordinate point position in the plane, which is convenient for optical capture equipment to collect.

Please refer to FIG. 2 , in one embodiment, a handle structure 60 is provided on the movable support structure 30 . It can be understood that the handle structure 60 is convenient for the operator to start holding, and increases the contact area between the movable support structure 30 and the operator's hand and the stability of holding. Here, the shape of the handle structure 60 is not limited.

In the second aspect, please refer to FIG. 7, the present application provides a method for using the optical tracking device 100, and the steps of the method are as follows:

S01. Fix the fixed bracket structure of the optical tracking device, use the optical capture device to capture the positions of the first reflective balls and the second reflective balls, and determine the positions of the first reflective balls and the second reflective balls in the optical capture device The pose in the coordinate system, and calculate the initial pose of the second reflective sphere relative to the first reflective sphere;

Here, a coplanar plane is determined by at least three first reflective spheres, and then the optical capture device grids the plane to become a coordinate plane. Then, the positioning function is realized by the pose of each first reflective sphere, and at the same time, the optical The capture device collects the pose of the second light-emitting sphere, which is the initial pose, and serves as the coordinate zero point for subsequent position changes of the second reflective sphere.

S02. Change the pose of the second reflective ball by moving the movable bracket structure, that is, obtain the current pose of the second reflective ball. At the same time, use the difference between the initial pose and the current pose of the second reflective ball to The terminal inputs a corresponding electrical signal.

Here, the second reflective ball is driven to move by the movable support structure, and a fixed motion track is obtained, and the optical capture device can obtain the fixed motion track, that is, when the second reflective ball is in the corresponding track area, or, the first When the activity frequency of the two reflective balls is different in the corresponding track area, the optical capture device obtains the current pose of the second reflective ball, and sets the preset relevant electrical signal instructions input to the terminal according to the difference between the two poses before and after, that is, when In the next movement cycle, when the current pose of the second reflective ball is the same or similar to the pose of the previous movement cycle, the corresponding electrical signal instruction is input to the terminal, so that instead of the operator inputting and setting the phase terminal through the keyboard, etc. Enter instructions to simplify the input process. For example: the operation methods of the movable support structure include single-click to toggle, press, push, etc., double-click (multi-click) to toggle, press, push, etc., long press to toggle, press, push, etc., you can also first After moving in the plane, the vertical plane moves to achieve the purpose of infinite adjustment; the transmitted commands include start, confirm, cancel, switch to the next, switch mode, mark the current position, and rotate the view (such as pressing the reflective ball and moving the tracker to make the three-dimensional Corresponding rotation in the model space, the tracker can be reset after releasing it and the 3D model does not follow the reset), infinitely adjust the volume-brightness-transparency-transparency-sensitivity (for example, push the reflective ball to move a certain distance and stop here to make it correspond to a certain distance Changes, such as pushing the reflective ball to move a certain distance and pressing it and then resetting to make it correspond to the change in the position); multiple switches can also be combined to move the reflective ball to achieve more commands; it can replace some of the functions on the traditional pedal; Make the same action correspond to different commands at different stages.

The method for using the optical tracer provided by the application comprises the following steps: fix the fixed support structure of the optical tracer, and use an optical capture device to capture the position of each first reflective ball to determine the position of each first reflective ball The plane where the fixed bracket structure is located, and at the same time, the optical capture device also collects the initial pose of the second reflective ball; by moving the movable bracket structure to change the pose of the second reflective ball, that is, the optical capture device Collect the current pose of the second reflective ball, and set the preset relevant electrical signal instructions input to the terminal according to the difference between the two poses before and after. When the poses of the cycles are the same or similar, the corresponding electrical signal instructions are input to the terminal. In this way, instead of the operator inputting instructions through the keyboard and other settings to set the phase terminal input instructions, the input process is simplified.

The above are only preferred embodiments of the application, and are not intended to limit the application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the application should be included in the protection scope of the application. Inside.

Claims

An optical tracking device, characterized in that it includes a fixed support structure, at least three first reflective balls mounted on the support structure and collected by an optical capture device, and The movable support structure and at least one second reflective ball installed on the movable support structure, the position of the second reflective ball changes with the movement of the movable support structure.
The optical tracking device according to claim 1, wherein the movable support structure is hinged to the fixed support structure, and the second reflective ball is installed on the movable support structure away from the fixed support one end of the structure.
The optical tracking device according to claim 2, wherein the movable support structure is a rod, the rod is hinged to the fixed support structure, and the second reflective ball is mounted on the rod.
The optical tracking device according to claim 3, characterized in that: the middle part of the rod is hinged to the fixed support structure, or one end of the rod is hinged to the fixed support structure.
The optical tracking device according to claim 2, characterized in that: the movable support structure is a ring, the middle part of the ring is hinged to the fixed support structure, and the second reflective ball is installed on the Said ring; or, said fixed bracket structure includes an annular spacer with a hollow structure, said movable support joint is a circular piece, and said circular piece is movable limited to the hollow structure of said annular spacer Inside.
The optical tracking device according to claim 5, characterized in that: the central point of the ring is hinged on the fixed support structure, or the ring is eccentrically hinged on the fixed support structure .
The optical tracking device according to claim 1, characterized in that: the movable support structure is slidably connected to the fixed support structure, and/or, the second reflective ball is slidably connected to the movable Bracket structure.
The optical tracking device according to any one of claims 1 to 7, characterized in that: the optical tracking device includes a reset member, one end of the reset member is connected to the fixed bracket structure and the other end is connected to the The above-mentioned movable support structure.
The optical tracking device according to any one of claims 1 to 7, wherein a handle structure is provided on the movable support structure.
A method for using an optical tracking device, characterized in that: the steps of the method are as follows:

Fix the fixed bracket structure of the optical tracking device, use an optical capture device to capture the positions of the first reflective balls and the second reflective balls, and determine the positions of the first reflective balls and the second reflective balls. The pose of the second reflective ball in the coordinate system of the optical capture device, and calculating the initial pose of the second reflective ball relative to the first reflective ball;

Change the pose of the second reflective ball by toggling the movable bracket structure, that is, obtain the current pose of the second reflective ball, and at the same time, use the initial pose and current pose of the second reflective ball different, and then input a corresponding electrical signal to the terminal.