WO2022247582A1 - 光学示踪装置及其使用方法 - Google Patents
光学示踪装置及其使用方法 Download PDFInfo
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- WO2022247582A1 WO2022247582A1 PCT/CN2022/090077 CN2022090077W WO2022247582A1 WO 2022247582 A1 WO2022247582 A1 WO 2022247582A1 CN 2022090077 W CN2022090077 W CN 2022090077W WO 2022247582 A1 WO2022247582 A1 WO 2022247582A1
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- Prior art keywords
- support structure
- reflective
- reflective ball
- ball
- optical
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- 230000003287 optical effect Effects 0.000 title claims abstract description 84
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000008859 change Effects 0.000 claims description 13
- 125000006850 spacer group Chemical group 0.000 claims description 4
- 230000008569 process Effects 0.000 abstract description 5
- 239000000700 radioactive tracer Substances 0.000 description 9
- 230000009471 action Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000000306 component Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000008358 core component Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
Definitions
- 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.
- 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.
- the traditional optical tracer cooperates with the optical capture device through the reflective ball to achieve spatial positioning.
- the traditional optical tracer has a single function in use, which brings inconvenience to the operator during the operation.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- the movable support structure is a rod
- the rod is hinged to the fixed support structure
- the second reflective ball is mounted on the rod.
- 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 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.
- 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.
- 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.
- 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.
- the movable bracket structure is provided with a handle structure.
- 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 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.
- 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.
- 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.
- 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.
- 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 .
- 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.
- “plurality” means two or more, unless otherwise specifically defined.
- 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.
- 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
- 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.
- 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.
- the optical capture device is a camera or the like.
- the optical tracer 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- the movable support structure 30 is a rod
- the rod is hinged to the fixed support structure 10
- the second reflective ball 40 is mounted on the rod.
- the rod body rotates around the hinge point relative to the fixed bracket structure 10
- 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
- the input command of the above action can be "start", “confirm”, “cancel” and so on.
- 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.
- the second reflective ball 40 is moved along the length direction of the rod body.
- the input command of the above action can be "switch next", “switch mode”, “mark the current position” and so on.
- 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.
- 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.
- 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.
- 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.
- the movable support structure 30 is a ring
- the middle of the ring is hinged to the fixed support structure 10
- the second reflective ball 40 is mounted on the ring.
- the second reflective ball 40 also has a corresponding movement track in the plane.
- the ring member can be a closed ring structure, or a non-closed ring structure.
- 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 .
- the second reflective ball 40 can move on different trajectories.
- 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.
- the fixed support structure 10 includes an annular spacer 10a having a hollow structure
- the movable support joint 30 is a circular piece
- the circular piece is movable at the annular spacer. within the hollow structure.
- 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.
- the optical capture device can also capture the corresponding pose information.
- the movable support structure 30 is slidably connected to the fixed support structure 10
- the second reflective ball 40 is slidably connected to the movable support structure 30 .
- 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.
- 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
- 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).
- 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.
- 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 .
- 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.
- 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.
- the shape of the handle structure 60 is not limited.
- the present application provides a method for using the optical tracking device 100, and the steps of the method are as follows:
- 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.
- 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
- 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.
- 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
- the method for using the optical tracer 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.
- 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.
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Abstract
本申请涉及手术器械技术领域,提供一种光学示踪装置及其使用方法,光学示踪装置包括固定支架结构件、至少三个第一反光球、活动支架结构件以及至少一个第二反光球,第二反光球的位置随活动支架结构移动而发生变化。利用光学捕捉设备采集第一反光球和第二反光球的位置,确定各反光球在光学捕捉设备的坐标系下的位姿,同时,计算出第二反光球相对于第一反光球的位姿,通过拨动活动支架结构件来改变第二反光球相对第一反光球的位姿,这样,利用第二反光球在拨动前后的位姿不同来识别指令,进而向终端输入对应的电信号。该光学示踪装置除了具有自身定位功能,还具有向终端输入指令的功能,简化其在手术过程中操控问题。
Description
本申请要求于2021年5月25日在中国专利局提交的、申请号为202110573143.1的中国专利申请的优先权,其全部内容通过引用结合在本申请中。
本申请涉及手术器械技术领域,尤其提供一种光学示踪装置及该光学示踪装置的使用方法。
光学示踪器是光学导航***的核心部件之一,通常固定在被追踪的对象上,用以指示该对象的空间。在计算导航辅助的手术中,起到至关重要的作用。
通常,传统的光学示踪器通过反光球与光学捕捉设备相配合,实现空间定位,然而,传统的光学示踪器在使用上功能单一,从而给操作人员在手术过程中带来不便。
本申请的目的提供一种光学示踪装置,旨在解决现有的光学示踪器功能单一所导致的用户体验差的问题。
为实现上述目的,本申请采用的技术方案是:
第一方面,一种光学示踪装置,包括固定支架结构件、安装于所述支架结构件上且供光学捕捉设备采集的至少三个第一反光球、活动连接于所述支架结构件上的活动支架结构件以及安装于所述活动支架结构件上的至少一个第二反光球,所述第二反光球与各所述第一反光球共面,并且,所述第二反光球的位置随所述活动支架结构移动而发生变化。
本申请的有益效果:本申请提供的光学示踪装置,将固定支架结构件固定在合适的位置,利用光学捕捉设备采集各第一反光球和第二反光球处于位置,并且,确定各反光球在光学捕捉设备的坐标系中的位姿,以及,计算出第二反光球相对于第一放光球的位姿,通过拨动活动支架结构件来改变第二反光球相对第一反光球的位姿,这样,利用第二反光球在拨动前后的位姿不同来识别指令,进而向终端输入对应的电信号,这样,该光学示踪装置除了具有自身定位功能,还具有向终端输入指令的功能,从而简化操作人员在手术过程中操控问题,用户体验更佳。
在一个实施例中,所述活动支架结构件铰接于所述固定支架结构件,所述第二反光球安装于所述活动支架结构件远离所述固定支架结构件的一端。
在一个实施例中,所述活动支架结构件为杆体,所述杆体铰接于所述固定支架结构件,所述第二反光球安装于所述杆体上。
在一个实施例中,所述杆体的中部铰接于所述固定支架结构件,或者,所述杆体的一端铰接于所述固定支架结构件。
在一个实施例中,所述活动支架结构件为环形件,所述环形件的中部铰接于所述固定支架结构件,所述第二反光球安装在所述环形件;或者,所述固定支架结构件包括具有中空结构的环形限位部,所述活动支架结件为圆形件,所述圆形件活动限位于所述环形限位部的中空结构内。
在一个实施例中,所述环形件的中心点铰接于所述固定支架结构件上,或者,所述环形件偏心地铰接于所述固定支架结构件上。
在一个实施例中,所述活动支架结构件滑动连接于所述所述固定支架结构件,和\或,所述第二反光球滑动连接于所述活动支架结构件。
在一个实施例中,所述光学示踪装置包括复位件,所述复位件一端连接于所述固定支架结构件且另一端连接于所述活动支架结构件。
在一个实施例中,所述活动支架结构件上设有把手结构。
第二方面,本申请提供一种光学示踪装置的使用方法,所述使用方法的步骤如下:
将所述光学示踪装置的固定支架结构件进行固定,利用光学捕捉设备对各所述第一反光球以及所述第二反光球的位置进行捕捉,确定各所述第一反光球和所述第二反光球在光学捕捉设备的坐标系下的位姿,以及计算获得所述第二反光球相对第一反光球的初始位姿;
通过拨动所述活动支架结构件来改变所述第二反光球的位姿,即获得所述第二反光球的当前位姿,同时,利用第二反光球的初始位姿和当前位姿的不同,进而向终端输入对应的电信号。
本申请的有益效果:本申请提供的光学示踪装置的使用方法,其步骤如下:将光学示踪装置的固定支架结构件进行固定,利用光学捕捉设备对各第一反光球进行位置捕捉,以确定各第一反光球所在的平面,对固定支架结构件进行定位,同时,光学捕捉设备还采集第二反光球的初始位姿;通过拨动活动支架结构件来改变第二反光球的位姿,即由光学捕捉设备采集第二反光球的当前位姿,根据前后两个位姿差异来设定预设向终端输入的相关电信号指令,即当在下一移动周期,第二反光球的当前位姿与上一移动周期的位姿相同或相近时,则向终端输入相对应的电信号指令,这样,来替代操作人员通过键盘等输入设置相终端输入指令,简化输入过程。
为了更清楚地说明本申请实施例中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。
图1为本申请一实施例提供的光学示踪装置的结构示意图;
图2为本申请一实施例提供的光学示踪装置的主视图;
图3为本申请一实施例提供的光学示踪装置的结构示意图;
图4为本申请另一实施例提供的光学示踪装置的主视图;
图5为本申请另一实施例提供的光学示踪装置的结构示意图;
图6为本申请又一实施例提供的光学示踪装置的结构示意图;
图7为本申请实施例提供的光学示踪装置的使用方法的流程图。
其中,图中各附图标记:
光学示踪装置100、固定支架结构件10、环形限位部10a、第一反光球20、活动支架结构件30、第二反光球40、复位件50、把手结构60。
下面详细描述本申请的实施例,所述实施例的示例在附图中示出,其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的,旨在用于解释本申请,而不能理解为对本申请的限制。
在本申请的描述中,需要理解的是,术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本申请和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本申请的限制。
此外,术语“第一”、“第二”仅用于描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此,限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中,“多个”的含义是两个或两个以上,除非另有明确具体的限定。
在本申请中,除非另有明确的规定和限定,术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或成一体;可以是机械连接,也可以是电连接;可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言,可以根据具体情况理解上述术语在本申请中的具体含义。
请参考图1,本申请提供的光学示踪装置100,包括固定支架结构件10、安装于固定支架结构件10上且供光学捕捉设备采集的至少三个第一反光球20、活动连接于支架结构件上的活动支架结构件30以及安装于活动支架结构件30上的至少一个第二反光球40,第二反光球40的位置随活动支架结构移动而发生变化。可以理解地,利用至少三个第一反光球20确定所在平面,来确定光学示踪装置100的位置坐标信息,以及,光学捕捉设备还能够获取第二反光球20的初始位姿,再通过活动支架结构件30相对固定支架结构件10相对移动时,光学捕捉设备继续采集第二反光球40的当前位姿,通过比对第二反光球40的初始位姿信息和当前位姿信息,根据两个位姿差异来设定预设向终端输入的相关电信号指令,即当在下一移动周期,第二反光球40的当前位姿与上一移动周期的位姿相同或相近时,则向终端输入相对应的电信号指令,这样,来替代操作人员通过键盘等输入设置相终端输入指令,简化输入过程。这些指令可以提前进行预设,例如,预设第二反光球40的位姿信息或者与之存在偏差系数的所相近的位姿信息来向终端输入相对应的指令类型,或者,预设第二反光球40进入对应区域以及相对应的次数来编辑对应的指令类型,如,第二反光球40在平面内进行某一运动轨迹时,对终端输入的指令可为开始、确认、撤销、切换下一个、切换模式、标记当前位置、旋转视图、无极调节音量-亮度-透明-透明度-灵敏度等。这里,光学捕捉设备是相机等设备。
本申请提供的光学示踪装置,将固定支架结构件10固定在合适的位置,利用光学捕捉设备采集各第一反光球20和第二反光球40处于位置,并且,确定各反光球在光学捕捉设备的坐标系中的位姿,以及,计算出第二反光球40相对于第一放光球20的位姿,通过拨动活动支架结构件30来改变第二反光球40相对第一反光球20的位姿,这样,利用第二反光球40在拨动前后的位姿不同来识别指令,进而向终端输入对应的电信号,这样,该光学示踪装置除了具有自身定位功能,还具有向终端输入指令的功能,从而简化操作人员在手术过程中操控问题,用户体验更佳。
请参考图1,在一个实施例中,固定支架结构件10为呈Y字型支架,各第一反光球20安装在Y型支架上,这样,满足各第一反光球20处于同一平面内,这样,根据各第一反光球20的位姿信息还确定光学示踪装置的位置,当然,固定支架结构件10除了可以呈Y字型也可以呈其他形状结构,例如U字型、口字型等。
请参考图1,在一个实施例中,活动支架结构件30铰接于固定支架结构件10,第二反光球40安装于活动支架结构件30远离固定支架结构件10的一端。可以理解地,活动支架结构件30是相对固定支架结构件10铰接转动,从而使得安装在活动支架结构件30上的第二反光球40的位姿发生改变,同时,由于第二反光球40是安装在活动支架结构件30上的,因此,在操作人员对其进行拨动时,第二反光球40在当前平面内的运动轨迹是固定不变的,即其位姿变化是固定的,例如,当活动支架结构件30绕于铰接点相对固定支架结构件10转动时,那么,第二反光球40的运动轨迹则是活动支架结构件30的长度为半径的圆弧轨迹,这样,第二反光球40在平面区域内运动轨迹为圆弧轨迹,可在第二反光球40转动在对应的位置时,通过光学捕捉设备采集,而向终端输入对应的指令。
具体地,请参考图1至图3,在一个实施例中,活动支架结构件30为杆体,杆体铰接于固定支架结构件10,第二反光球40安装于杆体上。这里,杆体绕于铰接点相对固定支架结构件10进行转动,那么,第二反光球40则在平面内获得以杆体的长度为半径的圆弧轨迹,这样,通过拨动、推动以及按动杆体来改变第二反光球40在平面内的位置,从而活动对应的输入指令,上述动作的输入指令可为“开始”、“确认”、“撤销”等等。优选地,第二反光球40滑动连接杆体上,即除了随杆体运动的圆弧运动轨迹外,而可沿杆体做直线运动,这样,在拨动、推动以及按动杆体后,还可在此动作基础上,沿杆体的长度方向移动第二反光球40,这样,上述动作的输入指令可为“切换下一个”、“切换模式”、“标记当前位置”等等。当然,杆体的形状这里也不做限定,杆体可为直杆体,可为弧形杆体等,或者,杆体自身为不规则形状等。
在一个实施例中,第二反光球40的数量为两个或两个以上,即,在拨动活动支架结构件30相对固定支架件移动时,各第二反光球40均具有对应的轨迹,那么,通过光学捕捉设备采用各第二反光球40的位置变化来向终端输入对应的指令。例如,如图3所示,在固定支架结构件10上铰接有两个杆体,以及,在两个杆体上分别设有一个第二反光球40,这样,操作人员可通过同时对两个杆体进行拨动,从而获得对应的第二反光球40的位姿,即两个第二反光球40的位姿组合以实现向终端输入相对应的电信号指令。当然,也可设置两个以上的杆体在固定支架结构件10,以及,在对应的杆体上设置一个或多个第二反光球40,通过多重位姿组合来向终端输入相应的电信号指令。
具体地,在一个实施例中,杆体的中部铰接于固定支架结构件10,或者,杆体的一端铰接于固定支架结构件10。可以理解地,杆体可根据实际需求改变其在固定支架结构件10上的铰接位置。
请参考图4,在一个实施例中,活动支架结构件30为环形件,环形件的中部铰接于固定支架结构件10,第二反光球40安装在环形件。同理地,当环形件绕于固定支架结构件10转动时,第二反光球40在平面内同样具有对应的运动轨迹。这里,环形件可封闭的环形结构,也可非封闭的环形结构。
具体地,在一个实施例中,环形件的中心点铰接于固定支架结构件10上,或者,环形件偏心地铰接于固定支架结构件10上。可以理解地,环形件绕于铰接点相对固定支架结构件10转动时,可进行同心转动,也可进行偏心转动,这样,第二反光球40能够活动不同的运动轨迹。同理地,第二反光球40滑动连接环形件上,即除了随环形件运动的圆弧运动轨迹外,而可相对环形件发生二次移动,即光学捕捉设备在采集第二反光球40的两次运动轨迹后,向终端输入对应的指令。
或者,在另一实施例中,请参考图5,固定支架结构件10包括具有中空结构的环形限位部10a,活动支架结件30为圆形件,圆形件活动限位于环形限位部的中空结构内。可以理解地,环形限位部的中空结构能够容置圆形件,以及,限制圆形件在平面内做对应的圆周运动,即运动轨迹是固定的。同理地,当操作人员带动圆形件在环形限位部内做圆周运动时,光学捕捉设备也能够捕捉相应的位姿信息。
在一个实施例中,请参考图6,活动支架结构件30滑动连接于固定支架结构件10,和\或,第二反光球40滑动连接于活动支架结构件30。可以理解地,在该实施例中,活动支架结构件改变其与固定支架结构件10连接方式,即活动支架结构件30是在沿固定支架结构件10的延伸方向进行滑动,或者,沿垂直于固定支架结构件10的方向进行滑动,从而带动第二反光球40在对应运动轨迹上滑动,如此,同样能够向终端输入对应的指令。例如,通过沿固定支架结构件10的延伸方向推动、拨动等动作,来获得对应的指令的输入,如旋转视图(如按住反光球后移动示踪器使三维模型空间内对应旋转,松开后可复位示踪器而三维模型不跟随复位)、无极调节音量-亮度-透明-透明度-灵敏度(如推动反光球移动一段距离并停在此处使其对应一段变化,再如推动反光球移动一段距离并按下然后复位使其对应该位置的变化量)。同时,在此基础之上,第二反光球40还能够沿活动支架结构件30的延伸方向进行滑动,从而进一步改变第二反光球40在平面内的位置,该一系列的输入指令是通过移动活动支架结构件30和第二反光球40来实现的。
请参考图1和图6,在一个实施例中,光学示踪装置100包括复位件50,复位件50一端连接于固定支架结构件10且另一端连接于活动支架结构件30。这里,复位件50可弹簧等能够发生形变且能够恢复至初始状态的结构件,利用复位件50确保活动支架结构件30在相对固定直接结构发生相对运动后,还能够回到初始位置,即回到平面内的初始坐标点位置,便于光学捕捉设备采集。
请参考图2,在一个实施例中,活动支架结构件30上设有把手结构60。可以理解地,把手结构60便于操作人员着手握持,增加活动支架结构件30与操作人员的手部的接触面积以及握持稳定性。这里,把手结构60的形状不做限定。
第二方面,请参考图7,本申请提供一种光学示踪装置100的使用方法,使用方法的步骤如下:
S01、将光学示踪装置的固定支架结构件进行固定,利用光学捕捉设备对各第一反光球以及第二反光球的位置进行捕捉,确定各第一反光球和第二反光球在光学捕捉设备的坐标系下的位姿,以及计算获得第二反光球相对第一反光球的初始位姿;
这里,通过至少三个第一反光球确定共面平面,然后光学捕捉设备将该平面网格化,成为坐标平面,那么,通过各第一反光球的位姿来即实现定位功能,同时,光学捕捉设备采集第二放光球的位姿,该位姿为初始位姿,作为后续第二反光球位置改变的坐标零点。
S02、通过拨动活动支架结构件来改变第二反光球的位姿,即获得第二反光球的当前位姿,同时,利用第二反光球的初始位姿和当前位姿的不同,进而向终端输入对应的电信号。
这里,通过活动支架结构件带动第二反光球移动,并获得固定运动轨迹,以及,光学捕捉设备能够获得该固定运动轨迹,即,当第二反光球处于对应的轨迹区域内时,或者,第二反光球在对应的轨迹区域内活动频率不同时,光学捕捉设备获取第二反光球的当前位姿,根据前后两个位姿差异来设定预设向终端输入的相关电信号指令,即当在下一移动周期,第二反光球的当前位姿与上一移动周期的位姿相同或相近时,则向终端输入相对应的电信号指令,这样,来替代操作人员通过键盘等输入设置相终端输入指令,简化输入过程。例如:活动支架结构件的操作方式具体有单击拨动、按动、推动等,双击(多击)拨动、按动、推动等,长按拨动、按动、推动等,也可先平面内移动后垂直平面移动以达到无极调节的目的;传递的命令有开始、确认、撤销、切换下一个、切换模式、标记当前位置、旋转视图(如按住反光球后移动示踪器使三维模型空间内对应旋转,松开后可复位示踪器而三维模型不跟随复位)、无极调节音量-亮度-透明-透明度-灵敏度(如推动反光球移动一段距离并停在此处使其对应一段变化,再如推动反光球移动一段距离并按下然后复位使其对应该位置的变化量);也可多个开关反光球组合移动实现更多命令;可替代传统脚踏上的部分功能;可使同一动作在不同阶段分别对应不同命令。
本申请提供的光学示踪装置的使用方法,其步骤如下:将光学示踪装置的固定支架结构件进行固定,利用光学捕捉设备对各第一反光球进行位置捕捉,以确定各第一反光球所在的平面,对固定支架结构件进行定位,同时,光学捕捉设备还采集第二反光球的初始位姿;通过拨动活动支架结构件来改变第二反光球的位姿,即由光学捕捉设备采集第二反光球的当前位姿,根据前后两个位姿差异来设定预设向终端输入的相关电信号指令,即当在下一移动周期,第二反光球的当前位姿与上一移动周期的位姿相同或相近时,则向终端输入相对应的电信号指令,这样,来替代操作人员通过键盘等输入设置相终端输入指令,简化输入过程。
以上仅为本申请的较佳实施例而已,并不用以限制本申请,凡在本申请的精神和原则之内所作的任何修改、等同替换和改进等,均应包含在本申请的保护范围之内。
Claims (10)
- 一种光学示踪装置,其特征在于:包括固定支架结构件、安装于所述支架结构件上且供光学捕捉设备采集的至少三个第一反光球、活动连接于所述支架结构件上的活动支架结构件以及安装于所述活动支架结构件上的至少一个第二反光球,所述第二反光球的位置随所述活动支架结构移动而发生变化。
- 根据权利要求1所述的光学示踪装置,其特征在于:所述活动支架结构件铰接于所述固定支架结构件,所述第二反光球安装于所述活动支架结构件远离所述固定支架结构件的一端。
- 根据权利要求2所述的光学示踪装置,其特征在于:所述活动支架结构件为杆体,所述杆体铰接于所述固定支架结构件,所述第二反光球安装于所述杆体上。
- 根据权利要求3所述的光学示踪装置,其特征在于:所述杆体的中部铰接于所述固定支架结构件,或者,所述杆体的一端铰接于所述固定支架结构件。
- 根据权利要求2所述的光学示踪装置,其特征在于:所述活动支架结构件为环形件,所述环形件的中部铰接于所述固定支架结构件,所述第二反光球安装在所述环形件;或者,所述固定支架结构件包括具有中空结构的环形限位部,所述活动支架结件为圆形件,所述圆形件活动限位于所述环形限位部的中空结构内。
- 根据权利要求5所述的光学示踪装置,其特征在于:所述环形件的中心点铰接于所述固定支架结构件上,或者,所述环形件偏心地铰接于所述固定支架结构件上。
- 根据权利要求1所述的光学示踪装置,其特征在于:所述活动支架结构件滑动连接于所述所述固定支架结构件,和\或,所述第二反光球滑动连接于所述活动支架结构件。
- 根据权利要求1至7任一项所述的光学示踪装置,其特征在于:所述光学示踪装置包括复位件,所述复位件一端连接于所述固定支架结构件且另一端连接于所述活动支架结构件。
- 根据权利要求1至7任一项所述的光学示踪装置,其特征在于:所述活动支架结构件上设有把手结构。
- 一种光学示踪装置的使用方法,其特征在于:所述使用方法的步骤如下:将所述光学示踪装置的固定支架结构件进行固定,利用光学捕捉设备对各所述第一反光球以及所述第二反光球的位置进行捕捉,确定各所述第一反光球和所述第二反光球在光学捕捉设备的坐标系下的位姿,以及计算获得所述第二反光球相对第一反光球的初始位姿;通过拨动所述活动支架结构件来改变所述第二反光球的位姿,即获得所述第二反光球的当前位姿,同时,利用第二反光球的初始位姿和当前位姿的不同,进而向终端输入对应的电信号。
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CN109282750A (zh) * | 2017-07-21 | 2019-01-29 | 镱钛科技股份有限公司 | 光学量测***、光学量测装置及其量测方法 |
CN113274131A (zh) * | 2021-05-25 | 2021-08-20 | 元化智能科技(深圳)有限公司 | 光学示踪装置及其使用方法 |
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