Surgical navigation system and its recognition method

Abstract

The present invention relates to the field of computer vision technology, and provides a surgical navigation system and an identification method thereof. The surgical navigation system includes: a visual marking matrix, on the outer side surface of which visual feature points are arranged both axially and circumferentially along the visual marking matrix; a visual navigator, which is provided with an error control coding module, and the visual marking matrix is electrically connected to the error control coding module. By evenly arranging visual feature points axially and circumferentially along the visual marking matrix, the visual navigator detects the spatial coordinates of the visual feature points within its field of view in real time, and the error control coding module performs error correction coding processing on the detected spatial coordinates, thereby identifying the accurate spatial position and attitude of the visual marking matrix, and improving the detection accuracy and reliability.

Description

Technical Field

[0001] The present invention relates to the technical field of computer vision, and particularly to a surgical navigation system and an identification method thereof. Background Art

[0002] With the development of computer technology, surgical navigation has brought revolutionary changes to surgical operations with its advantages of precision, flexibility, minimally invasive, etc., leading modern medicine from "intuitive medicine" to "precision medicine". Intraoperative guidance based on vision navigation technology can assist doctors to perform operations precisely according to a pre-determined surgical plan, and can minimize the risk of accidentally damaging adjacent important anatomical structures.

[0003] The key step of vision navigation technology is to accurately and reliably identify the spatial position and attitude of visual markers. Generally, visual or electromagnetic navigation instruments are used as key detection components in a surgical navigation system to detect the spatial position and attitude of visual markers within their field of view. The visual sensor is affected by environmental factors such as lighting conditions, electromagnetic interference, and visual occlusion during use, which will cause navigation deviation, affect the surgical accuracy, and even cause medical accidents. In traditional surgical navigation systems, the structure of visual markers is too simple and does not have redundant information. When identifying visual markers, it is easily affected by the environment and the reliability is not high enough. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems existing in the prior art. For this purpose, the present invention provides a surgical navigation system to solve the problems of low detection accuracy and poor reliability of existing vision navigators.

[0005] The present invention also provides an identification method for a surgical navigation system.

[0006] A surgical navigation system according to an embodiment of the first aspect of the present invention includes:

[0007] A visual marker substrate, on the outer side surface of which visual feature points are provided both axially and circumferentially along the axis of the visual marker substrate.

[0008] A vision navigator, which is provided with an error control coding module, and the visual marker substrate is electrically connected to the error control coding module.

[0009] According to an embodiment of the present invention, a groove is provided on the outer side surface of the visual marker substrate, and the visual feature points are detachably arranged in the groove.

[0010] According to an embodiment of the present invention, a magnet is provided in the groove, and the mounting end of the visual feature point is adapted to be adsorbed by the magnet.

[0011] According to an embodiment of the present invention, a reflective member is provided at the detection end of the visual feature point.

[0012] According to an embodiment of the present invention, a countersunk hole is provided at the detection end of the visual feature point, and the reflective member is disposed in the countersunk hole.

[0013] According to an embodiment of the present invention, it further includes a surgical instrument, and the surgical instrument is connected to the visual marking matrix.

[0014] According to an embodiment of the present invention, the visual navigator further includes a display screen, and the display screen is electrically connected to the error control coding module.

[0015] A method for identifying a surgical navigation system according to an embodiment of the second aspect of the present invention includes the following steps:

[0016] Dispose the visual marking matrix at the position to be detected on the human body;

[0017] Collect the spatial coordinate point information of the visual feature point in the visual coordinate system through the visual navigator;

[0018] Perform error correction coding processing on the collected information of the visual navigator through the error control coding module;

[0019] Display the spatial position and attitude of the visual marking matrix in the visual coordinate system deduced by the processing of the error control coding module through the visual navigator.

[0020] According to an embodiment of the present invention, in the step of performing error correction coding processing on the collected information of the visual navigator through the error control coding module, all coordinate point information is traversed by the error control coding module, and more than three collinear coordinate points are screened to form an information code group.

[0021] According to an embodiment of the present invention, in the step of performing error correction coding processing on the collected information of the visual navigator through the error control coding module, a supervision code is added to the information code group by the error control coding module, and error correction coding processing is performed.

[0022] One or more of the above technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0023] By evenly arranging visual feature points along the axial and circumferential directions of the visual marking matrix, the visual navigator real-time detects the spatial coordinates of the visual feature points within its field of view, and the error control coding module performs error correction coding processing on the detected spatial coordinates, thereby identifying the accurate spatial position and attitude of the visual marking matrix, and improving the detection accuracy and reliability.

[0024] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned by the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0026] Figure 1 It is a schematic structural diagram of the surgical navigation system according to an embodiment of the present invention;

[0027] Figure 2 It is a schematic structural diagram of the visual marker matrix in the surgical navigation system according to an embodiment of the present invention;

[0028] Figure 3 It is a schematic structural diagram of the visual feature points in the surgical navigation system according to an embodiment of the present invention;

[0029] Figure 4 It is a schematic diagram of point set matching in the method for identifying the surgical navigation system according to an embodiment of the present invention.

[0030] REFERENCE NUMERALS:

[0031] 100, visual marker matrix; 110, visual feature points; 120, groove; 130, magnet; 140, reflector; 150, countersunk hole; 200, visual navigator; 300, surgical instrument. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] The following will further describe in detail the embodiments of the present invention in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0033] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the embodiments of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0034] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified or limited, the terms "connected" and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0035] In the embodiments of the present invention, unless otherwise clearly specified or limited, the first feature being "on" or "under" the second feature may mean that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower horizontal height than the second feature.

[0036] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without conflict, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0037] As Figures 1 to 3 shown, the embodiments of the present invention provide a surgical navigation system, including:

[0038] A visual marker substrate 100, on the outer side surface of the visual marker substrate 100, visual feature points 110 are provided along both the axial direction and the circumferential direction of the visual marker substrate 100;

[0039] The visual navigator 200 is provided with an error control coding module, and the visual marking matrix 100 is electrically connected to the error control coding module. It can be understood that the visual marking matrix 100 is cylindrical, and visual feature points 110 are provided on the outer side wall of the visual marking matrix 100. For the convenience of comprehensively inspecting the part of the human body to be detected, the visual feature points 110 are respectively arranged along the axial direction and the circumferential direction of the visual marking matrix 100. It is worth noting that the distance between two adjacent visual feature points 110 can be specifically set according to the actual surgical needs, and can be set at equal intervals or set at a set interval.

[0040] Furthermore, the visual navigator 200 and the visual marking matrix 100 are arranged opposite to each other, and the detection field of view of the visual navigator 200 covers the visual marking matrix 100 to realize the detection of the visual marking, and then indirectly obtain the position relative to the human body.

[0041] Among them, the visual navigator 200 is provided with an error control coding module, and the visual navigator 200 sets its own visual coordinate system, and then collects the spatial coordinate point information of the visual feature points 110. The error control coding module performs error correction coding processing on the collected spatial coordinate point information to improve the detection accuracy, ensure the accuracy of the image displayed by the visual navigator 200, and ensure the smooth completion of the operation.

[0042] According to an embodiment of the present invention, a groove 120 is provided on the outer side surface of the visual marking matrix 100, and the visual feature point 110 is detachably arranged in the groove 120. It can be understood that a groove 120 is provided on the outer side wall of the visual marking matrix 100, and the grooves 120 are equally spaced along the axial direction and the circumferential direction of the visual marking matrix 100. The visual feature point 110 is detachably arranged in the groove 120 to realize the disassembly and replacement of the visual feature point 110 and ensure the detection accuracy. It is worth noting that the visual feature point 110 can be selectively installed in the groove 120, that is to say, according to the actual detection needs, the visual feature point 110 can be continuously installed in the groove 120 or installed at intervals, and it is not necessary to set a visual feature point 110 in each groove 120.

[0043] According to an embodiment of the present invention, a magnet 130 is provided in the groove 120, and the mounting end of the visual feature point 110 is adapted to be adsorbed by the magnet 130. It can be understood that the magnet 130 is provided in the groove 120, and the visual feature point 110 is made of iron metal material, so that the mounting end of the visual feature point 110 is adapted to be adsorbed by the magnet 130. That is to say, repeated use of the visual marking substrate 100 may cause damage to the reflective coating on the visual feature point 110, affecting the visual recognition accuracy and effect. Therefore, it is necessary to replace the visual feature point 110. By tightly adsorbing with the magnet 130, the stable installation of the visual feature point 110 during the detection process is ensured. When replacement is needed, only by applying an external force to separate the visual feature point 110 from the magnet 130, the disassembly can be carried out, and the operation is convenient.

[0044] According to an embodiment of the present invention, a reflective member 140 is provided at the detection end of the visual feature point 110. It can be understood that the reflective member 140 is provided at the detection end of the visual feature point 110 for corresponding detection and adaptation with the visual navigator 200. The reflective member 140 is preferably a reflective sheet or a reflective ball. It is worth noting that the method of coating a reflective layer at the detection end of the visual feature point 110 can also be adopted. The center of the reflective member 140 is the coordinate position of the visual feature point 110.

[0045] According to an embodiment of the present invention, a countersunk hole 150 is provided at the detection end of the visual feature point 110, and the reflective member 140 is arranged in the countersunk hole 150. It can be understood that the detection of the visual feature point 110 is provided with a countersunk hole 150 for installing the reflective member 140, so as to stably install the reflective member 140 in the countersunk hole 150 and ensure the stable strength of the installation during the detection process.

[0046] According to an embodiment of the present invention, it further includes a surgical instrument 300, and the surgical instrument 300 is connected to the visual marking substrate 100. It can be understood that the surgical instrument 300 can adopt a mechanical connection method, such as threaded connection, snap connection, set screw connection or welding, to be connected to the visual marking substrate 100. By obtaining the spatial position of the visual marking substrate 100 through the visual navigator 200, the spatial position and attitude of the surgical instrument 300 can be indirectly obtained.

[0047] According to an embodiment of the present invention, the visual navigator 200 further includes a display screen, and the display screen is electrically connected to the error control coding module. It can be understood that the display screen is used to receive the information processed by the error control coding module and display it in the form of an image for medical staff to view.

[0048] According to a method for identifying a surgical navigation system according to the second aspect embodiment of the present invention, it includes the following steps:

[0049] Place the visual marking substrate 100 at the position to be detected on the human body;

[0050] Collect the spatial coordinate point information of the visual feature points 110 in the visual coordinate system through the visual navigator 200;

[0051] Perform error correction coding processing on the collected information of the visual navigator 200 through the error control coding module;

[0052] Display the spatial position and attitude of the visual marker substrate 100 in the visual coordinate system calculated by the error control coding module through the visual navigator 200.

[0053] According to an embodiment of the present invention, in the step of performing error correction coding processing on the collected information of the visual navigator 200 through the error control coding module, all coordinate point information is traversed by the error control coding module, and more than three collinear coordinate points are screened to form an information code group.

[0054] The specific steps of the surgical navigation system recognition method according to the embodiment of the present invention are as follows:

[0055] A number of visual feature points are evenly distributed along the axis direction of the cylindrical surface of the visual marker substrate, and such a column of feature points constitutes an information code group. A number of information code groups are evenly distributed along the circumferential direction of the cylindrical surface. The code element a in the information code group i = 1 or 0, a i = 1 represents that the visual navigator 200 recognizes this feature point, and a i = 0 represents that the visual navigator 200 fails to recognize this visual feature point due to certain reasons (such as line of sight occlusion).

[0056] Adding redundant code elements, that is, supervisory codes, to the original codewords in the information code sequence, that is, changing the original codewords into codewords with a certain redundancy according to a certain rule, and making there be a certain relationship between the codes of each codeword. This method is called error control coding, also called error correction coding. Different coding methods have different error detection and error correction capabilities. The more supervisory code elements are added, the stronger the error correction ability.

[0057] The present invention uses cyclic codes to detect random or burst errors in visual recognition. Cyclic codes have relatively strong error detection (correction) capabilities and also have cyclicity. That is, any code group obtained after cyclic shift (cyclic left shift or right shift) of a code group is still a code group in this code.

[0058] The coding that groups the information codes and then attaches several supervisory codes to each group of information codes is called block code, which is represented by the symbol (n, k). k is the number of bits of the information code, n is the total number of bits of the coding group, and r = n - k is the number of supervisory bits. The embodiment of the present invention uses (7, 4) cyclic codes, that is, each code group is represented by 7 - bit binary numbers, where 4 bits are information bits and the remaining 3 bits are supervisory bits. Then there are a total of 2 4 = 16 different code groups.

[0059] According to the relevant theories in communication principles, the cyclic code generating polynomial is set as

[0060] g(x) = x 3 + x 2 + 1, then the generating matrix is:

[0061]

[0062] Or written as:

[0063] Performing elementary row operations on G can transform it into a canonical matrix: After obtaining the generating matrix, the entire code group can be generated from it, that is, [a 6 a 5 a 4 a 3 a 2 a 1 a 0 = [a 6 a 5 a 4 a 3 ·G, and in the obtained code group, a 6 a 5 a 4 a 3 are information bits, and a 2 a 1 a 0 are the additional 3 check bits. According to this formula, 16 different code groups can be calculated, as shown in the following table:

[0064] (7, 4) Cyclic Code Table

[0065]

[0066] It can be seen that for the 16 different code groups in the table, whether shifted cyclically to the right or left, the results are all in the set of this cyclic code group. The minimum code distance d 0 = 3, that is, the minimum number of different digits in the corresponding positions of any two code groups is 3. If used for error detection, at most 2 error codes can be detected; if used for error correction, 1 error code can be corrected.

[0067] Select the codewords with the lowest bit being 1 (excluding the code group of all 1s) from the code groups in the above table, a total of 7 kinds, and arrange them on the outer contour surface of the cylindrical visual marking substrate. The selected code groups are as follows:

[0068] S 1 = 0001101

[0069] S 2 = 0010111

[0070] S 3= 0100011

[0071] S 4 = 0111001

[0072] S 5 = 1001011

[0073] S 6 = 1010001

[0074] S 7 = 1100101

[0075] Theoretically, the visual feature points on the side of the visual marker substrate facing the visual navigator 200 can be detected. The continuously detectable code groups are related to their distribution on the cylindrical surface of the visual marker substrate. Here, 15 groups of cyclic codes are evenly distributed on the cylindrical surface of the visual marker substrate, and the ones facing the visual navigator 200 are S 1 、S 2 、S 3 、S 4 、S 5 。

[0076] The arrangement of the cyclic codes on the cylindrical surface should ensure that there are no continuous sequences of at least 3 repetitions, otherwise positioning ambiguities may occur.

[0077] The position and orientation of the visual marker substrate in the visual coordinate system {V} of the visual navigator 200 (as Figure 1 shown) can be indirectly deduced from the detected cyclic codes.

[0078] The visual marker substrate can be made by 3D printing or metal processing, and the position of each visual feature point on its outer surface relative to the visual marker substrate coordinate system (such as Figure 2 the coordinate system {O} located at the center of the bottom surface of the cylindrical surface) is known.

[0079] Since the visual navigator 200 only detects a series of spatial coordinate points, in order to obtain specific code group information from these coordinate points, the following steps are cycled:

[0080] (1) Traverse all the detected coordinate points, and record the points that are collinear with more than three points into a group {A i};

[0081] (2) Due to problems such as the distribution of visual feature points, the collinearity discrimination threshold, and the sensor detection accuracy, there may be cases where three or more points are collinear on the circular arc surface. In order to avoid misclassifying them into a group, discrimination is required. The distance between the feature points of each group of cyclic codes is L (as Figure 2 shown), that is, the distance between points within each group should be an integer multiple of L, and the groups that do not meet the requirements are excluded, and the remaining {Bi};

[0082] (3) Convert each group into a binary number according to the distribution of points to obtain {C i}. In order to be able to convert only according to the spatial coordinate points into the corresponding binary code group, the code groups with all the lowest bits being 1 were selected when selecting the cyclic codes in Table 1 above. Corresponding Figure 2 In the visual marker matrix, a reflective member is provided for the entire outermost circle on the right side of the cylindrical surface. Therefore, during detection, the coordinate value of the X-axis in its visual coordinate system can be compared, and the coordinate point with the smallest X component is the boundary. Given the boundary and the distance between the feature points, the binary code group sequence corresponding to the collinear coordinate points can be obtained. If Figure 1 in the visual marker matrix, the orientation is changed. For example, the end of the surgical instrument 300 faces the right side (i.e., the negative X-axis direction of the visual navigator 200), at this time, it should be traversed in reverse, that is, find the value with the largest X coordinate component to determine the boundary and perform the code group sequence conversion;

[0083] (4) If the corresponding code calculated in the previous step is not in {S i}(due to reasons such as visual occlusion, some feature points are not detected), then error correction is required. For example, the cyclic code sequence S 4 If detected completely accurately, it should be: 01 1 1001. If a certain visual feature point (underlined) is occluded, the recognized sequence becomes: 01 0 1001, and the code is not in {S i}. Since 3 parity bits are added to the code group, there are 3 parity relations. According to the generator matrix G, the parity-check matrix H can be constructed:

[0084]

[0085] For the misrecognized sequence B = [01 0 1001], calculate its syndrome: S = B·H T = [0101001]·H T =

[111] , it can be seen that the syndrome is not all 0, that is, it does not satisfy the parity relation, indicating an error. According to S =

[111] being the transpose of the 3rd column of the H matrix, it can be known that the error code position is at a 4 , and the error pattern is E = [0010000]. Therefore, the corrected code group is:

[0086] A = B + E = [0101001] + [0010000] = [0111001]

[0087] (5) After the error correction in the previous step, select 3 to 5 consecutive cyclic codes, which can uniquely determine the spatial position and attitude of the cylindrical vision marker substrate (coordinate system {O}) in the vision coordinate system {V} of the navigation instrument, providing a basis for the positioning and navigation of the surgical instrument 300.

[0088] The calculation principle is as follows:

[0089] It is known that the coordinate points in the vision coordinate system {V} corresponding to multiple groups of error-corrected cyclic codes form a spatial point set X, and it is also known that the coordinates of the characteristic points in the cylindrical coordinate system {O} corresponding one-to-one to the point set X form another point set P. For the point sets with this determined correspondence relationship, the optimal transformation can be calculated by the method of singular value decomposition (SVD) to obtain the spatial transformation relationship between the two point sets, thereby calculating the spatial position and attitude of the cylinder in the vision coordinate system.

[0090] As Figure 4 shown, for the point sets P = {p 1 , p 2 ,..., p n} and X = {x 1 , x 2 ,..., x n}, the process of registration, which matches them together by rotation and translation, is to solve a rotation matrix R and a translation vector t to minimize the error after transformation, that is, to solve R and t to minimize the registration error E(R, t):

[0091]

[0092] According to relevant theories, the centroids of the two point sets can be calculated first, which are respectively: and Then subtract the corresponding centroids from the two point sets respectively to move the point sets to the origin, obtaining two new point sets, that is, X' = {x i - μ x} = {x' i}, P' = {p i - μ p} = {p' i}.

[0093] Next, construct the matrix W, let Solve the rotation matrix R by performing singular value decomposition on the matrix W. If then R = UV T . After calculating the rotation matrix R, the translation vector t = μ x - Rμ p .

[0094] After calculating the spatial transformation relationship between the two corresponding point sets, the visual marker base coordinate system {O} can be transformed into the visual coordinate system {V} of the navigation instrument, that is, the position and attitude of the visual marker base relative to the navigation instrument are known.

[0095] According to an embodiment of the present invention, in the step of performing error correction coding processing on the acquisition information of the visual navigator 200 by the error control coding module, the error control coding module adds a supervision code to the information code group and performs error correction coding processing.

[0096] One or more of the above technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0097] By arranging visual feature points along both the axial direction and the circumferential direction of the visual marker base, the visual navigator detects the spatial coordinates of the visual feature points within its field of view in real time, and the error control coding module performs error correction coding processing on the detected spatial coordinates, thereby identifying the accurate spatial position and attitude of the visual marker base, and improving the detection accuracy and reliability.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

[0099] The above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, those of ordinary skill in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present invention do not deviate from the spirit and scope of the technical solutions of the present invention, and should all be covered by the scope of the claims of the present invention.

Claims

1. A surgical navigation system, characterized in that, comprising: a visual marker substrate, on the outer side surface of which visual feature points are respectively arranged at equal intervals along the axial direction and the circumferential direction of the visual marker substrate; a visual navigator, which is provided with an error control coding module, and the visual marker substrate is electrically connected to the error control coding module; reflective elements are all arranged in a circle at the detection end of the rightmost visual feature point, and the circle of reflective elements is configured to determine the boundary of the visual marker.

2. The surgical navigation system according to claim 1, characterized in that, a groove is provided on the outer side surface of the visual marker substrate, and the visual feature points are detachably arranged in the groove.

3. The surgical navigation system according to claim 2, characterized in that, magnets are provided in the groove, and the installation end of the visual feature point is adsorbed and adapted to the magnets.

4. The surgical navigation system according to claim 1, characterized in that, a countersunk hole is provided at the detection end of the visual feature point, and the reflective element is arranged in the countersunk hole.

5. The surgical navigation system according to claim 1, characterized in that, it further comprises a surgical instrument, and the surgical instrument is connected to the visual marker substrate.

6. The surgical navigation system according to claim 1, characterized in that, the visual navigator further comprises a display screen, and the display screen is electrically connected to the error control coding module.

7. A recognition method for the surgical navigation system according to any one of claims 1 to 6, characterized in that, comprising the following steps: placing the visual marker substrate at a position to be detected; acquiring the spatial coordinate point information of the visual feature points in the visual coordinate system through the visual navigator; performing error correction coding processing on the acquisition information of the visual navigator through the error control coding module; displaying, through the visual navigator, the spatial position and attitude of the visual marker substrate in the visual coordinate system calculated and deduced by the error control coding module; wherein, in the step of performing error correction coding processing on the acquisition information of the visual navigator through the error control coding module, all coordinate point information is traversed by the error control coding module, and more than three collinear coordinate points are screened to form an information code group; finding the coordinate point with the largest or smallest X coordinate component to determine the visual marker boundary, and obtaining the binary code group sequence corresponding to the collinear coordinate points through code group sequence conversion; wherein, screening more than three collinear coordinate points to form an information code group includes: eliminating the unqualified groups among the more than three collinear coordinate points according to that the distance between points in each group is an integer multiple of the spacing of the cyclic code feature points in each group.

8. The surgical navigation system recognition method according to claim 7, characterized in that, in the step of performing error correction coding processing on the acquisition information of the visual navigator through the error control coding module, supervision codes are added to the information code group by the error control coding module, and error correction coding processing is performed.

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