A holographic perspective positioning system and positioning method

Abstract

The present invention provides a holographic perspective positioning system, including a planning module, a registration module and a positioning module, etc. The three-dimensional model of the target entity is reconstructed through the planning module, and the conversion matrix of the position information between the mixed reality module and the optical positioning module is obtained through the registration module, and finally the target entity and the three-dimensional model are accurately positioned. In addition, the present invention also provides a positioning method, including planning, prior preparation, information loading, registration, tracking, and positioning, which improves the positioning accuracy, realizes the deep fusion of the target entity and the three-dimensional model in the mixed reality module, and achieves intelligent application of different types of application scenarios. For example, in the medical field, the three-dimensional model of the affected part is reconstructed through the patient's medical imaging data, and the positioning accuracy between the virtual three-dimensional model and the affected part is further improved, providing doctors with three-dimensional information, and the whole process is visualized, providing doctors with accurate guidance during surgery.

Description

Technical field:

[0001] The present invention relates to the technical field of holographic perspective positioning, and in particular to a holographic perspective positioning system and a positioning method. Background technology:

[0002] With the development of intelligent technology, holographic perspective positioning technology is currently used in many fields. For example, it is used in the medical field. The three-dimensional model of the femoral affected area is reconstructed through the patient's medical imaging data, and the virtual three-dimensional model is superimposed on the affected area and combined with the real surgical environment to provide doctors with three-dimensional information and full visualization. It provides guidance for doctors during surgery and helps doctors accurately locate the surgical path to improve the accuracy and scientificity of the surgery. It is used for maintenance guidance, especially for the maintenance of complex equipment. Mixed reality technology can assist maintenance personnel to quickly find abnormal parts and perform virtual path navigation for the maintenance operation process to improve maintenance efficiency.

[0003] However, the current holographic perspective positioning technology has limited positioning accuracy and cannot meet higher precision positioning requirements in actual applications. Summary of the invention:

[0004] The purpose of the present invention is to provide a holographic perspective positioning system and a positioning method that can solve the above problems in view of the defects of the prior art.

[0005] A holographic perspective positioning system includes a planning module, a registration module, a tracking module and a positioning module, wherein the planning module, the registration module and the positioning module are connected to a control module. The planning module reconstructs a three-dimensional model of a target entity based on a target entity, performs planning, and generates a data packet. The registration module includes an optical positioning module, a calibration module, and a mixed reality module, which are used to obtain a coordinate transformation matrix between the mixed reality module and the optical positioning module at the same spatial position. The tracking module includes a fixedly connected tracking photosensitive module and a tracking needle, which are used to track the position of the target entity during the positioning process. The positioning module includes a fixedly connected positioning photosensitive module and a plurality of positioning probes, which are used to achieve deep fusion of the target entity and the three-dimensional model in the mixed reality module.

[0006] By designing the alignment module, the accuracy of the optical positioning module is introduced into the positioning system, so that the positioning error is as small as millimeter level, which is much higher than the positioning accuracy in the prior art and can meet the high-precision positioning requirements of different types of application scenarios.

[0007] Furthermore, the calibration module includes a fixedly connected characteristic image module and a calibration photosensitive module, and the calibration module can be in any form that can satisfy a measurable fixed relationship between the position of the characteristic image module and the position of the photosensitive module.

[0008] Furthermore, the feature image module includes at least one feature image, and the feature image may be a QR code or other computer-recognizable image containing information.

[0009] Furthermore, the calibration photosensitive module, the positioning photosensitive module and the tracking photosensitive module each include at least three photosensitive balls.

[0010] Furthermore, the at least three photosensitive balls are in the same plane and the area of ​​the pattern formed is not less than 40cm 2 .

[0011] Furthermore, the optical positioning module may be an infrared positioning device or an electromagnetic positioning device, wherein the infrared positioning device or the electromagnetic positioning device requires an accuracy of less than 2 mm.

[0012] In addition, the present invention also provides a positioning method of a holographic perspective positioning system, comprising the following steps:

[0013] (1) Planning, reconstructing the 3D model of the target entity and generating a data package;

[0014] (2) Prior preparation: connecting the planning module, the optical positioning module, the mixed reality module and the control module, and verifying the calibration module;

[0015] (3) Information loading, starting the mixed reality module, and the control system sends the data packet to the mixed reality module so that it loads the data packet;

[0016] (4) Registration, obtaining the coordinate transformation matrix between the mixed reality module and the optical positioning module at the same spatial position through the calibration module By designing the registration module, the accuracy of the optical positioning module is introduced into the positioning system, greatly improving the positioning accuracy.

[0017] (5) Tracking: real-time tracking of the location of the target entity;

[0018] (6) Positioning: The positioning module is used to achieve deep fusion of the target entity and the three-dimensional model in the mixed reality module.

[0019] Furthermore, a plurality of model positioning points are preset on the three-dimensional model.

[0020] Furthermore, the verification process is: by adjusting the positions and angles of the optical positioning module and the calibration module, the calibration photosensitive module can be detected by the optical positioning module.

[0021] Furthermore, the registration process is as follows: first, the optical positioning module tracks the calibration photosensitive module to calculate the position data of the center point of the feature image module in the optical positioning module, and then the mixed reality module tracks the feature image module to obtain the position data of the center point of the feature image in the mixed reality module, and based on the position data of the center point of the feature image module in the optical positioning module and the mixed reality module, a coordinate transformation matrix between the mixed reality module and the optical positioning module for the same spatial position is obtained.

[0022] Furthermore, the calculation process of the position data of the center point of the characteristic image module in the optical positioning module is as follows: first, the position matrix of the calibration module is obtained by the optical positioning module: Since the center point of the characteristic image in the calibration module has a rigid position relationship with the photosensitive module 22 identified by the optical positioning module 4 Its position in the optical positioning module is

[0023] Furthermore, the calculation process of the coordinate transformation matrix is ​​as follows: the position matrix of the feature image in the mixed reality coordinate system is obtained by the mixed reality module: The conversion matrix of the coordinate system of the optical positioning module 4 in the coordinate system of the mixed reality module 1 can be calculated as:

[0024] Furthermore, the tracking process is: fixing the tracking needle of the tracking module on the target entity and adjusting the direction so that the tracking photosensitive module can be recognized by the optical tracking module.

[0025] Furthermore, during the positioning process, the positioning probe on the positioning module selects positioning points in sequence and calculates the position information of the positioning probe in the mixed reality module. Then, according to the information of the corresponding model positioning points on the loaded three-dimensional model, the model positioning points in the three-dimensional model are bound one by one with the tip position of the positioning probe of the target entity in the mixed reality module, so that the positioning module and the three-dimensional model maintain a relative posture relationship when planning the positioning points in real time in the mixed reality module. Thereafter, by moving the tip of the positioning probe on the positioning module to each entity positioning point on the corresponding target entity in the scene, deep fusion of the target entity and the three-dimensional model in the mixed reality module is achieved.

[0026] Furthermore, the calculation process of the position information of the positioning probe in the mixed reality module is: the spatial position and posture of the positioning photosensitive module on the positioning module are tracked by the optical positioning module, the spatial position coordinates of several positioning probes in the optical positioning module are calculated, and then the spatial position coordinates of the positioning probes in the optical positioning module are calculated by the transformation matrix. Convert it to spatial position coordinates in the mixed reality module.

[0027] The beneficial effects of the holographic perspective positioning system and positioning method of the present invention are:

[0028] (1) The present invention provides a holographic perspective positioning system, including a planning module, a registration module and a positioning module. The planning module reconstructs the three-dimensional model of the target entity, and the registration module obtains the conversion matrix of the position information between the mixed reality module and the optical positioning module, and finally realizes the precise positioning of the target entity and the three-dimensional model. The positioning error is as small as millimeter level, and the deep fusion of the target entity and the three-dimensional model in the mixed reality module is realized, which greatly improves the positioning accuracy of existing equipment and meets the higher precision positioning requirements in the fields of intraoperative guidance, equipment maintenance, etc.

[0029] (2) The registration module of the present invention introduces the accuracy of the optical positioning module into the mixed reality module, establishes a connection between the optical positioning module and the mixed reality module through the calibration module, obtains the corresponding spatial registration matrix based on the position data of the center point of the feature image module on the calibration module in the optical positioning module and the mixed reality module, obtains the coordinate transformation matrix of the optical positioning module and the mixed reality module, and facilitates the precise positioning between the subsequent model and the real object.

[0030] (3) By setting the mechanical structure of the calibration module, the fixed spatial positions of the feature image and the photosensitive ball are designed during processing, and the feature image is used to perform spatial fitting at the recognition positions of the optical positioning module and the mixed reality module, respectively, to obtain high-precision spatial matching of two different types of spatial positioning devices. Description of the drawings:

[0031] Figure 1 It is a schematic diagram of the working principle of the present invention.

[0032] Figure 2 is a structural diagram of the registration module of the present invention,

[0033] Figure 3 is a schematic diagram of the structure of the calibration module of the present invention,

[0034] Figure 4 is a structural diagram of the positioning module of the present invention,

[0035] In the figure: 1 planning module, 2 calibration module, 21 feature image module, 22 calibration photosensitive module, 3 mixed reality module, 4 optical positioning module, 5 tracking module, 6 positioning module, 61 positioning probe, 62 positioning photosensitive module, 7 control module, 8 target entity. Specific implementation method:

[0036] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0037] Example 1

[0038] See Figures 1 to 4 A holographic perspective positioning system includes a planning module 1, a registration module, a positioning module 6, a tracking module 5 and a control module 7, wherein the planning module 1, the registration module, the positioning module 6 and the control module 7 are connected.

[0039] The planning module 1 is based on the target entity 8, and generates a data packet by reconstructing a three-dimensional model of the target entity 8, and presetting the structure of the three-dimensional model and several model positioning points that are deeply integrated during the positioning process. In this embodiment, it is used for intraoperative positioning in femoral surgery. The target entity is the femur. The three-dimensional model of the femoral affected part is reconstructed through the patient's medical imaging data, and the surgical planning is performed to determine the angle and thickness of the osteotomy, as well as the anatomical landmarks (i.e., model positioning points) that are deeply integrated during the positioning process, and the surgical data packet is generated. This application defines this module that realizes this function as a planning module, which can be implemented using existing technologies.

[0040] The registration module includes an optical positioning module 4, a calibration module 2 and a mixed reality module 3. The optical positioning module 4 is an infrared positioning device or an electromagnetic positioning device, etc. The registration module obtains the coordinate transformation matrix between the mixed reality module 3 and the optical positioning module 4 at the same spatial position through the calibration module 2. The calibration module 2 includes a fixedly connected characteristic image module 21 and a calibration photosensitive module 22. The characteristic image module 21 includes one or more characteristic images. The size and arrangement of the plurality of characteristic images are not limited and can be arranged arbitrarily. In this embodiment, there are three characteristic images and they are not on the same straight line. Any calibration plate can be used as long as the position of the characteristic image module and the position of the calibration photosensitive module have a measurable fixed relationship, not limited to Figure 3 The characteristic image is a QR code or other computer-recognizable image containing information.

[0041] The tracking module 5 includes a fixedly connected tracking photosensitive module and a tracking needle, the tracking needle is positioned on the femur, and the tracking photosensitive module cooperates with the optical positioning module 4 to track the position of the femur during the positioning process. The positioning module 4 includes a fixedly connected positioning photosensitive module 62 and a positioning probe 61, which are used to achieve deep fusion of the femur and the three-dimensional model in the mixed reality module 3.

[0042] The optical positioning module 4 is used to track the calibration photosensitive module 22, the positioning photosensitive module 62 and the tracking photosensitive module. The calibration photosensitive module 22, the positioning photosensitive module 62 and the tracking photosensitive module include four photosensitive balls, each of which is in the same plane and the area of ​​the pattern formed is not less than 40 cm 2 The mixed reality module may be a head-mounted glasses device.

[0043] In addition, the present invention also provides a positioning method of a holographic perspective positioning system, comprising the following steps:

[0044] (1) Planning: First, reconstruct the three-dimensional model of the femur by collecting data in advance, and perform surgical planning to determine the angle and thickness of the osteotomy, as well as the anatomical landmarks (i.e., model positioning points) for deep fusion during the positioning process, and generate a surgical data package.

[0045] In the planning module, we must first plan the model and positioning points for deep fusion in the positioning according to the shape and structure of the real object based on the relevant data collected in advance. There are three or more model positioning points, and the planning process is: select three or more feature points of the target entity that are easy to identify and select in turn.

[0046] (2) Prior preparation: first, connect the planning module 1, the optical positioning module 4, the mixed reality module 3 and the control module 7, and then verify the position of the calibration module 2 (by adjusting the position and angle of the optical positioning module so that the calibration photosensitive module can be detected by the optical positioning module).

[0047] (3) Information loading: starting the mixed reality module 3, the control system 7 sends the data packet to the mixed reality module 3, and the mixed reality module 3 loads the data packet to obtain information about the three-dimensional model and several model positioning points preset thereon.

[0048] (4) Registration: Place the calibration module 2 on the femur to be operated on, adjust the position and angle of the optical positioning module 4, and obtain the coordinate transformation matrix between the mixed reality module 3 and the optical positioning module 4 at the same spatial position through the calibration module 2.

[0049] Because the calibration photosensitive module on the calibration module has a rigid fixed relationship with the characteristic image module, the optical positioning module 4 tracks the calibration photosensitive module 22 to obtain the position information. And through the mechanical structure relationship matrix of the calibration board Obtain the position data of the center point of the characteristic image module in the optical positioning module Depend on Calculate the coordinates of the feature image module in the coordinate system of the mixed reality module 3 Based on the position data of the feature image module in the optical positioning module 4 and the mixed reality module 3, the corresponding spatial registration matrix is ​​calculated.

[0050] Specifically, firstly, the optical positioning module is used to track and calibrate the photosensitive module 22, and the position matrix of the calibration module is obtained as follows: Due to the precision machining structure of the calibration module, the center points of the three feature images in the calibration module have a rigid positional relationship with the calibration photosensitive module identified by the optical positioning device. It can be obtained that its optical positioning position is The position matrices of the feature image module obtained through the mixed reality module in the mixed reality coordinate system are The transformation matrix of the coordinate system of the optical positioning module in the coordinate system of the mixed reality device can be calculated as: The real-time position matrix of the photosensitive module detected by the optical positioning module in the mixed reality coordinates can be calculated in real time through this conversion matrix.

[0051] In addition, for the coordinate transformation matrix obtained during the registration process The position matrix obtained by the mixed reality module 3 and the optical positioning module 4 identifying the calibration module at the same time and Calculated. (The coordinate origin of the mixed reality module is determined when the module is started. The movement of the module will not change the origin. The mixed reality module has SLAM spatial positioning capability, so it is determined The value will not change afterwards.

[0052] (5) Tracking: fix the tracking needle of the tracking module 5 on the femur and adjust its direction to ensure that the tracking photosensitive module can be recognized by the optical tracking module so as to track the position of the target entity in real time.

[0053] (6) Positioning: The positioning probe 61 on the positioning module 6 selects positioning points on the femur in sequence. The optical positioning module 6 tracks the spatial position and posture of the positioning photosensitive module 62, calculates the spatial position coordinates of the positioning probe 61 in the optical positioning module 4, and then converts the spatial position coordinates of the positioning probe 61 in the optical positioning module 4 into the spatial position coordinates of the positioning probe 61 in the optical positioning module 4. It is converted into the spatial position coordinates in the mixed reality module 3, and then according to the information of the corresponding model positioning points on the imported three-dimensional model, the model positioning points in the three-dimensional model can be bound one by one with the needle tip position of the positioning probe of the target entity in the mixed reality module, so that the positioning module and the three-dimensional model can maintain the relative posture relationship when the positioning points are planned in real time in the mixed reality module. After that, the needle tip of the positioning probe on the positioning module is moved to each entity positioning point on the femur in the scene in turn, so as to realize the deep fusion of the femur and the three-dimensional model in the mixed reality module.

[0054] During the positioning process, the spatial position (a′) of the positioning photosensitive module on the positioning module is obtained through the optical positioning module. p ,b′ p ,c′ p ,d′ p …n′ p ), where each spatial position is a three-dimensional space coordinate point, such as a′ p The coordinates are (x a′ ,y a′ ,z a′ ). The model positioning point planned in advance is (a p ,b p ,c p ,d p …n p ), where a p The coordinates are (x a ,y a ,z a ). Calculate the result through the one-to-one correspondence between the two. The corresponding relationship is as follows:

[0055]

[0056]

[0057]

[0058]

[0059]

[0060]

[0061]

[0062] In order to solve the transformation matrix Theoretically, at least 9 equations need to be solved simultaneously for the 9 unknown parameters, that is, 3 sets of points are needed, n≥3, and the least square method is used to solve the unknown parameters when n>3. And these three sets of points are not on the same line.

[0063] From a practical application point of view, (a′ p ,b′ p ,c′ p ,d′ p …n′ p ) is a point set composed of a shape that is transformed to (a p ,b p ,c p ,d p …np ), so It only includes translation and rotation operations, and does not include zooming in and out operations. The application principle of the solution process is as follows:

[0064] a) First, (a′ p ,b′ p ,c′ p ,d′ p …n′ p ) as a whole through translation and rotation operations, a′ p with a p Points overlap.

[0065] b) Then traverse the X / Y / Z three-axis rotation respectively to obtain the transformed (a′ p ,b′ p ,c′ p ,d′ p …n′ p ) and (a p ,b p ,c p ,d p …n p ) has the smallest comprehensive error.

[0066] c) Then fine-tune the translation position to further reduce the comprehensive error.

[0067] d) Finally get Positioning is completed and the positioning operation is exited.

[0068] Example 2

[0069] In this embodiment, the intraoperative positioning in femoral surgery is used, and the target entity is the femur. The composition and positioning method of the positioning system are basically the same as those in Embodiment 1, except that: in the calibration module used, the number of characteristic images is 4, and they are arranged in a straight line. The photosensitive module has 5 photosensitive balls, and the photosensitive balls are in the same plane and the area of ​​the pattern formed is not less than 60cm 2 .

[0070] Example 3

[0071] A holographic perspective positioning system comprises a planning module 1, a registration module, a positioning module 6, a tracking module 5 and a control module 7, wherein the planning module 1, the registration module, the positioning module 6 and the control module 7 are connected.

[0072] The planning module 1 generates a data packet by reconstructing a three-dimensional model of the target entity 8 based on the target entity 8, and presetting the structure of the three-dimensional model and several model positioning points for deep fusion in the positioning process. In this embodiment, it is used for equipment maintenance guidance. The target entity is the equipment to be repaired. The three-dimensional model of the equipment is reconstructed by implementing the collected data, and planning is performed to determine the structure of the part to be repaired in the equipment, as well as the landmark points (i.e., model positioning points) for deep fusion in positioning, and generate a data packet.

[0073] The registration module and optical positioning module are the same as those in Example 1.

[0074] The tracking module 5 includes a fixedly connected tracking photosensitive module and a tracking needle. The tracking needle is positioned on the device to be repaired. The tracking photosensitive module cooperates with the optical positioning module 4 to track the position of the device to be repaired during the positioning process. The positioning module 4 includes a fixedly connected positioning photosensitive module 62 and a plurality of positioning probes 61 (such as Figure 4 As shown), it is used to achieve deep integration of the equipment to be repaired and the three-dimensional model in the mixed reality module 3.

[0075] In addition, the present invention also provides a positioning method of a holographic perspective positioning system, comprising the following steps:

[0076] (1) Planning: First, reconstruct the 3D model of the equipment to be repaired. Reconstruct the 3D model of the equipment to be repaired by collecting data in advance, and perform planning. Simulate the structure of the part to be repaired in a virtual visualization environment, and locate the landmark points (i.e., model positioning points) for deep fusion, and generate a data packet. After collecting the physical equipment to be repaired through the mixed reality device, the mixed reality device can assist maintenance personnel in quickly finding abnormal parts and provide virtual guidance on the maintenance operation process.

[0077] In the planning module, the planning process of the model landmark points is the same as that in Example 1.

[0078] (2) Prior preparation: first, connect the planning module 1, the optical positioning module 4, the mixed reality module 3 and the control module 7, and then verify the position of the calibration module 2 (by adjusting the position and angle of the optical positioning module so that the calibration photosensitive module can be detected by the optical positioning module).

[0079] (3) Information loading: starting the mixed reality module 3, the control system 7 sends the data packet to the mixed reality module 3, and the mixed reality module 3 loads the data packet to obtain information about the three-dimensional model and several model positioning points preset thereon.

[0080] (4) Alignment: Place the calibration module 2 at the device to be repaired, adjust the position and angle of the optical positioning module 4, and obtain the coordinate transformation matrix between the mixed reality module 3 and the optical positioning module 4 at the same spatial position through the calibration module 2. Because the calibration photosensitive module on the calibration module has a rigid fixed relationship with the feature image module, the optical positioning module 4 tracks the calibration photosensitive module 21, and then calculates the coordinates of the feature image module in the coordinate system of the mixed reality module 3 through the transformation matrix. Based on the coordinate information of the feature image module in the optical positioning module and the mixed reality module 3, the corresponding spatial registration matrix is ​​calculated.

[0081] (5) Tracking: Fix the tracking needle of the tracking module 5 on the device to be repaired and adjust its direction to ensure that the tracking photosensitive module can be recognized by the optical tracking module so as to track the position of the device to be repaired in real time.

[0082] (6) Positioning: Use the positioning probe 61 on the positioning module 6 to select positioning points on the equipment to be repaired in sequence. The optical positioning module 6 tracks the spatial position and posture of the positioning photosensitive module 62, calculates the spatial position coordinates of several positioning probes 61 in the optical positioning module 4, and then uses the transformation matrix It is converted into the spatial position coordinates in the mixed reality module 3, and then according to the information of the corresponding model positioning points on the imported three-dimensional model, the model positioning points in the three-dimensional model can be bound one by one with the needle tip positions of the positioning probe of the target entity in the mixed reality module, so that the positioning module and the three-dimensional model can maintain the relative posture relationship when the positioning points are planned in real time in the mixed reality module. After that, by moving the needle tip of the positioning probe on the positioning module to the various entity positioning points on the equipment to be repaired in the scene, the deep fusion of the equipment to be repaired and the three-dimensional model in the mixed reality module is realized.

[0083] Other conditions or algorithms are the same as in Example 1.

[0084] The above-mentioned embodiments only express several implementation methods of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A holographic perspective positioning system, characterized in that: It includes a planning module, a registration module, a tracking module and a positioning module, wherein the planning module, the registration module and the positioning module are connected to the control module; The planning module reconstructs the three-dimensional model of the target entity based on the target entity, performs planning, and generates a data package; The registration module includes an optical positioning module, a calibration module and a mixed reality module, and is used to obtain a coordinate transformation matrix between the mixed reality module and the optical positioning module at the same spatial position; The tracking module is used to track the position of the target entity during the positioning process, and includes a fixedly connected tracking photosensitive module and a tracking needle, wherein the optical positioning module obtains the real-time position of the tracking needle by tracking the tracking photosensitive module; The positioning module is used to position the target entity and the three-dimensional model in the mixed reality module, and includes a fixedly connected positioning photosensitive module and a positioning probe, wherein the optical positioning module obtains the real-time position of the positioning probe by tracking the positioning photosensitive module; The calibration module includes a fixedly connected feature image module and a calibration photosensitive module; The calibration photosensitive module, the positioning photosensitive module and the tracking photosensitive module each include at least three photosensitive balls; The following steps are involved: (1) Planning: Reconstruct the 3D model of the target entity and generate a data package; (2) Preparation in advance: connecting the planning module, the optical positioning module, the mixed reality module and the control module, and verifying the calibration module; (3) Information loading: starting the mixed reality module, and the control system sends the data packet to the mixed reality module so that it loads the data packet; (4) Registration: obtaining, through the calibration module, a coordinate transformation matrix between the mixed reality module and the optical positioning module at the same spatial position; (5) Tracking: real-time tracking of the location of the target entity; (6) Positioning: Position the target entity and the 3D model in the mixed reality module to achieve deep fusion; In the step (4), the registration process is as follows: first, the optical positioning module tracks the calibration photosensitive module to calculate the position data of the center point of the feature image module in the optical positioning module, then the mixed reality module tracks the feature image module to obtain the position data of the center point of the feature image in the mixed reality module, and based on the position data of the center point of the feature image module in the optical positioning module and the mixed reality module, a coordinate transformation matrix between the mixed reality module and the optical positioning module is obtained for the same spatial position.

2. The holographic perspective positioning system according to claim 1, characterized in that: The feature image module includes at least one feature image.

3. The holographic perspective positioning system according to claim 1, characterized in that: The at least three photosensitive balls are in the same plane and the area of ​​the pattern formed is not less than 40cm 2 .

4. The holographic perspective positioning system according to claim 1, characterized in that: The optical positioning module is an infrared positioning device or an electromagnetic positioning device.

5. The holographic perspective positioning system according to claim 1, characterized in that: The step (1) includes presetting a plurality of model positioning points on the three-dimensional model.

6. The holographic perspective positioning system according to claim 1, characterized in that: In the step (2), the verification process is: by adjusting the positions and angles of the optical positioning module and the calibration module, the calibration photosensitive module can be detected by the optical positioning module.

7. The holographic perspective positioning system according to claim 6, characterized in that: The calculation process of the position data of the center point of the characteristic image module in the optical positioning module is as follows: first, the position matrix of the calibration module is obtained by the optical positioning module. Since the center point of the characteristic image in the calibration module has a rigid position relationship with the photosensitive module identified by the optical positioning module 4 Its position in the optical positioning module is 8. The holographic perspective positioning system according to claim 7, characterized in that: The calculation process of the coordinate transformation matrix is ​​as follows: the position matrix of the feature image in the mixed reality coordinate system is obtained by the mixed reality module: The conversion matrix of the coordinate system of the optical positioning module 4 in the coordinate system of the mixed reality module 1 can be calculated as:

9. The holographic perspective positioning system according to claim 1, characterized in that: During the positioning process, the positioning probe on the positioning module selects positioning points on the target entity in sequence, and calculates the position information of the positioning probe in the mixed reality module. Then, according to the information of the corresponding model positioning points on the loaded three-dimensional model, the model positioning points in the three-dimensional model are bound one by one with the tip position of the positioning probe of the target entity in the mixed reality module, so that the positioning module and the three-dimensional model can maintain the relative posture relationship when the positioning points are planned in real time in the mixed reality module. After that, by moving the tip of the positioning probe on the positioning module to each positioning point on the corresponding target entity in the scene, the deep fusion of the target entity and the three-dimensional model in the mixed reality module is achieved.

10. The holographic perspective positioning system according to claim 9, characterized in that: The calculation process of the position information of the positioning probe in the mixed reality module is as follows: the spatial position and posture of the positioning photosensitive module on the positioning module are tracked by the optical positioning module, the spatial position coordinates of several positioning probes in the optical positioning module are calculated, and then the spatial position coordinates of the positioning probes in the optical positioning module are calculated by the transformation matrix. Convert it to spatial position coordinates in the mixed reality module.

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