Surgery tracking system and control method thereof

Abstract

The embodiment of the present invention discloses a surgical tracking system and a control method thereof. The system includes: a tracking object, a controller, a marker and at least two camera devices, each of the camera devices and the tracking object is respectively connected to the controller in communication; wherein each of the camera devices is respectively fixed to a fixing device in the surgical tracking system through a camera bracket, the marker is installed on the tracking object, and the marker is within the camera field of view of each of the camera devices; a state adjustment device for adjusting the marking state of the marker is provided on the tracking object; the controller is used to control the state adjustment device to adjust the marking state of the marker based on the marker images respectively collected by each of the camera devices. The embodiment of the present invention solves the problem of the marker being blocked during the tracking process, improves the flexibility of the surgery and reduces the risk of the surgery.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of surgical navigation technology, and in particular to a surgical tracking system and a control method thereof. Background Art

[0002] With the development of science and technology, minimally invasive and non-invasive surgery has become the trend of surgical operations. The gradual maturity of stereo tracking technology and imaging technology has made surgical navigation systems more widely used in surgical operations such as neurosurgery, otolaryngology and orthopedics. Generally speaking, optical tracking systems such as cameras and object recognition are used to assist surgery during surgery.

[0003] Infrared camera stereo tracking technology is a commonly used technical means. By tracking at least three markers on the surgical instrument, the infrared camera can accurately track the spatial position and angle of the surgical instrument.

[0004] However, the existing optical tracking solution requires that there should be no occlusion between the marker and the camera: if the camera and the marker are blocked by other objects, or if part of the marker on the surgical instrument is blocked due to rotation, the infrared camera stereo tracking system cannot accurately obtain the position information of the surgical instrument. Therefore, during the operation, the surgeon must always pay attention to the occlusion of the surgical instrument. This defect limits the flexibility of the operation and increases the risk of the operation. Summary of the invention

[0005] The embodiment of the present invention provides a surgical tracking system and a control method thereof to solve the problem of markers being blocked during surgical tracking, enhance tracking accuracy, improve surgical flexibility and reduce surgical risks.

[0006] In a first aspect, an embodiment of the present invention provides a surgical tracking system, the system comprising: a tracking object, a controller, a marker, and at least two camera devices, each of the camera devices and the tracking object being respectively connected to the controller for communication;

[0007] Wherein, each of the camera devices is fixed to a fixing device in the surgical tracking system through a camera bracket, the marker is installed on the tracking object, and the marker is within the camera field of view of each of the camera devices;

[0008] The tracking object is provided with a state adjustment device for adjusting the marking state of the marker;

[0009] The controller is used to control the state adjustment device to adjust the marking state of the marker based on the marker images respectively collected by each of the camera devices.

[0010] In a second aspect, an embodiment of the present invention further provides a control method for a surgical tracking system, the method comprising:

[0011] Acquire marker images respectively captured by at least two camera devices, and determine spatial position data of the marker based on each of the marker images;

[0012] Based on the local position data of the marker and the spatial position data, the conversion error data corresponding to the marker is determined, and based on the conversion error data, the state adjustment device is controlled to adjust the marking state of the marker; wherein the local position data and the spatial position data are used to represent the position data of the marker in the tracking object coordinate system and the position data in the world coordinate system respectively;

[0013] Based on the adjusted marker image corresponding to the adjusted marker, the spatial position of the tracked object in the surgical tracking system is determined.

[0014] In a third aspect, an embodiment of the present invention further provides a control device for a surgical tracking system, the device comprising:

[0015] A spatial position data determination module, used to obtain the marker images respectively captured by at least two camera devices, and determine the spatial position data of the marker based on each of the marker images;

[0016] A marking state adjustment module, used to determine conversion error data corresponding to the marker based on the local position data of the marker and the spatial position data, and control the state adjustment device to adjust the marking state of the marker based on the conversion error data; wherein the local position data and the spatial position data are used to represent the position data of the marker in the tracking object coordinate system and the position data in the world coordinate system respectively;

[0017] The spatial posture determination module is used to determine the spatial posture of the tracking object in the surgical tracking system based on the adjusted marker image corresponding to the adjusted marker.

[0018] In a fourth aspect, an embodiment of the present invention further provides a storage medium comprising computer executable instructions, wherein the computer executable instructions, when executed by a computer processor, are used to execute any of the control methods of the surgical tracking system mentioned above.

[0019] The embodiment of the present invention provides a state adjustment device that can adjust the marking state of a marker in a surgical tracking system. When a marker in the field of view of a camera device in the surgical tracking system is blocked, the marking state of the blocked marker can be adjusted by the state adjustment device, thereby solving the problem of marker being blocked during tracking, improving surgical flexibility and reducing surgical risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of a surgical tracking system provided in Embodiment 1 of the present invention.

[0021] Figure 2 It is a structural diagram of a specific example of a surgical tracking system provided in the first embodiment of the present invention.

[0022] Figure 3A It is a schematic diagram of the structure of a surgical instrument equipped with an active marker provided in the second embodiment of the present invention.

[0023] Figure 3B It is a schematic diagram of the structure of a surgical instrument equipped with a reflective marker provided in the second embodiment of the present invention.

[0024] Figure 4A It is a structural schematic diagram of a surgical tracking system including a profilometer provided in the second embodiment of the present invention.

[0025] Figure 4B It is a structural schematic diagram of a profilometer provided in Embodiment 2 of the present invention.

[0026] Figure 5A It is a structural schematic diagram of a remote control equipped with an active marker provided in Embodiment 3 of the present invention.

[0027] Figure 5B It is a schematic diagram of the structure of a remote control provided with a reflective marker according to the third embodiment of the present invention.

[0028] Figure 6 This is a flow chart of a control method for a surgical tracking system provided in Embodiment 4 of the present invention.

[0029] Figure 7 It is a schematic diagram of a ray tracing provided in Embodiment 4 of the present invention.

[0030] Figure 8 This is a flow chart of a control method for a surgical tracking system provided in Embodiment 5 of the present invention.

[0031] Fig. 9 This is a schematic diagram of the angle between a tracing ray and a central axis of a camera provided in Embodiment 5 of the present invention.

[0032] Fig.10 It is a schematic diagram of the angle between a tracking ray and the central axis of a marker provided in the fifth embodiment of the present invention.

[0033] Fig.11 This is a flow chart of a control method for a surgical tracking system provided in Embodiment 6 of the present invention.

[0034] Fig.12It is a flowchart of a specific example of a control method for a surgical tracking system provided in Embodiment 6 of the present invention.

[0035] Fig.13 It is a schematic diagram of a control device of a surgical tracking system provided in Embodiment 7 of the present invention.

[0036] Description of reference numerals:

[0037] 10. Illumination device; 11. Illumination base; 12. Illumination bracket; 20. Tracking object; 201. Remote control; 202. Surgical instrument; 203. Contour meter; 2031. Contour meter body; 2032. Laser; 21. Marker; 211. Active marker; 212. Reflective marker; 22. Indicator; 23. Marker bracket; 24. Mounting joint; 25. State adjustment device; 251. Hollow plate; 26. Mechanical fixing seat; 27. Control panel; 271. Intermediate connecting device; 30. Camera device; 31. Camera bracket; 311. Joint assembly; 40. Robot; 50. Operating table; 60. Display; 70. Computer; 80. Contour object; 801. Contour image. DETAILED DESCRIPTION

[0038] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0039] Embodiment 1

[0040] Figure 1 1 is a schematic diagram of the structure of a surgical tracking system provided in Embodiment 1 of the present invention. This embodiment is applicable to tracking and locating a tracking object during a surgical procedure.

[0041] The system includes: a tracking object 20, a controller, a marker 21 and at least two camera devices 30, and each camera device 30 is communicatively connected with the tracking object 20 and the controller; wherein each camera device 30 is fixed to a fixing device in the surgical tracking system through a camera bracket 31, and the marker 21 is installed on the tracking object 20, and the marker 21 is within the camera field of view of each camera device 30; a state adjustment device that can adjust the marking state of the marker is provided on the tracking object 20; and the controller is used to control the state adjustment device to adjust the current marking state of the marker 21 based on the marker images respectively collected by each camera device 30.

[0042] Figure 1The state adjustment device is not shown in the figure, and the state adjustment device can be set inside or on the surface of the tracking object 20. The specific setting position of the state adjustment device will be explained in detail in the following embodiments. Among them, exemplarily, the state adjustment device can be used to adjust the switch state and / or posture state of the marker 21, wherein the posture state includes the position state and / or the angle state, and the posture state is used to describe the posture data of the marker 21 relative to the tracking object 20. Among them, exemplarily, when it is detected that the marker 21 corresponding to the marker image is blocked or the tracking quality is poor, the state adjustment device is controlled to adjust the current marking state of the marker 21 until the marker 21 corresponding to the collected marker image is blocked and the tracking quality is high, and the adjustment operation is completed.

[0043] In which, illustratively, the fixing device in the surgical tracking system may be a ceiling, a camera fixing table or a lighting device. In one embodiment, optionally, the camera device 30 is fixed to the lighting device 10 in the surgical tracking system via a camera bracket 31. Specifically, Figure 1 In the surgical tracking system shown, the camera devices 30 are dispersedly installed on the lighting base 11 of the lighting device 10 so that the camera field of view can cover the entire tracking area from different directions. The tracking area includes a movable area of ​​the tracking object 20.

[0044] In one embodiment, optionally, the lighting base 11 is disposed on the lighting device 10 through a rotatable component. Specifically, the lighting base 11 can rotate relative to the lighting device 10. In one embodiment, optionally, a moving handle is fixed on the lighting base 11, and the user can control the lighting base 11 to rotate by moving the handle.

[0045] In one embodiment, optionally, the lighting base 11 is connected to one end of the lighting bracket 12, and the other end of the lighting bracket 12 is connected to a fixing device, and the fixing device can be a ceiling or a lighting fixing table. Specifically, the lighting base 11 can rotate relative to the lighting device 10 and the lighting bracket 12.

[0046] In one embodiment, optionally, each camera bracket 31 is respectively provided with a rotatable and / or retractable joint assembly 311, and an encoder for encoding the position of the camera device 30 is provided in the joint assembly 311. Specifically, the position of the camera device 30 fixed on the camera bracket 31 can be changed by controlling the joint assembly 311 on the camera bracket 31 to rotate and / or retract.

[0047] In one embodiment, optionally, there are at least three markers 21. Specifically, based on the spatial position data of at least three markers 21, the six degrees of freedom information of the tracked object 20 can be determined, and specifically, the six degrees of freedom information includes the coordinate degrees of freedom on three coordinate axes and the rotational degrees of freedom around the three coordinate axes. Figure 1 The tracking object 20 shown has three markers 21 mounted thereon.

[0048] In one embodiment, optionally, the tracking object 20 includes at least one of a surgical instrument, a remote controller, and a profilometer. Exemplarily, the surgical instrument includes but is not limited to a puncture needle, a cutting knife, a surgical scissors, a radiofrequency ablation needle, and an ultrasound probe, etc. Exemplarily, the profilometer can be a laser profilometer for measuring the contour data of the object under test in the target area.

[0049] Figure 2 2 is a schematic diagram of a specific example of a surgical tracking system provided in the first embodiment of the present invention. Taking the tracking object 20 in the surgical tracking system including the remote controller 201 as an example, the surgical tracking system further includes a robot 40, an operating table 50, a display 60 and a computer 70. Exemplarily, the controller in the surgical tracking system can be set in the computer 70. The robot 40 moves following the remote controller 201. The function and type of the robot 40 are not limited here.

[0050] In one embodiment, optionally, an indicator is also provided on the tracking object 20, and the indicator includes an indicator light and / or a sound player. Exemplarily, when the indicator includes an indicator light, the indicator light can be used to emit light waves of different colors, and specifically, light waves of different colors can represent different prompt information. When the indicator includes a sound player, the sound player can be used to emit sound waves to transmit prompt information. In one embodiment, optionally, during the process of the state adjustment device adjusting the current marking state of the marker, the indicator on the tracking object 20 is turned on.

[0051] The technical solution of this embodiment is to set a state adjustment device that can adjust the marking state of the marker in the surgical tracking system. When the marker in the field of view of the camera device in the surgical tracking system is blocked, the marking state of the blocked marker can be adjusted by the state adjustment device, thereby solving the problem of the marker being blocked during the tracking process, improving the flexibility of the operation and reducing the risk of the operation.

[0052] Embodiment 2

[0053] The technical solution of this embodiment is a further refinement of the above embodiment. Optionally, when the tracking object 20 includes a surgical instrument and / or a profilometer, the marker 21 is installed on the tracking object 20 through a marker bracket, and the marker 21 includes an active marker and / or a reflective marker.

[0054] Figure 3A is a schematic diagram of the structure of a surgical instrument equipped with an active marker provided in the second embodiment of the present invention. Specifically, Figure 3A The marker holder 23 shown is cylindrical, of course, the marker holder 23 can also be polygonal or circular, and the specific shape of the marker holder 23 is not limited here. Specifically, the active marker 211 can be a light emitting diode that emits light of a specific wavelength through external power supply. Exemplarily, the light of a specific wavelength can be infrared light. Specifically, the marker holder 23 has a built-in battery for powering the active marker 211.

[0055] For example, Figure 3A The surgical instrument 202 shown may be a puncture needle. Specifically, the active marker 211 is circumferentially mounted on the marker support 23 , and the surgical instrument 202 is also provided with an indicator 22 and a mounting joint 24 , wherein the mounting joint 24 is used to connect the marker support 23 and the surgical instrument 202 .

[0056] In one embodiment, optionally, when the marker 21 includes an active marker 211, the state adjustment device is disposed in the marker bracket 23, and the state adjustment device includes a first switch device for controlling the switch state of the marker. Specifically, the first switch device controls the on or off state of the active marker 211 by controlling the power supply state of the built-in battery. In one embodiment, the state adjustment device is a wireless device, which is applicable to passive surgical instruments 202, such as puncture needles and cutting knives. In another embodiment, the state adjustment device is a wired device, which relies on a cable to power the state adjustment device, and is applicable to active surgical instruments 202, such as radiofrequency ablation needles and ultrasound probes.

[0057] Specifically, when it is detected that the marker corresponding to the marker image is blocked or the tracking quality is poor, the state adjustment device adjusts the switch state of the active marker 211. For example, when marker A in the active marker 211 is blocked, the state adjustment device turns off marker A and turns on marker B.

[0058] Figure 3B 1 is a schematic diagram of the structure of a surgical instrument provided with a reflective marker according to Embodiment 2 of the present invention. In one embodiment, optionally, when the marker 21 includes an active marker 211 and / or a reflective marker 212, the marker holder 23 is mounted on the surgical instrument 202 via a state adjustment device 25, the state adjustment device 25 includes a rotatable actuator, and an encoder for encoding the position of the marker holder 23 is provided in the state adjustment device 25.

[0059] Specifically, the reflective marker 212 is a marker with a reflective material, and illustratively, the reflective marker 212 may be a marker ball with a reflective material. When it is detected that the marker corresponding to the marker image is blocked or the tracking quality is poor, the position state of the marker bracket 23 is adjusted by the state adjustment device to adjust the position state of the active marker 211 and / or the reflective marker 212 on the marker bracket 23 relative to the tracking object.

[0060] Wherein, exemplary, the actuator can be a servo motor, a stepper motor or an encoder. In one embodiment, the actuator responds to manual rotation.

[0061] Figure 3B The surgical instrument shown is also provided with a mechanical fixing seat 26 for connecting the state adjustment device 25 and the surgical instrument 202 .

[0062] Figure 4A 2 is a schematic diagram of a surgical tracking system including a contour meter provided in the second embodiment of the present invention. Specifically, the contour meter 203 is placed in the acquisition area of ​​the camera device, and the surgical tracking system also includes a contour object 80. Figure 5A On the right is the contour image 801 collected by the profilometer 203 .

[0063] Figure 4B 2 is a schematic diagram of a profilometer according to the second embodiment of the present invention. Specifically, the marker 21 is mounted on the profilometer body 2031 of the profilometer 203 through the marker bracket 23 . Exemplarily, the marker 21 may be an active marker 211 and / or a reflective marker 212 . Figure 4B The profiler 203 shown is a laser profiler, and a laser 2032 for laser emission and laser reception is provided on the profiler 203 .

[0064] The technical solution of this embodiment installs the marker on the tracking object through the marker bracket, and uses active markers and / or reflective markers to locate the tracking object, thereby solving the problem of installing the marker on the surgical instrument or the profilometer, making the surgical tracking system suitable for the application fields of surgical instruments and profilometers, and broadening the scope of application of the surgical tracking system.

[0065] Embodiment 3

[0066] The technical solution of this embodiment is a further refinement of the above embodiment. Optionally, when the tracking object includes a remote control, the marker 21 is installed on the remote control through a control panel, and correspondingly, the state adjustment device is set on the control panel, and the marker 21 includes an active marker and / or a reflective marker.

[0067] Figure 5AIt is a structural schematic diagram of a remote control equipped with an active marker provided in Embodiment 3 of the present invention. Figure 5A The active markers 211 on the remote controller 201 are shown to be mounted in an array on the control panel 27. In one embodiment, optionally, when the marker 21 includes an active marker 211, the state adjustment device 25 includes a second switch device for controlling the switch state of the marker 21, and the second switch device includes a switch button and / or a touch panel.

[0068] Specifically, the state adjustment device 25 is used to control the on and off state of the active marker 211 on the control panel 27. Exemplarily, the number of the second switch device is at least one. For example, when the button "1" in the second switch device is triggered, the active marker A, the active marker B and the active marker C on the control panel 27 are turned on, and when the button "2" of the second switch device is triggered, the active marker B, the active marker C and the active marker D on the control panel 27 are turned on.

[0069] In this embodiment, the robot 40 will follow the movement of the remote control 201. When it is detected that the marker 21 corresponding to the marker image is blocked or the tracking quality is poor, or when the state adjustment device 25 adjusts the switch state of the marker 21, or when the remote control 201 is in the off state, the robot 40 will immediately stop the current operation.

[0070] Figure 5B 1 is a schematic diagram of the structure of a remote control with a reflective marker provided in Embodiment 3 of the present invention. In one embodiment, optionally, when the marker 21 includes a reflective marker 212, an intermediate connecting device 271 for connecting the reflective marker 212 is provided on the control panel 27, and / or the state adjustment device 25 includes a hollow plate 251 for shielding the reflective marker 212.

[0071] Figure 5B The left figure in FIG. 2 shows a remote controller 202 including an intermediate connection device 271. Exemplarily, the intermediate connection device 271 may be a screw, which is arranged in an array on the control panel 27. Correspondingly, the reflective marker 212 is a marker ball with an internal thread, and the reflective marker 212 can be installed on the control panel 27 through the intermediate connection device 271 as required. The advantage of such a setting is that the distribution state of the reflective marker 212 on the remote controller 202 can be changed at any time.

[0072] Figure 5BThe right figure in the figure shows a remote control 202 including a hollow plate 251. Specifically, there are hollow areas and solid areas on the hollow plate 251, so that the reflective marker 212 in the hollow area can be tracked by the camera device 30, and the reflective marker 212 in the solid area cannot be tracked by the camera device 30. In one embodiment, the number of reflective markers 212 in the hollow area is at least three. In one embodiment, optionally, the state adjustment device 25 includes at least one hollow plate 251, and the hollow areas and solid areas on different hollow plates 251 are set at different positions.

[0073] The technical solution of this embodiment installs the marker on the tracking object through the control panel, and uses active markers and / or reflective markers to locate the tracking object, thereby solving the problem of installing the marker on the remote control, making the surgical tracking system suitable for the application field of the remote control, and broadening the scope of application of the surgical tracking system.

[0074] Embodiment 4

[0075] Figure 6 This is a flowchart of a control method of a surgical tracking system provided by the fourth embodiment of the present invention. This embodiment can be applied to the case of tracking and locating a tracking object during surgery. The method can be executed by a control device of the surgical tracking system. The device can be implemented in software and / or hardware. The device can be configured in the surgical tracking system. Specifically, it includes the following steps:

[0076] S410: Acquire marker images respectively captured by at least two camera devices, and determine spatial position data of the marker based on each marker image.

[0077] Among them, exemplarily, the marker image is used to represent an image corresponding to at least one marker on the tracked object captured by the camera device, and the spatial position data is used to describe the position data of the marker in the world coordinate system.

[0078] In one embodiment, optionally, the spatial position data of the marker is determined based on each marker image, including: for each marker image, based on the center point of the marker corresponding to the marker in the marker image and the center point of the camera lens of the camera device corresponding to the marker image, determining the tracking ray corresponding to the marker image; for each marker, based on the tracking quality parameter of the tracking ray corresponding to the marker, determining at least two target tracking rays and ray weights corresponding to each target tracking ray; based on each target tracking ray and the ray weights, determining the spatial position data of the marker.

[0079] Specifically, the marker center point is used to describe the center point of the marker in the marker image, the camera lens center point represents the center point of the camera lens on the camera device, and the tracking ray is a line determined based on the marker center point and the camera lens center point. For example, if marker A, marker B, and marker C are set on the tracking object, the marker image includes marker center point A, marker center point B, and marker center point C corresponding to marker A, marker B, and marker C, respectively. Correspondingly, the tracking ray includes tracking ray A, tracking ray B, and tracking ray C corresponding to marker A, marker B, and marker C, respectively.

[0080] Figure 7 It is a schematic diagram of a ray tracing provided in Embodiment 4 of the present invention. Figure 7 Take a marker as an example, Figure 7 Three camera devices are shown. Taking the leftmost camera device as an example, the leftmost box represents the imaging unit of the camera device. The captured marker image is imaged on the camera imaging unit. The dark black "×" on the camera imaging unit represents the center point of the marker image. The double circle on the right side of the box represents the camera lens of the camera device. The orthogonal intersection of the two dotted lines on the camera lens represents the center point of the camera lens of the camera device. The lines connecting the three camera devices and the markers represent the tracing rays.

[0081] Specifically, the tracking quality parameter can be used to evaluate at least one of the quality of the tracking ray, the quality of the marker image corresponding to the tracking ray, and the quality of the marker corresponding to the tracking ray. Exemplarily, when there are multiple tracking quality parameters, a comprehensive quality parameter can be determined based on each tracking quality parameter, and at least two target tracking rays and the ray weights corresponding to each target tracking ray can be determined based on the comprehensive quality parameter.

[0082] Specifically, based on the tracing quality parameter, the tracing rays are screened or the ray weights corresponding to the tracing rays are adjusted. For example, assuming that the number of tracing rays determined based on the marker image is 3, namely, tracing ray A, tracing ray B, and tracing ray C, and the tracing quality parameter corresponding to tracing ray A is poor, in one embodiment, tracing ray B and tracing ray C are respectively used as target tracing rays, or the ray weight corresponding to tracing ray A is reduced.

[0083] In one embodiment, optionally, the tracking quality parameters include at least one of image quality, angular quality between the tracking ray and the central axis of the camera, stability value of the tracking ray, error quality between the tracking ray and the marker, and angular quality between the tracking ray and the central axis of the marker.

[0084] In one embodiment, optionally, when the tracking quality parameters include the error quality between the tracking ray and the marker, at least two target tracking rays and ray weights corresponding to each target tracking ray are determined based on the tracking quality parameters of the tracking rays corresponding to the marker, including: based on the error quality between the tracking ray and the marker, at least two target tracking rays and ray weights corresponding to each target tracking ray are determined so that the spatial position data of the marker determined based on the target tracking ray and the ray weights satisfies the minimum error quality between the tracking ray and the marker; wherein the error quality between the tracking ray and the marker is used to characterize the sum of the squares of the weighted distances between the marker and each tracking ray.

[0085] Specifically, when the number of target tracing rays i≥2, target tracing rays with large errors will be directly removed from the calculation. Specifically, the sum of squared weighted distances satisfies the formula: Where i represents the tracing ray of the i-th target, w i represents the ray weight corresponding to the ith target tracing ray, Dr i Represents the distance between the coordinate point and the i-th target tracing ray.

[0086] S420. Determine conversion error data corresponding to the marker based on the local position data and spatial position data of the marker, and control the state adjustment device to adjust the marking state of the marker based on the conversion error data.

[0087] In this embodiment, the local position data and the spatial position data are used to represent the position data of the marker in the tracking object coordinate system and the position data in the world coordinate system respectively. The local position data of the i-th marker in the tracking object coordinate system is recorded as The spatial position data corresponding to the i-th marker at time t is recorded as

[0088] Specifically, the transformation matrix corresponding to the tracking object coordinate system and the world coordinate system is determined based on the local position data and the spatial position data, and the transformation error data corresponding to the marker is determined based on the position error between the reference spatial position data and the spatial position data determined based on the transformation matrix and the local position data.

[0089] Exemplarily, based on the local position data corresponding to i markers and the spatial position data corresponding to i markers, the conversion matrix of the local position data in the tracking object coordinate system into the world coordinate system is obtained: Therefore, the reference space position data of the i-th marker Satisfy the formula: make Among them, E i,tIndicates the position error. In theory, the reference spatial position data and the spatial position data belong to the same marker, that is, E i,t =0. However, due to the conversion error, E i,t ≠0. i,t The square sum of the elements in can be used to obtain the conversion error data Dm of the i-th marker at time t. i,t .

[0090] In one embodiment, an optimized search algorithm is used to calculate So that Σ i Dm i,t Since each marker has the same weight in the calculation process of the spatial position of the tracked object, when the spatial position data of one of the markers deviates far from the actual marker position data, it will still be included in the calculation, resulting in distortion of the spatial position of the subsequent tracked object. Make Minimum. Among them, w i Indicates the weight corresponding to the i-th marker. Specifically, this weight may be the same as the ray weight corresponding to the target tracking ray. For markers with large errors, they will be directly removed from the calculation.

[0091] In one embodiment, if the conversion error data is greater than a preset error threshold, the control state adjustment device adjusts the marking state of the marker. The control state adjustment device adjusts the marking state of the marker including: adjusting the marking state of the marker removed during the optimization search algorithm calculation process to a closed state, and maintaining the marking state of the retained marker in an open state; or adjusting the local position data of the marker relative to the coordinate system of the tracking object through a rotatable actuator.

[0092] Based on the above embodiment, optionally, the method also includes: determining a tracking quality evaluation result based on the tracking quality parameters corresponding to each tracking ray; if the tracking quality evaluation result does not meet the tracking quality evaluation standard, turning on the indicator on the tracking object to prompt the tracking quality evaluation result.

[0093] Wherein, illustratively, the tracking quality evaluation result is determined based on the parameter value and parameter weight of each tracking quality parameter. Wherein, illustratively, the tracking quality evaluation result may be a tracking quality score, and correspondingly, the tracking quality evaluation standard may be a tracking quality score threshold. Specifically, if the tracking quality score is less than the tracking quality score threshold, an indicator on the tracking object is turned on to prompt the user to pause the operation until the tracking quality score is greater than or equal to the tracking quality score threshold.

[0094] S430 . Determine the spatial position of the object to be tracked in the surgical tracking system based on the adjusted marker image corresponding to the adjusted marker.

[0095] Specifically, based on the adjusted marker image, the conversion error data corresponding to the adjusted marker is determined. If the conversion error data is less than or equal to the preset error threshold, the spatial pose of the tracked object in the world coordinate system is determined based on the local position data and spatial position data of the adjusted marker. Specifically, the spatial pose includes position data and angle data, wherein the angle data can be determined based on the spatial position relationship corresponding to the spatial position data of at least three markers and the local position relationship corresponding to the local position data. Exemplarily, assuming that the spatial position relationship corresponding to the spatial position data of the three markers is a triangle parallel to the horizontal plane, if the local position relationship corresponding to the local position data of the three markers is a triangle parallel to the tracked object, the angle data of the tracked object is parallel to the horizontal plane; if the local position relationship corresponding to the local position data of the three markers is a triangle perpendicular to the tracked object, the angle data of the tracked object is perpendicular to the horizontal plane.

[0096] The technical solution of this embodiment determines the conversion error data corresponding to the marker by determining the spatial position data and local position data based on the marker image, and controls the state adjustment device in the surgical tracking system to adjust the marking state of the marker based on the conversion error data, thereby solving the problem of the marker being blocked during the tracking process, improving the flexibility of the surgery and reducing the surgical risks.

[0097] Embodiment 5

[0098] Figure 8 is a flow chart of a control method of a surgical tracking system provided in Embodiment 5 of the present invention. The technical solution of this embodiment is a further refinement of the above embodiment. Optionally, the tracking quality parameter includes at least one of image quality, angle quality between the tracking ray and the central axis of the camera, stability value of the tracking ray, error quality between the tracking ray and the marker, and angle quality between the tracking ray and the central axis of the marker.

[0099] The specific implementation steps of this embodiment include:

[0100] S510: Acquire marker images respectively captured by at least two camera devices.

[0101] S520. For each marker image, based on a marker center point corresponding to the marker in the marker image and a camera lens center point of a camera device corresponding to the marker image, determine a tracing ray corresponding to the marker image.

[0102] S530. For each marker, based on the tracing quality parameter of the tracing ray corresponding to the marker, determine at least two target tracing rays and a ray weight corresponding to each target tracing ray.

[0103] In one embodiment, optionally, when the tracking quality parameters include image quality, the method further includes: for each marker image, based on at least one image parameter of the marker image including image size, image brightness and image circularity, determining the image quality corresponding to the tracking ray determined based on the marker image.

[0104] Specifically, according to the optical tracking principle, the shape of the marker image on the camera imaging unit is circular. Since the tracking ray is determined based on the marker center point of the marker and the camera lens center point, the size and roundness of the marker image will affect the accuracy of the marker center point, and thus affect the quality of the tracking ray.

[0105] Wherein, illustratively, the image quality is determined based on the size level, brightness level and roundness level corresponding to the image size, image brightness and image roundness respectively. illustratively, different levels correspond to different size ranges, brightness ranges and roundness ranges, and the size level, brightness level and roundness level corresponding to the marker image are determined according to the size range, brightness range and roundness range in which the image size, image brightness and image roundness are respectively located. Specifically, the image quality can be used to evaluate the quality of the marker image. When the image quality is high, the tracking ray corresponding to the marker image is used as the target tracking ray or the ray weight of the tracking ray corresponding to the marker image is increased.

[0106] In one embodiment, optionally, when the tracing quality parameters include the angular quality of the tracing ray and the central axis of the camera, the method further includes: for each tracing ray, determining the angular quality of the tracing ray and the central axis of the camera based on the angle between the tracing ray and the central axis of the camera device corresponding to the tracing ray.

[0107] Among them, exemplarily, when the angle quality between the tracing ray and the central axis of the camera is high, it means that the angle between the tracing ray and the central axis of the camera device is small. On the contrary, when the angle quality between the tracing ray and the central axis of the camera is low, it means that the angle between the tracing ray and the central axis of the camera device is large. Fig. 9 is a schematic diagram of an angle between a tracing ray and a camera central axis provided in Embodiment 5 of the present invention. Specifically, the tracing ray is a ray determined based on the center point of the marker and the center point of the camera lens, and the central axis of the camera device is a ray determined based on the center point of the camera imaging unit and the center of the camera lens. Fig. 9 The “α” in represents the angle between the tracing ray and the central axis of the camera device.

[0108] In one embodiment, optionally, when the tracking quality parameter includes a stable value of the tracking ray, the method further includes: determining, for each tracking ray, the number of state changes of the tracking ray within a second preset time length and / or the number of fluctuations of at least one tracking quality parameter corresponding to the tracking ray other than the stable value of the tracking ray within the second preset time length, and determining the stable value of the tracking ray based on the number of state changes and / or the number of fluctuations.

[0109] During surgery, due to the movement and rotation of the tracked object, the imaging projections of multiple markers on the same camera device may overlap or the markers may be blocked or out of the camera tracking range. When this happens, the tracking rays may disappear. The repeated appearance and disappearance of the tracking rays will cause certain fluctuations in the determined posture data. Therefore, even if the actual position of the marker has not changed, the disappearance of some tracking rays will have a certain impact on the spatial position data of the marker.

[0110] In one embodiment, optionally, the number of state changes includes the number of appearances and / or the number of disappearances, and the number of fluctuations is used to represent the number of times that the parameter change amount corresponding to the tracking quality parameter exceeds a preset change amount threshold.

[0111] Specifically, when the tracking quality parameter includes the stable value of the tracking ray and at least one other tracking quality parameter, the number of state changes of at least one tracking quality parameter other than the stable value of the tracking ray within the second preset time length is determined. Exemplarily, the other tracking quality parameter may be at least one of image quality, angle quality between the tracking ray and the central axis of the camera, error quality between the tracking ray and the marker, and angle quality between the tracking ray and the central axis of the marker. Exemplarily, assuming that the tracking quality parameter is image quality, and the parameter values ​​of the image quality determined within the second preset time length are 10, 9, 10.5, 9, and 9.5, respectively, assuming that the preset change threshold is 1, the number of fluctuations is 2 times.

[0112] In one embodiment, optionally, when the tracking quality parameters include the angular quality of the tracking ray and the central axis of the marker, the method further includes: for each tracking ray, determining the angular quality of the tracking ray and the central axis of the marker based on the angle between the tracking ray and the central axis of the marker corresponding to the tracking ray.

[0113] Among them, for example, when the angular quality of the tracing ray and the central axis of the marker is high, it means that the angle between the tracing ray and the central axis of the marker is small. On the contrary, when the angular quality of the tracing ray and the central axis of the marker is low, it means that the angle between the tracing ray and the central axis of the marker is large. Fig.10 It is a schematic diagram of the angle between a tracking ray and the central axis of a marker provided in the fifth embodiment of the present invention. Fig.10 The “β” in represents the angle between the tracking ray and the central axis of the marker.

[0114] Specifically, since the central axis of the marker changes with the movement or rotation of the tracked object, the method further includes obtaining the previous spatial pose corresponding to the tracked object, determining the previous central axis of the marker based on the previous spatial pose and local position data, determining the angle between the current tracking ray and the previous central axis of the marker, and determining the angular quality between the tracking ray and the central axis of the marker. Since the surgical tracking system calculates the spatial pose of the tracked object at a high frequency, the error between the previous central axis of the marker and the current central axis corresponding to the tracking ray can be ignored.

[0115] S540: Determine the spatial position data of the marker based on each target tracking ray and ray weight.

[0116] S550. Determine conversion error data corresponding to the marker based on the local position data and spatial position data of the marker, and control the state adjustment device to adjust the marking state of the marker based on the conversion error data.

[0117] S560: Determine the spatial position of the object to be tracked in the surgical tracking system based on the adjusted marker image corresponding to the adjusted marker.

[0118] The technical solution of this embodiment solves the problem of inaccurate calculation results of the surgical tracking system by screening or adjusting the weights of tracking rays determined based on the marker image based on a variety of tracking quality parameters, so as to calculate the spatial position data of the marker based on the determined target tracking rays and the ray weights corresponding to the target tracking rays. By selecting high-quality tracking rays or reducing the weights corresponding to low-quality tracking rays, the accuracy of the spatial posture of the tracked object calculated based on the adjusted tracking rays and ray weights is further improved.

[0119] Embodiment 6

[0120] Fig.11 This is a flow chart of a control method for a surgical tracking system provided in Embodiment 6 of the present invention. The technical solution of this embodiment is a further refinement of the above embodiment. Optionally, the method further includes: obtaining spatial position data of a preset object, and determining the object distance between the preset object and the camera device based on the spatial position data and the camera position of the camera device corresponding to the preset object; wherein the preset object is a marker or a tracking object; and based on the object distance, controlling the camera device corresponding to the object distance to perform focusing processing.

[0121] S610: Acquire marker images respectively captured by at least two camera devices, and determine spatial position data of the marker based on each marker image.

[0122] S620. Determine conversion error data corresponding to the marker based on the local position data and spatial position data of the marker, and control the state adjustment device to adjust the marking state of the marker based on the conversion error data.

[0123] Based on the above embodiments, optionally, the method also includes: obtaining spatial position data corresponding to at least one marker determined within a first preset time length; for each marker, determining a stability evaluation result of the marker based on the spatial position data corresponding to the marker, and based on the stability evaluation result, adjusting the marking weight corresponding to the marker, and / or controlling the state adjustment device to adjust the marking state of the marker.

[0124] Specifically, the surgical tracking system calculates the spatial position data corresponding to each marker based on a preset frequency. For example, assuming that the preset frequency is 100 Hz, for the same marker, the surgical tracking system calculates 100 spatial position data within 1 second.

[0125] In one embodiment, optionally, based on the statistical data of the spatial position data corresponding to the marker within the first preset time length and the standard data corresponding to the preset frequency of the surgery tracking system, the stability evaluation result of the marker is determined, wherein the stability evaluation result includes the absolute value or the ratio value of the difference between the statistical data and the standard data.

[0126] For example, assuming that the first preset time length is 2 seconds and the preset frequency is 100 Hz, the standard data volume is 200. Assuming that the statistical data volume is 150, the absolute value of the difference between the two is 50, and the ratio value is 4 / 3 or 3 / 4. Exemplarily, if the absolute value or the ratio value of the difference in the stability evaluation result is greater than the preset difference threshold or the preset ratio threshold, the marking weight corresponding to the marker is adjusted, and / or the state adjustment device is controlled to adjust the marking state of the marker.

[0127] In another embodiment, optionally, the spatial posture corresponding to the tracked object within a first preset time length is obtained; the marker change frequency corresponding to the marker is determined based on the spatial position data corresponding to the marker, the tracking object change frequency corresponding to the tracked object is determined based on the spatial posture corresponding to the tracked object, and the stability evaluation result of the marker is determined based on the difference between the marker change frequency and the tracking object change frequency.

[0128] Specifically, if the difference between the current spatial position data and the previous spatial position data is greater than the first preset difference threshold, the number of changes corresponding to the marker is increased by 1. If the difference between the current spatial posture and the previous spatial posture is greater than the second preset difference threshold, the number of changes corresponding to the tracked object is increased by 1. The marker change frequency is determined based on the number of changes corresponding to the marker and the first preset time length, and the tracked object change frequency is determined based on the number of changes corresponding to the tracked object and the first preset time length.

[0129] S630: Acquire spatial position data of a preset object, and determine an object distance between the preset object and the camera device based on the spatial position data and a camera position of the camera device corresponding to the preset object.

[0130] In this embodiment, the preset object is a marker or a tracking object. Specifically, when the preset object is a tracking object, a spatial pose corresponding to the tracking object is calculated in S620, wherein the spatial pose includes spatial position data.

[0131] S640: Based on the object distance, control the camera device corresponding to the object distance to perform focusing processing.

[0132] Wherein, illustratively, the focus processing is used to characterize that the camera device adjusts the object distance and the image distance so that the collected marker image can be clearly imaged on the camera imaging unit. Wherein, the object distance u refers to the distance from the marker to the center point of the camera lens, and the image distance v refers to the distance from the camera imaging unit to the center point of the camera lens. In this embodiment, the object distance may refer to the object distance.

[0133] Specifically, the object distance u and the image distance v satisfy the imaging law The focal length f refers to the distance from the center point of the camera lens to the focus of the light when parallel light is incident. When the focal length is determined, the object distance and the image distance satisfy a univariate function relationship. Specifically, the process of adjusting the distance between the camera imaging unit and the camera lens (i.e., the image distance) can be understood as the focusing process.

[0134] S650: Based on the adjusted marker and the camera device after the focus processing, reacquire the adjusted marker image corresponding to the adjusted marker, and determine the spatial position of the tracking object in the surgical tracking system.

[0135] On the basis of the above embodiments, optionally, when the tracking object is a profilometer, the method also includes: obtaining contour data corresponding to the object to be measured obtained by scanning the profilometer; performing three-dimensional reconstruction on the contour data based on the relative position data between the profilometer and the object to be measured and the spatial posture of the profilometer to obtain three-dimensional contour data corresponding to the object to be measured.

[0136] Among them, the contour data obtained by the contour meter scanning is based on the contour data in the contour meter coordinate system, so the relative position of the contour data obtained by the contour meter scanning and the contour meter is fixed, that is, the relative position data between the contour meter and the object to be measured is fixed. Based on the relative position data between the contour meter and the object to be measured and the spatial posture of the contour meter in the world coordinate system, the contour data in the contour meter coordinate system is converted to the world coordinate system, and the converted multiple contour data are subjected to three-dimensional reconstruction processing to obtain the three-dimensional contour data of the object to be measured in the world coordinate system. This embodiment can be applied to preoperative three-dimensional image registration and / or intraoperative patient position registration.

[0137] Fig.12 It is a flowchart of a specific example of a control method for a surgical tracking system provided by Embodiment 6 of the present invention. Specifically, a tracking object having multiple markers is placed in a common field of view of multiple camera devices, and at least one tracking ray corresponding to each marker is determined based on the marker image captured by the camera device. On the one hand, based on the image quality corresponding to the tracking ray, the angle between the tracking ray and the central axis of the camera, and the time stability value of the tracking ray, the ray weight corresponding to the tracking ray is adjusted and / or the determined marker is screened to obtain a target tracking ray used for marker calculation, and the spatial coordinates corresponding to multiple markers on the tracking object are calculated based on the target tracking ray and the ray weight corresponding to the target tracking ray. In addition, the spatial coordinates corresponding to the marker calculated based on the target tracking ray and the ray weight corresponding to the target tracking ray minimize the error between the tracking ray and the marker.

[0138] On the other hand, the stability of the marker within the first preset time length is evaluated, and the marker weight corresponding to the marker is adjusted based on the stability evaluation result and / or the marker state used for tracking object calculation is adjusted. Based on the spatial position data and local position data of the marker, the transformation matrix corresponding to the tracking object is determined, the transformation error data between the marker and the tracking object is determined based on the transformation matrix, and the marker weight corresponding to the marker is adjusted based on the transformation error data and / or the marker state used for tracking object calculation is adjusted. In addition, based on the spatial posture of the tracking object, the marker center axis of the marker on the tracking object is determined, and based on the angle between the tracking ray and the marker center axis, the ray weight corresponding to the tracking ray is adjusted and / or the determined marker is screened to obtain the target tracking ray used for marker calculation.

[0139] On the other hand, based on the spatial position data of the marker or the spatial posture of the tracing ray, the object distance between the marker or the tracing ray and the camera device is determined, the camera device corresponding to the object distance is controlled to perform focusing processing based on the object distance, and the marker image corresponding to the marker is recaptured based on the camera device after the focusing processing.

[0140] The technical solution of this embodiment solves the problem of inaccurate calculation results of the surgical tracking system by calculating the distance between the marker or tracking ray and the camera device and adjusting the camera focal length of the camera device based on the distance, thereby improving the image quality of the marker image, thereby improving the tracking quality of the tracking ray determined based on the marker image, and further improving the accuracy of the calculated spatial position of the tracking object.

[0141] Embodiment 7

[0142] Fig.13 7 is a schematic diagram of a control device of a surgical tracking system provided by Embodiment 7 of the present invention. This embodiment can be applied to the case of tracking and positioning a tracking object during surgery. The device can be implemented in software and / or hardware, and the device can be configured in a surgical tracking system. The control device of the surgical tracking system includes: a spatial position data determination module 710, a mark state adjustment module 720, and a spatial posture determination module 730.

[0143] The spatial position data determination module 710 is used to obtain the marker images respectively captured by at least two camera devices, and determine the spatial position data of the marker based on each marker image;

[0144] The marking state adjustment module 720 is used to determine the conversion error data corresponding to the marker based on the local position data and spatial position data of the marker, and control the state adjustment device to adjust the marking state of the marker based on the conversion error data; wherein the local position data and the spatial position data are used to represent the position data of the marker in the tracking object coordinate system and the position data in the world coordinate system respectively;

[0145] The spatial posture determination module 730 is used to determine the spatial posture of the tracked object in the surgical tracking system based on the adjusted marker image corresponding to the adjusted marker.

[0146] The technical solution of this embodiment determines the conversion error data corresponding to the marker by determining the spatial position data and local position data based on the marker image, and controls the state adjustment device in the surgical tracking system to adjust the marking state of the marker based on the conversion error data, thereby solving the problem of the marker being blocked during the tracking process, improving the flexibility of the surgery and reducing the surgical risks.

[0147] On the basis of the above technical solution, optionally, the device further includes:

[0148] A marker stability assessment module is used to obtain spatial position data corresponding to at least one marker determined within a first preset time length; for each marker, based on the spatial position data corresponding to the marker, determine the stability assessment result of the marker, and based on the stability assessment result, adjust the marking weight corresponding to the marker, and / or control the state adjustment device to adjust the marking state of the marker.

[0149] Based on the above technical solution, optionally, the spatial position data determination module 710 includes:

[0150] a tracing ray determining unit, configured to determine, for each marker image, a tracing ray corresponding to the marker image based on a marker center point corresponding to the marker in the marker image and a camera lens center point of a camera device corresponding to the marker image;

[0151] a ray weight determination unit, configured to determine, for each marker, at least two target tracing rays and ray weights corresponding to each target tracing ray based on a tracing quality parameter of a tracing ray corresponding to the marker;

[0152] The spatial position data determination unit is used to determine the spatial position data of the marker based on each target tracking ray and ray weight.

[0153] Based on the above technical solution, optionally, the tracking quality parameters include at least one of image quality, angular quality between the tracking ray and the central axis of the camera, stability value of the tracking ray, error quality between the tracking ray and the marker, and angular quality between the tracking ray and the central axis of the marker.

[0154] Based on the above technical solution, optionally, when the tracking quality parameter includes image quality, the device further includes:

[0155] The image quality determination module is used to determine, for each marker image, the image quality corresponding to the tracing ray determined based on the marker image based on at least one image parameter of the marker image: image size, image brightness and image roundness.

[0156] Based on the above technical solution, optionally, when the tracking quality parameter includes the angle quality between the tracking ray and the central axis of the camera, the device further includes:

[0157] The camera central axis angle determination module is used to determine the angle quality of the tracing ray and the camera central axis based on the angle between the tracing ray and the central axis of the camera device corresponding to the tracing ray for each tracing ray.

[0158] Based on the above technical solution, optionally, when the tracking quality parameter includes a stable value of the tracking ray, the device further includes:

[0159] A tracing ray stability determination module is used to determine, for each tracing ray, the number of state changes of the tracing ray within a second preset time length and / or the number of fluctuations of at least one tracing quality parameter corresponding to the tracing ray except the stable value of the tracing ray within the second preset time length, and determine the stable value of the tracing ray based on the number of state changes and / or the number of fluctuations.

[0160] On the basis of the above technical solution, optionally, when the tracking quality parameter includes the error quality between the tracking ray and the marker, the ray weight determination unit is specifically used to:

[0161] Based on the error quality between the tracing ray and the marker, at least two target tracing rays and the ray weights corresponding to each target tracing ray are determined so that the spatial position data of the marker determined based on the target tracing ray and the ray weights satisfies the minimum error quality between the tracing ray and the marker; wherein the error quality between the tracing ray and the marker is used to characterize the sum of the squares of the weighted distances between the marker and each tracing ray.

[0162] On the basis of the above technical solution, optionally, when the tracking quality parameter includes the angular quality of the tracking ray and the central axis of the marker, the device further includes:

[0163] The marker central axis angle determination module is used to determine the angle quality of the tracking ray and the marker central axis for each tracking ray based on the angle between the tracking ray and the central axis of the marker corresponding to the tracking ray.

[0164] On the basis of the above technical solution, optionally, the device further includes:

[0165] A camera focus adjustment module is used to obtain spatial position data of a preset object, and determine the object distance between the preset object and the camera device based on the spatial position data and the camera position of the camera device corresponding to the preset object; wherein the preset object is a marker or a tracking object; based on the object distance, the camera device corresponding to the object distance is controlled to perform focusing processing.

[0166] On the basis of the above technical solution, optionally, when the tracking object is a profilometer, the device further includes:

[0167] The three-dimensional contour data determination module is used to obtain the contour data corresponding to the measured object obtained by the contour meter scanning; based on the relative position data between the contour meter and the measured object and the spatial posture of the contour meter, the contour data is three-dimensionally reconstructed to obtain the three-dimensional contour data corresponding to the measured object.

[0168] The control device of the surgical tracking system provided in the embodiment of the present invention can be used to execute the control method of the surgical tracking system provided in the embodiment of the present invention, and has the corresponding functions and beneficial effects of the execution method.

[0169] It is worth noting that in the embodiment of the control device of the above-mentioned surgical tracking system, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0170] Embodiment 8

[0171] Embodiment 8 of the present invention further provides a storage medium including computer executable instructions, and when the computer executable instructions are executed by a computer processor, they are used to execute a control method for a surgical tracking system, the method comprising:

[0172] Acquire marker images respectively captured by at least two camera devices, and determine spatial position data of the marker based on each marker image;

[0173] Based on the local position data and spatial position data of the marker, the conversion error data corresponding to the marker is determined, and based on the conversion error data, the state adjustment device is controlled to adjust the marking state of the marker; wherein the local position data and the spatial position data are used to represent the position data of the marker in the tracking object coordinate system and the position data in the world coordinate system respectively;

[0174] Based on the adjusted marker image corresponding to the adjusted marker, the spatial position of the tracked object in the surgical tracking system is determined.

[0175] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, a device or a device or used in combination with it.

[0176] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0177] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0178] Computer program code for performing the operation of the present invention may be written in one or more programming languages ​​or combinations thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0179] Of course, the storage medium containing computer executable instructions provided in an embodiment of the present invention is not limited to the above method operations, and the computer executable instructions can also execute related operations in the control method of the surgical tracking system provided in any embodiment of the present invention.

[0180] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A control method for a surgical tracking system, characterized in that: include: Acquire marker images respectively captured by at least two camera devices, and determine spatial position data of the marker based on each of the marker images; Based on the local position data of the marker and the spatial position data, the conversion error data corresponding to the marker is determined, and based on the conversion error data, the state adjustment device is controlled to adjust the marking state of the marker; wherein the local position data and the spatial position data are used to represent the position data of the marker in the tracking object coordinate system and the position data in the world coordinate system respectively; Based on the adjusted marker image corresponding to the adjusted marker, the spatial position of the tracked object in the surgical tracking system is determined.

2. The method according to claim 1, characterized in that The method further comprises: Acquire spatial position data corresponding to at least one marker determined within a first preset time length; For each marker, the stability evaluation result of the marker is determined based on the spatial position data corresponding to the marker, and based on the stability evaluation result, the marking weight corresponding to the marker is adjusted, and / or the control state adjustment device adjusts the marking state of the marker.

3. The method according to claim 1, characterized in that The determining of the spatial position data of the marker based on each of the marker images comprises: For each marker image, based on a marker center point corresponding to the marker in the marker image and a camera lens center point of a camera device corresponding to the marker image, determining a tracing ray corresponding to the marker image; For each marker, based on a tracing quality parameter of a tracing ray corresponding to the marker, determining at least two target tracing rays and a ray weight corresponding to each of the target tracing rays; Based on each of the target tracking rays and the ray weights, spatial position data of the marker is determined.

4. The method according to claim 3, characterized in that The tracking quality parameters include at least one of image quality, angular quality between the tracking ray and the camera center axis, stability value of the tracking ray, error quality between the tracking ray and the marker, and angular quality between the tracking ray and the marker center axis.

5. The method according to claim 4, characterized in that When the tracking quality parameter includes image quality, the method further comprises: For each marker image, an image quality corresponding to a tracing ray determined based on the marker image is determined based on at least one image parameter of the marker image: image size, image brightness, and image circularity.

6. The method according to claim 4, characterized in that When the tracking quality parameter includes the angular quality of the tracking ray and the central axis of the camera, the method further includes: For each tracing ray, an angular quality between the tracing ray and the central axis of the camera is determined based on an angle between the tracing ray and the central axis of the camera device corresponding to the tracing ray.

7. The method according to claim 4, characterized in that When the tracing quality parameter comprises a stable value of the tracing ray, the method further comprises: For each tracing ray, determining the number of state changes of the tracing ray within a second preset time length and / or the number of fluctuations of at least one tracing quality parameter corresponding to the tracing ray except for a stable value of the tracing ray within the second preset time length; Based on the number of state changes and / or fluctuations, a stable value of the tracking ray is determined.

8. The method according to claim 4, characterized in that When the tracking quality parameter includes the error quality between the tracking ray and the marker, determining at least two target tracking rays and a ray weight corresponding to each of the target tracking rays based on the tracking quality parameter of the tracking ray corresponding to the marker includes: Based on the error quality between the tracing ray and the marker, at least two target tracing rays and ray weights corresponding to each of the target tracing rays are determined so that the spatial position data of the marker determined based on the target tracing ray and the ray weights satisfies the minimum error quality between the tracing ray and the marker; wherein the error quality between the tracing ray and the marker is used to characterize the sum of the squares of the weighted distances between the marker and each tracing ray.

9. The method according to claim 4, characterized in that When the tracking quality parameter includes the angular quality of the tracking ray and the central axis of the marker, the method further includes: For each tracking ray, the angular quality between the tracking ray and the central axis of the marker is determined based on the angle between the tracking ray and the central axis of the marker corresponding to the tracking ray.

10. The method according to claim 1, characterized in that The method further comprises: Acquire spatial position data of a preset object, and determine an object distance between the preset object and the camera device based on the spatial position data and a camera position of the camera device corresponding to the preset object; wherein the preset object is a marker or a tracking object; Based on the object distance, a camera device corresponding to the object distance is controlled to perform a focus process.

11. The method according to claim 1, characterized in that: When the tracking object is a profilometer, the method further includes: Acquire contour data corresponding to the object to be measured obtained by scanning the contour meter; Based on the relative position data between the profilometer and the measured object and the spatial posture of the profilometer, the contour data is subjected to three-dimensional reconstruction processing to obtain three-dimensional contour data corresponding to the measured object.

12. A surgical tracking system, characterized in that: A control method for implementing a surgical tracking system according to any one of claims 1 to 11, comprising: a tracking object, a controller, a marker, and at least two camera devices, each of the camera devices and the tracking object being respectively connected to the controller for communication; Wherein, each of the camera devices is fixed to a fixing device in the surgical tracking system through a camera bracket, the marker is installed on the tracking object, and the marker is within the camera field of view of each of the camera devices; The tracking object is provided with a state adjustment device for adjusting the marking state of the marker; The controller is used to control the state adjustment device to adjust the marking state of the marker based on the marker images respectively collected by each of the camera devices; The tracking object is also provided with an indicator; the indicator includes an indicator light; the indicator light is used to emit light waves of different colors; the light waves of different colors represent different prompt information.

13. The system according to claim 12, characterized in that The tracking object includes at least one of a surgical instrument, a remote controller and a profilometer.

14. The system according to claim 13, characterized in that When the tracking object includes a surgical instrument and / or a profilometer, the marker is mounted on the tracking object via a marker bracket, and the marker includes an active marker and / or a reflective marker.

15. The system according to claim 14, characterized in that When the marker includes an active marker, the state adjustment device is arranged in the marker support, and the state adjustment device includes a first switch device for controlling the switch state of the marker.

16. The system according to claim 14, characterized in that When the marker includes an active marker and / or a reflective marker, the marker holder is mounted on the surgical instrument via the state adjustment device, the state adjustment device includes a rotatable actuator, and an encoder for encoding the position of the marker holder is provided in the state adjustment device.

17. The system according to claim 13, characterized in that When the tracking object includes a remote control, the marker is installed on the remote control through a control panel, and correspondingly, the state adjustment device is arranged on the control panel, and the marker includes an active marker and / or a reflective marker.

18. The system according to claim 17, characterized in that When the marker comprises an active marker, the state adjustment device comprises a second switch device for controlling the switch state of the marker, and the second switch device comprises a switch button and / or a touch panel.

19. The system according to claim 17, characterized in that When the marker includes a reflective marker, the control panel is provided with an intermediate connecting device for connecting the reflective marker, and / or the state adjusting device includes a hollow plate for shielding the reflective marker.

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