Magnetic positioning vibration compensation method, system and computer readable storage medium

Abstract

This specification provides a magnetic positioning vibration compensation method, system, and computer-readable storage medium. Based on this method, the vibration of a magnetic field generator can be monitored in real time during surgery. The magnetic field generator is used in conjunction with an electromagnetic sensor for surgical navigation. When vibration of the magnetic field generator is confirmed, vibration-related motion parameters are collected and used according to preset compensation rules to determine matching vibration compensation parameters. These parameters are then used to perform corresponding vibration compensation, ensuring that the position coordinates collected by the electromagnetic sensor meet the accuracy requirements of surgical navigation. This effectively reduces errors caused by magnetic field generator vibration during surgery, improves the accuracy of the position coordinates collected by the electromagnetic sensor, and enables precise surgical navigation and completion of surgical procedures based on these coordinates, thus reducing surgical risks for the patient.

Description

Technical Field

[0001] This manual belongs to the field of medical device technology, and in particular relates to magnetic positioning vibration compensation methods, systems and computer-readable storage media. Background Technology

[0002] With the development of technology, medical devices such as surgical robots have begun to introduce and use magnetic positioning surgical navigation systems to assist in surgical procedures. Typically, magnetic positioning surgical navigation systems use electromagnetic sensors in conjunction with a magnetic field generator to collect relevant positional data during the operation; then, the collected positional data is mapped onto a three-dimensional model constructed based on medical images to achieve surgical navigation.

[0003] However, based on existing methods, the magnetic field generator is prone to vibration during surgery, which can lead to navigation and positioning errors, affecting the accuracy of surgical navigation and posing risks to the patient's surgery.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This specification provides a magnetic positioning vibration compensation method, system, and computer-readable storage medium that can effectively reduce errors caused by the vibration of the magnetic field generator during surgery, improve the accuracy of the position coordinates collected by the electromagnetic sensor, and thus enable precise navigation and completion of specific surgical operations, reducing the surgical risks for patients.

[0006] This specification provides a magnetic positioning vibration compensation method, including: monitoring whether a magnetic field generator vibrates; wherein the magnetic field generator is used in conjunction with an electromagnetic sensor for surgical navigation; when it is determined that the magnetic field generator vibrates, according to a preset compensation rule, collecting and utilizing motion parameters related to the vibration to determine matching vibration compensation parameters; and using the vibration compensation parameters to perform corresponding vibration compensation.

[0007] This specification also provides a magnetic positioning vibration compensation system, comprising at least: a processor and a motion detection unit; wherein the motion detection unit is used to monitor whether a magnetic field generator vibrates; wherein the magnetic field generator is used in conjunction with an electromagnetic sensor for surgical navigation; and when it is determined that the magnetic field generator vibrates, it collects vibration-related motion parameters according to a preset compensation rule; the processor is used to determine matching vibration compensation parameters using the vibration-related motion parameters; and to perform corresponding vibration compensation using the vibration compensation parameters.

[0008] This specification also provides a computer-readable storage medium storing computer instructions that, when executed by a processor, perform the following steps: monitoring whether a magnetic field generator vibrates; wherein the magnetic field generator is used in conjunction with an electromagnetic sensor for surgical navigation; when it is determined that the magnetic field generator vibrates, according to a preset compensation rule, collecting and utilizing motion parameters related to the vibration to determine matching vibration compensation parameters; and using the vibration compensation parameters to perform corresponding vibration compensation.

[0009] Based on the magnetic positioning vibration compensation method, system, and computer-readable storage medium provided in this specification, the vibration of the magnetic field generator can be monitored in real time during surgery. The magnetic field generator is used in conjunction with an electromagnetic sensor for surgical navigation. When vibration of the magnetic field generator is confirmed, vibration-related motion parameters can be collected and used according to preset compensation rules to determine matching vibration compensation parameters. These parameters are then used to perform timely vibration compensation, ensuring that the position coordinates collected by the electromagnetic sensor meet the accuracy requirements of surgical navigation. This effectively reduces errors caused by the vibration of the magnetic field generator during surgery, improves the accuracy of the position coordinates collected by the electromagnetic sensor, and allows for precise surgical navigation and completion of corresponding surgical procedures based on these coordinates, thus reducing surgical risks for the patient. Attached Figure Description

[0010] To more clearly illustrate the embodiments of this specification, the accompanying drawings used in the embodiments will be briefly introduced below. The drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a schematic flowchart of a magnetic positioning vibration compensation method provided in one embodiment of this specification;

[0012] Figure 2 This is a schematic diagram of a scenario applying the magnetic positioning vibration compensation method provided in the embodiments of this specification;

[0013] Figure 3 This is a schematic diagram of an embodiment in which an inertial sensor is deployed above a magnetic field generator;

[0014] Figure 4 This is a schematic diagram of an embodiment that uses deployed inertial sensors to compensate for vibration of a magnetic field generator.

[0015] Figure 5 This is a schematic diagram of an embodiment in which a depth camera is deployed above a magnetic field generator;

[0016] Figure 6 This is a schematic diagram of an embodiment of using deployed depth cameras to compensate for vibration of a magnetic field generator;

[0017] Figure 7 This is a schematic diagram of an embodiment of using the deployed anti-vibration device to compensate for the vibration of the magnetic field generator;

[0018] Figure 8 This is a schematic diagram of an embodiment of using the deployed modulation dampers to compensate for the vibration of a magnetic field generator.

[0019] Figure 9 This is a schematic diagram of an embodiment where the modulation damper is installed;

[0020] Figure 10 This is a schematic diagram of an embodiment for determining the vibration frequency based on a preset fourth compensation rule;

[0021] Figure 11 This is a schematic diagram of an embodiment of multi-round vibration compensation using a modulated damper;

[0022] Figure 12 This is a schematic diagram of the structural composition of a magnetic positioning vibration compensation system provided in one embodiment of this specification;

[0023] Figure 13 This is a schematic diagram of the structural composition of a magnetic positioning vibration compensation device provided in one embodiment of this specification. Detailed Implementation

[0024] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this specification.

[0025] See Figure 1 As shown in the embodiments of this specification, a magnetic positioning vibration compensation method is provided. In specific implementation, this method may include the following:

[0026] S101: Monitor whether the magnetic field generator vibrates; wherein, the magnetic field generator is used in conjunction with the electromagnetic sensor for surgical navigation;

[0027] S102: When it is determined that the magnetic field generator is vibrating, according to the preset compensation rules, the motion parameters related to the vibration are collected and used to determine the matching vibration compensation parameters; and the vibration compensation parameters are used to perform corresponding vibration compensation so that the position coordinates collected by the electromagnetic sensor meet the accuracy requirements of surgical navigation.

[0028] In some embodiments, the above-described magnetic positioning vibration compensation method can be specifically applied to medical devices that require surgical navigation, such as surgical robots, doctor's consoles, patient operating tables, and electromagnetic navigation surgical systems.

[0029] Taking electromagnetic navigation surgical systems as an example, see [link / reference]. Figure 2 As shown, it may specifically include: a magnetic field generator 1, an electromagnetic sensor 2, an operating table 3, and medical imaging equipment 4 (e.g., an image trolley). Specifically, the magnetic field generator 1 can be arranged above the operating table 3 through a structure such as an adjusting arm, and emits magnetic field signals towards the operating table 3.

[0030] Before the actual surgery, the patient can lie on the operating table 3, and the medical imaging equipment 4 can generate a corresponding preoperative three-dimensional model by collecting and using relevant images.

[0031] During the specific surgery, with the assistance of the magnetic field generator 1, the electromagnetic sensor 2 collects the position coordinates of relevant characteristic locations within the patient's body. These position coordinates are then registered with the preoperative 3D model to establish a mapping relationship between the intraoperative patient coordinate system and the preoperative 3D model coordinate system. Furthermore, during the surgery, the electromagnetic sensor 2 collects real-time position coordinates; and based on the corresponding mapping relationship, the collected position coordinates are reflected in the 3D model to achieve intraoperative positioning and navigation, thereby precisely assisting in the completion of surgical procedures for the patient.

[0032] However, during surgery, the aforementioned magnetic field generator 1 is prone to vibration due to factors such as the patient's breathing, accidental contact, or insufficient rigidity, causing displacement of the electromagnetic coordinate system. This displacement results in a discrepancy between the electromagnetic coordinate system and the coordinate system of the position acquired by the electromagnetic sensor 1. Consequently, errors occur in the mapping relationship between the established intraoperative patient coordinate system and the preoperative 3D model coordinate system, reducing the accuracy of surgical navigation.

[0033] Based on the magnetic positioning vibration compensation method provided in this specification, the vibration of the magnetic field generator 1 can be monitored in real time or periodically using an inertial sensor deployed on the back of the magnetic field generator 1 and / or a depth camera deployed above the magnetic field generator 1. When vibration is detected, different vibration conditions can be distinguished, and according to corresponding preset compensation rules, motion parameters related to the vibration can be collected by a motion detection unit (e.g., an inertial sensor and / or a depth camera), and matching vibration compensation parameters can be determined based on these motion parameters. Furthermore, using these vibration compensation parameters, algorithm-based and / or mechanical vibration compensation can be performed promptly, depending on the specific situation. This effectively eliminates the error caused by the vibration of the magnetic field generator, improves the accuracy of the position coordinates collected by the electromagnetic sensor, and enables precise surgical navigation.

[0034] In some embodiments, the monitoring of whether the magnetic field generator vibrates may include the following:

[0035] S1: The acceleration of the magnetic field generator is collected at preset time intervals;

[0036] S2: Detect whether the acceleration of the collected magnetic field generator is greater than the preset lower limit of acceleration;

[0037] S3: If the acceleration of the collected magnetic field generator is greater than the preset lower limit of acceleration, it is determined that the magnetic field generator is vibrating.

[0038] The preset time interval can be 5 seconds or 1 second, etc. In practice, the duration of the preset time interval can be flexibly set according to the specific situation and accuracy requirements, so as to accurately monitor whether the magnetic field generator vibrates.

[0039] The aforementioned acceleration may specifically include: the displacement acceleration and / or angular acceleration of the magnetic field generator, etc. The aforementioned preset lower limit value of acceleration can be understood as a small value close to 0.

[0040] In practice, the acceleration of the magnetic field generator can be acquired using inertial sensors or accelerometers. Specifically, an inertial sensor (IMU, Inertial Measurement Unit) can be understood as a sensor primarily used to detect and measure acceleration and rotational motion, such as a MEMS sensor.

[0041] In practice, when the acceleration of the magnetic field generator is detected to be greater than the preset lower limit of acceleration, it can be determined that the magnetic field generator has vibrated.

[0042] In some embodiments, the above-mentioned method of collecting and utilizing vibration-related motion parameters according to a preset compensation rule to determine matching vibration compensation parameters may include the following:

[0043] S1: According to the preset first compensation rule, the first type of motion parameters of the magnetic field generator at multiple time points during the vibration process are collected; wherein, the first type of motion parameters include: displacement acceleration along the coordinate axis and angular acceleration around the coordinate axis based on the electromagnetic coordinate system;

[0044] S2: Based on the first type of motion parameters at multiple time points, determine the displacement and rotation angle of the magnetic field generator during the vibration process;

[0045] S3: Based on the displacement and rotation angle of the magnetic field generator during the vibration process, determine the first coordinate system transformation matrix as the matching vibration compensation parameter.

[0046] Specifically, inertial sensors can be used to collect the first type of motion parameters of the magnetic field generator at multiple time points during the vibration process. See also... Figure 3 As shown, the aforementioned inertial sensor can be specifically positioned above the magnetic field generator (or on the back of the magnetic field generator).

[0047] The aforementioned first type of motion parameters may specifically include: displacement acceleration along the coordinate axes based on the electromagnetic coordinate system, and angular acceleration around the coordinate axes. Specifically, the aforementioned first type of motion parameters can be motion parameters based on the initial electromagnetic coordinate system. Correspondingly, the aforementioned preset first type of compensation rule can be understood as an algorithm-based compensation rule that relies on the first type of motion parameters after vibration.

[0048] Furthermore, the displacement acceleration along the coordinate axes can specifically include: displacement acceleration along the horizontal axis (e.g., x1) of the electromagnetic coordinate system, displacement acceleration along the horizontal axis (e.g., y1) of the electromagnetic coordinate system, and displacement acceleration along the vertical axis (e.g., z1) of the electromagnetic coordinate system.

[0049] The aforementioned angular accelerations around the coordinate axes may specifically include: the angular acceleration of the roll angle γ, which rotates counterclockwise around the horizontal axis of the electromagnetic coordinate system; the angular acceleration of the pitch angle β, which rotates counterclockwise around the vertical axis of the electromagnetic coordinate system; and the angular acceleration of the yaw angle α, which rotates counterclockwise around the vertical axis of the electromagnetic coordinate system.

[0050] See Figure 3 As shown, the electromagnetic coordinate system described above can be understood as a coordinate system based on the magnetic field generator, which can be represented as O1x1y1z1. The coordinate system based on the inertial sensor can be denoted as the inertial sensor coordinate system, which is represented as O'x'y'z'.

[0051] Before implementation, after installing the electromagnetic sensor above the magnetic field generator, calibration can be performed to ensure that the electromagnetic coordinate system is aligned with the inertial sensor coordinate system. Specifically, calibration ensures that the origin O1 of the electromagnetic coordinate system coincides with the origin O' of the inertial sensor coordinate system, and that the coordinate axes of the electromagnetic coordinate system are parallel to the corresponding axes of the electromagnetic sensor coordinate system. At this point, the inertial sensor can be used to measure and acquire the displacement acceleration along the coordinate axes of the inertial sensor coordinate system, as well as the angular acceleration around those axes. The calibrated electromagnetic coordinate system can be designated as the initial electromagnetic coordinate system. Since the calibrated inertial sensor coordinate system coincides with the electromagnetic coordinate system, the required first-order motion parameters can be obtained by measuring the displacement acceleration along the coordinate axes and the angular acceleration around those axes using the inertial sensor.

[0052] In practice, the first kind of motion parameters of the magnetic field generator at multiple time points during the vibration process can be collected. Then, based on the first kind of motion parameters at multiple time points, a second integral operation can be performed to obtain the displacement of the magnetic field generator along each coordinate axis and the rotation angle around each coordinate axis during the vibration process.

[0053] Specifically, for example, see Figure 4 As shown, after the magnetic field generator vibrates, its position changes from 1 before vibration to 2 after vibration. Correspondingly, the electromagnetic coordinate system based on the magnetic field generator changes from O1x1y1z1 before vibration to O2x2y2z2 after vibration.

[0054] At this point, the displacement Δx along the horizontal axis can be obtained by performing a double integral on the displacement acceleration along the vertical axis based on the electromagnetic coordinate system at multiple time points during the vibration process; the displacement Δy along the horizontal axis can be obtained by performing a double integral on the displacement acceleration along the vertical axis based on the electromagnetic coordinate system at multiple time points during the vibration process; the displacement Δz along the vertical axis can be obtained by performing a double integral on the displacement acceleration along the vertical axis based on the electromagnetic coordinate system at multiple time points during the vibration process; the roll angle γ can be obtained by performing a double integral on the angular acceleration around the horizontal axis based on the electromagnetic coordinate system at multiple time points during the vibration process; the pitch angle β can be obtained by performing a double integral on the angular acceleration around the vertical axis based on the electromagnetic coordinate system at multiple time points during the vibration process; and the yaw angle α can be obtained by performing a double integral on the angular acceleration around the vertical axis based on the electromagnetic coordinate system at multiple time points during the vibration process.

[0055] In some embodiments, the first coordinate system transformation matrix is ​​determined based on the displacement and rotation angle of the magnetic field generator during the vibration process. In specific implementations, this may include:

[0056] The transformation matrix of the first coordinate system is determined according to the following formula:

[0057]

[0058] Where T is the transformation matrix of the first coordinate system, Δx is the displacement along the horizontal axis, Δy is the displacement along the vertical axis, Δz is the displacement along the vertical axis, α is the yaw angle, β is the pitch angle, and γ is the roll angle.

[0059] The aforementioned first coordinate system transformation matrix is ​​used to characterize the correspondence between the coordinate positions of the electromagnetic coordinate system after vibration and the coordinate positions of the electromagnetic coordinate system before vibration.

[0060] Correspondingly, the aforementioned first coordinate system transformation matrix can be used to convert the position coordinates with errors collected by the electromagnetic sensor based on the electromagnetic coordinate system after vibration into the corresponding accurate position coordinates based on the electromagnetic coordinate system before vibration, thereby achieving vibration compensation and eliminating the errors caused by the vibration of the magnetic field generator.

[0061] In some embodiments, the above-mentioned method of collecting and utilizing vibration-related motion parameters according to a preset compensation rule to determine matching vibration compensation parameters may further include the following:

[0062] S1: According to the preset second compensation rule, the first position coordinates of the target point in the magnetic field generator after vibration based on the camera coordinate system, and the second position coordinates of the target point in the magnetic field generator after vibration based on the electromagnetic coordinate system are collected.

[0063] S2: Based on the first position coordinates and the second position coordinates of the target point after vibration, determine the mapping relationship between the electromagnetic coordinate system and the camera coordinates after vibration;

[0064] S3: Based on the mapping relationship between the electromagnetic coordinate system and the camera coordinate system after vibration, determine the second transformation matrix of the coordinate system as the matching vibration compensation parameter.

[0065] Specifically, the first position coordinates of the target point in the magnetic field generator after vibration based on the camera coordinate system, and the second position coordinates of the target point in the magnetic field generator after vibration based on the electromagnetic coordinate system can be acquired by using a depth camera.

[0066] See Figure 5As shown, the depth camera can be positioned above the magnetic field generator at a preset distance. This preset distance ensures that the depth camera will not interfere with the magnetic field signal emitted by the magnetic field generator; simultaneously, it also ensures that the target point within the magnetic field generator is captured.

[0067] Accordingly, the aforementioned second type of compensation rule can be understood as an algorithm-based compensation rule that relies on coordinate data collected by a depth camera after vibration.

[0068] See Figure 5 As shown, the target points mentioned above can specifically be the four corner points of the magnetic field generator, such as a, b, c, and d. Of course, the target points listed above are only illustrative. In actual implementation, depending on the specific situation and processing requirements, other four locations can be selected on the magnetic field generator and marked as the aforementioned target points. This specification does not limit this.

[0069] Before vibration occurs (e.g., before surgery), depth images can be acquired using a depth camera, and the position coordinates of the four target points relative to the camera coordinate system can be determined based on these depth images. For example, The first position coordinates of the target point in the magnetic field generator before vibration, based on the camera coordinate system, are used as the reference. Simultaneously, the position coordinates of the four target points in the electromagnetic coordinate system, such as a1, b1, c1, and d1, can be acquired by electromagnetic sensors and used as the second position coordinates of the target point in the magnetic field generator before vibration, based on the electromagnetic coordinate system. The first position coordinates of the target point in the magnetic field generator before vibration, based on the camera coordinate system, and the second position coordinates of the target point in the magnetic field generator before vibration, based on the electromagnetic coordinate system, are stored in the memory.

[0070] See Figure 6 As shown, after vibration occurs, the position and orientation of the magnetic field generator change. At this point, a depth image can be acquired using a depth camera, and based on the depth image, the first position coordinates of the target point within the magnetic field generator after vibration, relative to the camera coordinate system, can be determined. For example, Meanwhile, the second position coordinates of the above four target points before vibration based on the electromagnetic coordinate system can be obtained by electromagnetic sensors, for example, a2, b2, c2, d2.

[0071] In practice, the mapping relationship between the electromagnetic coordinate system and the camera coordinates can be obtained by simultaneously solving the following equations based on the first and second position coordinates of the target point after vibration.

[0072] In some embodiments, the second transformation matrix of the coordinate system is determined based on the mapping relationship between the vibrated electromagnetic coordinate system and the camera coordinate system. In specific implementations, this may include the following:

[0073] S1: Obtain the first position coordinates of the target point in the magnetic field generator before vibration based on the camera coordinate system, and the second position coordinates of the target point in the magnetic field generator before vibration based on the electromagnetic coordinate system.

[0074] S2: Based on the first position coordinates of the target point before vibration and the second position coordinates of the target point before vibration, determine the mapping relationship between the electromagnetic coordinate system and the camera coordinates before vibration;

[0075] S3: Determine the coordinate system transformation matrix based on the mapping relationship between the electromagnetic coordinate system after vibration and the camera coordinate system, and the mapping relationship between the electromagnetic coordinate system before vibration and the camera coordinate system.

[0076] In practice, the first position coordinates of the target point in the magnetic field generator before vibration based on the camera coordinate system and the second position coordinates of the target point in the magnetic field generator before vibration based on the electromagnetic coordinate system can be read from the memory.

[0077] In practice, the mapping relationship between the electromagnetic coordinate system and the camera coordinates before vibration can be obtained by simultaneously solving the following equations based on the first and second position coordinates of the target point before vibration.

[0078]

[0079] In practice, the coordinate system transformation matrix can be determined according to the mapping relationship between the electromagnetic coordinate system after vibration and the camera coordinate system, and the mapping relationship between the electromagnetic coordinate system before vibration and the camera coordinate system, using the following formula:

[0080] Similarly, the aforementioned second coordinate system transformation matrix can be used to convert the erroneous position coordinates acquired by the electromagnetic sensor based on the electromagnetic coordinate system after vibration into the accurate position coordinates based on the electromagnetic coordinate system before vibration. This allows for vibration compensation, eliminating the errors caused by the vibration of the magnetic field generator.

[0081] In some embodiments, the above-mentioned vibration compensation using vibration compensation parameters may specifically include: obtaining the current position coordinates collected by the electromagnetic sensor; and using the vibration compensation parameters to perform algorithm-based vibration compensation by correcting the position coordinates.

[0082] Specifically, for example, the current position coordinates, denoted as P2, can be obtained through the electromagnetic sensor after vibration. Then, P2 is multiplied by the aforementioned vibration compensation parameter to correct the position coordinates, thus compensating at the algorithmic level, resulting in the corrected position coordinates P1 based on the electromagnetic coordinate system before vibration: P1 = T × P2. Subsequently, surgical navigation can be performed based on the corrected position coordinates to eliminate the error caused by the vibration of the magnetic field generator.

[0083] In practice, the matching vibration compensation parameters can be determined in real time, and vibration compensation can be performed in real time using these parameters to ensure the accuracy of surgical navigation.

[0084] In some embodiments, the above-mentioned method of collecting and utilizing vibration-related motion parameters according to a preset compensation rule to determine matching vibration compensation parameters may include the following:

[0085] S1: According to the preset third compensation rule, the first type of motion parameters of the magnetic field generator at multiple time points during the vibration process are collected; wherein, the first type of motion parameters include: displacement acceleration along the coordinate axis and angular acceleration around the coordinate axis based on the electromagnetic coordinate system;

[0086] S2: Based on the first type of motion parameters at multiple time points, determine the displacement and rotation angle of the magnetic field generator during the vibration process;

[0087] S3: Based on the displacement and rotation angle of the magnetic field generator during the vibration process, determine the target displacement and target rotation angle to restore the magnetic field generator's pose state after vibration to the pose state before vibration, and use them as matching vibration compensation parameters.

[0088] Specifically, the aforementioned third type of compensation rule can be understood as a mechanical compensation rule that relies on the first type of motion parameters after vibration.

[0089] For details, please refer to Figure 7 The aforementioned electromagnetic generator 1 is also equipped with a shake-stabilizing device 7. In the figure, 1 represents the magnetic field generator, 3 represents the operating table cart, 5 represents the inertial sensor, and 7 represents the shake-stabilizing device. This shake-stabilizing device has 6 degrees of freedom. 8, 9, and 10 in the figure are motors on the shake-stabilizing device 7, used to control the movement of the shake-stabilizing device 7 along the horizontal, vertical, and longitudinal axes, respectively; 11 and 12 in the figure are also motors on the shake-stabilizing device 7, used to control the rotation of the shake-stabilizing device 7 around the horizontal, vertical, and longitudinal axes, respectively.

[0090] Based on the first-kind motion parameters at multiple time points, the displacement and rotation angles of the magnetic field generator during the vibration process can be determined through quadratic integration, such as Δx, Δy, Δz, γ, β, and α. Then, based on the displacement and rotation angles of the magnetic field generator during the vibration process, as well as the specific displacement and rotation directions, the corresponding target displacement and target rotation angles can be determined, such as -Δx, -Δy, -Δz, -γ, -β, and -α.

[0091] In some embodiments, the above-mentioned vibration compensation using vibration compensation parameters may specifically include: controlling the anti-shake device to adjust the pose state of the magnetic field generator according to the vibration compensation parameters, and performing mechanical vibration compensation after vibration.

[0092] In practice, the operating parameters of the motor of the anti-vibration device (including translational motion parameters and / or rotational parameters) can be adjusted according to the vibration compensation parameters to control the anti-vibration device to adjust the position and attitude of the magnetic field generator to the position and attitude before vibration, thereby restoring the position and attitude of the magnetic field generator after vibration to the position and attitude of the magnetic field generator before vibration, and realizing the continued mechanical vibration.

[0093] Specifically, for example, the translation parameters of the anti-shake device can be adjusted according to Table 1, and the rotation parameters of the anti-shake device can be adjusted according to Table 2 to control the anti-shake device to adjust the position and orientation of the magnetic field generator.

[0094] Table 1

[0095] Motor number Direction of movement distance of movement 8 positive x-axis -Δx 9 positive y-axis -Δy 10 positive z-axis -Δz

[0096] Table 2

[0097] Motor number Rotation direction Rotation angle 11 Counterclockwise around the x-axis -γ 12 counterclockwise around the y-axis -β 13 counterclockwise around the z-axis -α

[0098] Furthermore, subsequent electromagnetic sensors can use the adjusted magnetic field generator to further determine and accurately navigate the surgery based on the position coordinates.

[0099] In some embodiments, the above-mentioned method of collecting and utilizing vibration-related motion parameters according to a preset compensation rule to determine matching vibration compensation parameters may include the following:

[0100] S1: According to the preset fourth compensation rule, the second type of motion parameters of the magnetic field generator at multiple time points during the vibration process are collected; among which, the second type of motion parameters include: acceleration;

[0101] S2: Based on the second type of motion parameters at multiple time points, determine the current vibration frequency of the magnetic field generator as the matching vibration compensation parameter.

[0102] Specifically, the aforementioned preset fourth compensation rule can be understood as a mechanical compensation rule that depends on the vibration frequency during vibration.

[0103] For details, please refer to Figure 8 As shown, the magnetic field generator can also be equipped with a modulation damper.

[0104] For specific configuration of the modulation damper, please refer to [reference needed]. Figure 9 As shown, a magnetic field generator is positioned above the base, and a corresponding modulation damper is installed below the magnetic field generator. This modulation damper includes at least the following structures: a weight, a shock absorber, and a spring.

[0105] Based on the characteristics of the modulated damper, it can be known that when the weight of the modulated damper is constant and the damping of the main system is neglected, the vibration frequency of the modulated damper can be expressed as: w a =wn*(1 / (1+u)).

[0106] Where wn is the natural vibration frequency of the modulated damper, and u is the original length of the spring.

[0107] In practical implementation, the second type of motion parameters at multiple time points during the vibration process of the magnetic field generator can be acquired through the aforementioned motion detection unit. These second type of motion parameters may include acceleration, velocity, displacement, etc. The aforementioned motion detection unit can be an inertial sensor, an accelerometer, a velocity sensor, etc. The following explanation primarily uses the use of an accelerometer to acquire acceleration as the second type of motion parameter. Other cases can be referred to in the embodiment of the accelerometer, and will not be elaborated upon in this specification.

[0108] For specific implementation, please refer to Figure 10 As shown, determining the current vibration frequency of the magnetic field generator based on the second type of motion parameters at multiple time points can include: determining the displacement data (e.g., denoted as l) at multiple time points by integral calculation based on the acceleration at multiple time points; selecting two adjacent time points with displacement data values ​​of 0 from the displacement data at multiple time points, and calculating the adjacent time interval between the two time points, for example, t'; calculating the vibration period T' based on the adjacent time interval: T' = 2t; and then calculating the current vibration frequency w based on the vibration period: w = 1 / T'.

[0109] In some embodiments, the above-mentioned vibration compensation using vibration compensation parameters may specifically include: adjusting the length of the spring in the modulation damper according to the vibration compensation parameters to perform mechanical vibration compensation during vibration; wherein the modulation damper is positioned below the magnetic field generator.

[0110] In practice, the matching length of the spring can be calculated based on the current vibration frequency of the magnetic field generator. Then, based on the matching length of the spring, the length of the spring in the modulation damper can be adjusted to reduce the vibration amplitude of the magnetic field generator and weaken the impact of vibration on the magnetic field generator, so as to achieve mechanical compensation.

[0111] Specifically, for example, the matching length of the spring corresponding to the current vibration of the magnetic field generator can be calculated using the following formula:

[0112] Based on the above formula, the matching length u of the spring can be calculated as: u = wnT′-1.

[0113] This allows the length of the spring in the modulation damper to be adjusted to a matching length, thereby compensating the magnetic field generator.

[0114] If the magnetic field generator has not stopped vibrating after one compensation cycle, refer to [the relevant documentation]. Figure 11 As shown, the above method can be repeated multiple times to continuously reduce the vibration amplitude and vibration period of the magnetic field generator until the magnetic field generator stops vibrating, thus completing the mechanical vibration compensation for the vibration of the magnetic field generator.

[0115] In some embodiments, the aforementioned preset compensation rules may specifically include pre-prepared compensation rules based on different compensation mechanisms for different vibration states, such as a preset first compensation rule, a preset second compensation rule, a preset third compensation rule, and a preset fourth compensation rule.

[0116] In practice, different vibration states can be distinguished, and matching compensation rules can be selected, or multiple matching compensation rules can be combined to perform vibration compensation more effectively.

[0117] In some embodiments, the above-mentioned method of collecting and utilizing vibration-related motion parameters according to a preset compensation rule to determine matching vibration compensation parameters may include the following:

[0118] S1: Determine the current vibration state of the magnetic field generator; where vibration state includes: during vibration or after vibration;

[0119] S2: If the current vibration state of the magnetic field generator is determined to be under vibration, according to the preset fourth compensation rule, the motion parameters related to the vibration are collected and used to determine the matching vibration compensation parameters.

[0120] Furthermore, vibration compensation can be performed on the vibrating magnetic field generator based on the vibration compensation parameters.

[0121] In practice, the current vibration state can be determined by detecting whether the current acceleration of the magnetic field generator is less than or equal to a preset lower limit value. For example, if the current acceleration is detected to be less than or equal to the preset lower limit value, the current vibration state can be determined to be "after vibration"; conversely, if the current acceleration is detected to be greater than the preset lower limit value, the current vibration state can be determined to be "in-vibration".

[0122] After determining the current vibration state of the magnetic field generator, the method may further include: if the current vibration state of the magnetic field generator is determined to be post-vibration, then, according to a preset first compensation rule, a preset second compensation rule, or a preset third compensation rule, collecting and utilizing vibration-related motion parameters to determine matching vibration compensation parameters. Vibration compensation can then be performed on the post-vibration magnetic field generator based on these vibration compensation parameters.

[0123] In practice, considering that although a certain degree of mechanical vibration compensation is performed using the preset fourth compensation rule during vibration, the pose state of the magnetic field generator may still undergo small changes, affecting surgical navigation, a second round of vibration compensation is performed on the magnetic field generator after the first round of vibration compensation using the preset fourth compensation rule. This is done by detecting whether the change in the magnetic field generator's pose state exceeds a preset threshold. If the change in the magnetic field generator's pose state exceeds the preset threshold, a second round of vibration compensation can be performed according to the preset first, second, or third compensation rules. This more effectively eliminates the impact of magnetic field generator vibration on surgical navigation accuracy.

[0124] As can be seen from the above, the magnetic positioning vibration compensation method provided in the embodiments of this specification can monitor in real time whether the magnetic field generator vibrates during surgery. The magnetic field generator is used in conjunction with the electromagnetic sensor for surgical navigation. When vibration of the magnetic field generator is determined, vibration-related motion parameters can be collected and used according to preset compensation rules to determine matching vibration compensation parameters. Then, vibration compensation is performed using these parameters to ensure that the position coordinates collected by the electromagnetic sensor meet the accuracy requirements of surgical navigation. This effectively reduces errors caused by the vibration of the magnetic field generator during surgery, improves the accuracy of the position coordinates collected by the electromagnetic sensor, and enables precise surgical navigation and completion of corresponding surgical operations based on these position coordinates, thereby reducing the surgical risk for the patient.

[0125] This specification also provides a magnetic positioning vibration compensation system, including a processor and a memory for storing processor-executable instructions. Specifically, the processor can perform the following steps according to the instructions: monitoring whether a magnetic field generator vibrates; wherein the magnetic field generator is used in conjunction with an electromagnetic sensor for surgical navigation; when it is determined that the magnetic field generator is vibrating, according to a preset compensation rule, collecting and utilizing vibration-related motion parameters to determine matching vibration compensation parameters; and using the vibration compensation parameters to perform corresponding vibration compensation so that the position coordinates collected by the electromagnetic sensor meet the accuracy requirements of surgical navigation.

[0126] To execute the above instructions more accurately, please refer to... Figure 12 This specification also provides another specific magnetic positioning vibration compensation system, wherein the magnetic positioning vibration compensation system includes at least: a processor 1201 and a motion detection unit 1202; wherein,

[0127] The motion detection unit 1202 can be used to monitor whether the magnetic field generator vibrates; wherein, the magnetic field generator is used in conjunction with the electromagnetic sensor for surgical navigation; and when it is determined that the magnetic field generator vibrates, motion parameters related to the vibration are collected according to a preset compensation rule;

[0128] Specifically, the processor 1201 can be used to determine matching vibration compensation parameters using vibration-related motion parameters; and to perform corresponding vibration compensation using the vibration compensation parameters so that the position coordinates collected by the electromagnetic sensor meet the accuracy requirements of surgical navigation.

[0129] Furthermore, the aforementioned magnetic positioning vibration compensation system may also include a memory 1203, wherein the memory 1203 may be used to store motion parameters collected by the motion detection unit 1202, intermediate data generated by the processor 1201, and corresponding instruction programs.

[0130] In this embodiment, the processor 1201 can be implemented in any suitable manner. For example, the processor can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers, etc. This specification is not limiting.

[0131] In this embodiment, the motion detection unit 1202 may specifically include one or more of the following: inertial sensor, depth camera, accelerometer, etc.

[0132] In this embodiment, the memory 1203 may include multiple layers. In a digital system, anything that can store binary data can be a memory. In an integrated circuit, a circuit with storage function but no physical form is also called a memory, such as RAM, FIFO, etc. In a system, a storage device with a physical form is also called a memory, such as a memory stick, TF card, etc.

[0133] This specification also provides a computer-readable storage medium based on the above-described magnetic positioning vibration compensation method. The computer-readable storage medium stores computer program instructions, which, when executed, perform the following: monitoring whether a magnetic field generator vibrates; wherein the magnetic field generator is used in conjunction with an electromagnetic sensor for surgical navigation; when it is determined that the magnetic field generator is vibrating, according to a preset compensation rule, collecting and utilizing vibration-related motion parameters to determine matching vibration compensation parameters; and using the vibration compensation parameters to perform corresponding vibration compensation so that the position coordinates collected by the electromagnetic sensor meet the accuracy requirements of surgical navigation.

[0134] In this embodiment, the storage medium includes, but is not limited to, Random Access Memory (RAM), Read-Only Memory (ROM), cache, hard disk drive (HDD), or memory card. The memory can be used to store computer program instructions. The network communication unit can be an interface configured according to standards specified in the communication protocol for network connection communication.

[0135] In this embodiment, the specific functions and effects implemented by the program instructions stored in the computer-readable storage medium can be explained in comparison with other embodiments, and will not be repeated here.

[0136] See Figure 13 As shown, at the software level, this specification also provides a magnetic positioning vibration compensation device, which may specifically include the following structural modules:

[0137] The monitoring module 1301 is specifically used to monitor whether the magnetic field generator vibrates; wherein, the magnetic field generator is used in conjunction with the electromagnetic sensor for surgical navigation;

[0138] The compensation module 1302 can be used to determine the matching vibration compensation parameters by collecting and utilizing the motion parameters related to the vibration according to the preset compensation rules when the magnetic field generator is determined to vibrate; and to perform corresponding vibration compensation using the vibration compensation parameters so that the position coordinates collected by the electromagnetic sensor meet the accuracy requirements of surgical navigation.

[0139] In some embodiments, when the monitoring module 1301 is specifically implemented, it can monitor whether the magnetic field generator vibrates in the following manner: the acceleration of the magnetic field generator is collected at preset time intervals; the collected acceleration of the magnetic field generator is detected to be greater than a preset lower limit value; if it is determined that the collected acceleration of the magnetic field generator is greater than the preset lower limit value, the magnetic field generator is determined to vibrate.

[0140] In some embodiments, when the compensation module 1302 is specifically implemented, it can collect and utilize vibration-related motion parameters according to a preset compensation rule in the following manner to determine matching vibration compensation parameters: According to a preset first compensation rule, a first type of motion parameters of the magnetic field generator at multiple time points during the vibration process are collected; wherein, the first type of motion parameters include: displacement acceleration along the coordinate axis and angular acceleration around the coordinate axis based on the electromagnetic coordinate system; the displacement and rotation angle of the magnetic field generator during the vibration process are determined according to the first type of motion parameters at multiple time points; and a first coordinate system transformation matrix is ​​determined according to the displacement and rotation angle of the magnetic field generator during the vibration process, which serves as the matching vibration compensation parameter.

[0141] In some embodiments, when the compensation module 1302 is specifically implemented, the first coordinate system transformation matrix can be determined according to the following formula:

[0142]

[0143] Where T is the transformation matrix of the first coordinate system, Δx is the displacement along the horizontal axis, Δy is the displacement along the vertical axis, Δz is the displacement along the vertical axis, α is the yaw angle, β is the pitch angle, and γ is the roll angle.

[0144] In some embodiments, when the compensation module 1302 is specifically implemented, it can collect and utilize vibration-related motion parameters according to a preset compensation rule in the following manner to determine matching vibration compensation parameters: According to a preset second compensation rule, the first position coordinates of the target point in the magnetic field generator after vibration based on the camera coordinate system, and the second position coordinates of the target point in the magnetic field generator after vibration based on the electromagnetic coordinate system are collected; the mapping relationship between the electromagnetic coordinate system after vibration and the camera coordinate system is determined based on the first position coordinates and the second position coordinates of the target point after vibration; the second transformation matrix of the coordinate system is determined based on the mapping relationship between the electromagnetic coordinate system after vibration and the camera coordinate system, as the matching vibration compensation parameter.

[0145] In some embodiments, when the compensation module 1302 is specifically implemented, the second transformation matrix of the coordinate system can be determined according to the mapping relationship between the electromagnetic coordinate system after vibration and the camera coordinate system in the following manner: obtain the first position coordinates of the target point in the magnetic field generator before vibration based on the camera coordinate system, and the second position coordinates of the target point in the magnetic field generator before vibration based on the electromagnetic coordinate system; determine the mapping relationship between the electromagnetic coordinate system before vibration and the camera coordinate system based on the first position coordinates of the target point before vibration and the second position coordinates of the target point before vibration; determine the coordinate system transformation matrix based on the mapping relationship between the electromagnetic coordinate system after vibration and the camera coordinate system, and the mapping relationship between the electromagnetic coordinate system before vibration and the camera coordinate system.

[0146] In some embodiments, when the compensation module 1302 is specifically implemented, vibration compensation can be performed using vibration compensation parameters in the following manner: obtaining the current position coordinates collected by the electromagnetic sensor; and using the vibration compensation parameters to perform algorithm-based vibration compensation by correcting the position coordinates.

[0147] In some embodiments, when the compensation module 1302 is specifically implemented, it can collect and utilize vibration-related motion parameters according to a preset compensation rule in the following manner to determine matching vibration compensation parameters: According to a preset third compensation rule, first-type motion parameters of the magnetic field generator at multiple time points during the vibration process are collected; wherein, the first-type motion parameters include: displacement acceleration along the coordinate axis and angular acceleration around the coordinate axis based on the electromagnetic coordinate system; based on the first-type motion parameters at multiple time points, the displacement and rotation angle of the magnetic field generator during the vibration process are determined; based on the displacement and rotation angle of the magnetic field generator during the vibration process, the target displacement amount and target rotation angle amount for restoring the pose state of the magnetic field generator after vibration to the pose state of the magnetic field generator before vibration are determined as matching vibration compensation parameters.

[0148] In some embodiments, when the above-mentioned compensation module 1302 is specifically implemented, it can use vibration compensation parameters to perform corresponding vibration compensation in the following manner: according to the vibration compensation parameters, control the anti-shake device to adjust the position and orientation of the magnetic field generator, and perform mechanical vibration compensation after vibration.

[0149] In some embodiments, when the compensation module 1302 is specifically implemented, it can collect and utilize vibration-related motion parameters according to a preset compensation rule to determine matching vibration compensation parameters in the following manner: according to a preset fourth compensation rule, it collects second-type motion parameters at multiple time points during the vibration process of the magnetic field generator; wherein, the second-type motion parameters include: acceleration; based on the second-type motion parameters at multiple time points, it determines the current vibration frequency of the magnetic field generator as the matching vibration compensation parameter.

[0150] In some embodiments, when the above-mentioned compensation module 1302 is specifically implemented, it can use vibration compensation parameters to perform corresponding vibration compensation in the following manner: adjust the length of the spring in the modulation damper according to the vibration compensation parameters to perform mechanical vibration compensation during vibration; wherein, the modulation damper is arranged below the magnetic field generator.

[0151] In some embodiments, when the compensation module 1302 is specifically implemented, it can collect and utilize motion parameters related to vibration according to a preset compensation rule to determine the matching vibration compensation parameters in the following manner: determine the current vibration state of the magnetic field generator; wherein, the vibration state includes: during vibration or after vibration; when it is determined that the current vibration state of the magnetic field generator is during vibration, the matching vibration compensation parameters are determined according to a preset fourth compensation rule by collecting and utilizing motion parameters related to vibration.

[0152] In some embodiments, when the compensation module 1302 is specifically implemented, after determining that the current vibration state of the magnetic field generator is vibration, it can also collect and utilize the motion parameters related to the vibration according to the preset first compensation rule, the preset second compensation rule, or the preset third compensation rule to determine the matching vibration compensation parameters.

[0153] It should be noted that the units, devices, or modules described in the above embodiments can be implemented by computer chips or physical entities, or by products with certain functions. For ease of description, the above devices are described by dividing them into various modules according to their functions. Of course, in implementing this specification, the functions of each module can be implemented in one or more software and / or hardware, or the module that implements the same function can be implemented by a combination of multiple sub-modules or sub-units, etc. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection between the devices or units shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0154] As can be seen from the above, the magnetic positioning vibration compensation device provided in the embodiments of this specification can effectively reduce the error caused by the vibration of the magnetic field generator during the operation, improve the accuracy of the position coordinates collected by the electromagnetic sensor, and thus accurately perform surgical navigation and complete the corresponding surgical operation based on the above position coordinates, thereby reducing the surgical risk for the patient.

[0155] While this specification provides the steps of operation for the methods described in the embodiments or flowcharts, more or fewer steps may be included based on conventional or non-inventive means. The order of steps listed in the embodiments is merely one possible order of execution among many steps and does not represent the only possible order. In actual device or client product execution, the methods shown in the embodiments or drawings may be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment, or even a distributed data processing environment). The terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, product, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, product, or apparatus. Without further limitations, the presence of other identical or equivalent elements in a process, method, product, or apparatus that includes said elements is not excluded. The terms "first," "second," etc., are used to denote names and do not indicate any particular order.

[0156] Those skilled in the art will also know that, besides implementing the controller using purely computer-readable program code, the same functions can be achieved by logically programming the method steps, making the controller function as logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers (PLCs), and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the devices within it used to implement various functions can also be considered structures within that hardware component. Alternatively, the devices used to implement various functions can be considered as both software modules implementing the method and structures within a hardware component.

[0157] This specification can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc., that perform a specific task or implement a specific abstract data type. This specification can also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer-readable storage media, including storage devices.

[0158] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this specification can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions of this specification can essentially be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, mobile terminal, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments of this specification.

[0159] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. This specification can be used in numerous general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable electronic devices, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices, etc.

[0160] Although this specification has been described by way of examples, those skilled in the art will recognize that many variations and modifications are possible without departing from the spirit of this specification, and it is intended that the appended claims cover such variations and modifications without departing from the spirit of this specification.

Claims

1. A magnetic positioning vibration compensation method, characterized in that, include: The magnetic field generator is monitored for vibration; the magnetic field generator is used in conjunction with electromagnetic sensors for surgical navigation. When it is determined that the magnetic field generator is vibrating, the motion parameters related to the vibration are collected and used according to the preset compensation rules to determine the matching vibration compensation parameters; and the vibration compensation parameters are used to perform corresponding vibration compensation. The process includes: 1) Collecting and utilizing vibration-related motion parameters according to preset compensation rules to determine matching vibration compensation parameters; 2) Determining the current vibration state of the magnetic field generator, where the vibration state includes: during vibration or after vibration; 3) Based on the current vibration state of the magnetic field generator, selecting and using matching compensation rules from preset first, second, third, and fourth compensation rules, or combining multiple matching compensation rules, to collect and utilize vibration-related motion parameters to determine matching vibration compensation parameters; 4) The preset first compensation rule is an algorithm-based compensation rule for after vibration, relying on a first type of motion parameters; 5) The preset second compensation rule is an algorithm-based compensation rule for after vibration, relying on coordinate data collected by a depth camera; 6) The preset third compensation rule is a mechanical compensation rule for after vibration, relying on a first type of motion parameters; and 7) The preset fourth compensation rule is a mechanical compensation rule for during vibration, relying on the vibration frequency.

2. The magnetic positioning vibration compensation method of claim 1, wherein, Monitoring whether the magnetic field generator vibrates includes: The acceleration of the magnetic field generator is collected at preset time intervals; The test checks whether the acceleration of the collected magnetic field generator is greater than the preset lower limit of acceleration. If the acceleration of the collected magnetic field generator is greater than the preset lower limit of acceleration, it is determined that the magnetic field generator is vibrating.

3. The magnetic positioning vibration compensation method of claim 1, wherein, Based on preset compensation rules, vibration-related motion parameters are collected and utilized to determine matching vibration compensation parameters, including: According to the preset first compensation rule, the first type of motion parameters of the magnetic field generator at multiple time points during the vibration process are collected; wherein, the first type of motion parameters include: displacement acceleration along the coordinate axis and angular acceleration around the coordinate axis based on the electromagnetic coordinate system; Based on the first type of motion parameters at multiple time points, the displacement and rotation angle of the magnetic field generator during the vibration process are determined. Based on the displacement and rotation angle of the magnetic field generator during the vibration process, the transformation matrix of the first coordinate system is determined as the matching vibration compensation parameter.

4. The magnetic positioning vibration compensation method of claim 1, wherein, Based on preset compensation rules, vibration-related motion parameters are collected and utilized to determine matching vibration compensation parameters, including: According to the preset second compensation rule, the first position coordinates of the target point in the magnetic field generator after vibration based on the camera coordinate system, and the second position coordinates of the target point in the magnetic field generator after vibration based on the electromagnetic coordinate system are collected. Based on the first and second position coordinates of the target point after vibration, the mapping relationship between the electromagnetic coordinate system and the camera coordinates after vibration is determined. Based on the mapping relationship between the electromagnetic coordinate system and the camera coordinate system after vibration, the second transformation matrix of the coordinate system is determined as the matching vibration compensation parameter.

5. The magnetic positioning vibration compensation method of claim 4, wherein, Based on the mapping relationship between the vibrated electromagnetic coordinate system and the camera coordinate system, the second transformation matrix of the coordinate system is determined, including: Obtain the first position coordinates of the target point in the magnetic field generator before vibration based on the camera coordinate system, and the second position coordinates of the target point in the magnetic field generator before vibration based on the electromagnetic coordinate system; Based on the first position coordinates and the second position coordinates of the target point before vibration, the mapping relationship between the electromagnetic coordinate system and the camera coordinates before vibration is determined. Based on the mapping relationship between the electromagnetic coordinate system after vibration and the camera coordinate system, and the mapping relationship between the electromagnetic coordinate system before vibration and the camera coordinate system, the coordinate system transformation matrix is ​​determined.

6. The magnetic positioning vibration compensation method according to claim 3 or 4, characterized in that, Vibration compensation is performed using vibration compensation parameters, including: Obtain the current position coordinates collected by the electromagnetic sensor; Using the vibration compensation parameters, vibration compensation is performed by correcting the position coordinates based on an algorithm.

7. The magnetic positioning vibration compensation method of claim 1, wherein, Based on preset compensation rules, vibration-related motion parameters are collected and utilized to determine matching vibration compensation parameters, including: According to the preset third compensation rule, the first type of motion parameters of the magnetic field generator at multiple time points during the vibration process are collected; among them, the first type of motion parameters include: displacement acceleration along the coordinate axis and angular acceleration around the coordinate axis based on the electromagnetic coordinate system; Based on the first type of motion parameters at multiple time points, the displacement and rotation angle of the magnetic field generator during the vibration process are determined. Based on the displacement and rotation angle of the magnetic field generator during the vibration process, the target displacement and target rotation angle are determined to restore the magnetic field generator's pose state after vibration to the pose state before vibration, and these are used as matching vibration compensation parameters.

8. The magnetic positioning vibration compensation method according to claim 7, characterized in that, Vibration compensation is performed using vibration compensation parameters, including: Based on the vibration compensation parameters, the anti-vibration device is controlled to adjust the position and orientation of the magnetic field generator, and mechanical vibration compensation is performed after vibration.

9. The magnetic positioning vibration compensation method of claim 1, wherein, Based on preset compensation rules, vibration-related motion parameters are collected and utilized to determine matching vibration compensation parameters, including: According to the preset fourth compensation rule, the second type of motion parameters of the magnetic field generator at multiple time points during the vibration process are collected; Based on the second type of motion parameters at multiple time points, the current vibration frequency of the magnetic field generator is determined and used as the matching vibration compensation parameter.

10. The magnetic positioning vibration compensation method of claim 9, wherein, Vibration compensation is performed using vibration compensation parameters, including: According to the vibration compensation parameters, the length of the spring in the modulation damper is adjusted to perform mechanical vibration compensation during vibration; wherein, the modulation damper is positioned below the magnetic field generator.

11. The magnetic positioning vibration compensation method according to claim 1, characterized in that, Based on preset compensation rules, vibration-related motion parameters are collected and utilized to determine matching vibration compensation parameters, including: Given that the current vibration state of the magnetic field generator is determined to be under vibration, the vibration compensation parameters are determined by collecting and utilizing the motion parameters related to the vibration according to the preset fourth compensation rule.

12. The magnetic positioning vibration compensation method of claim 11, wherein, After determining the current vibration state of the magnetic field generator, the method further includes: Once the current vibration state of the magnetic field generator is determined to be vibration, the vibration compensation parameters are determined by collecting and utilizing the motion parameters related to the vibration according to the preset first compensation rule, the preset second compensation rule, or the preset third compensation rule.

13. A magnetic positioning vibration compensation system, characterized by At least including: The processor, and the motion detection unit; among which, The motion detection unit is used to monitor whether the magnetic field generator vibrates; wherein, the magnetic field generator is used in conjunction with the electromagnetic sensor for surgical navigation; and when it is determined that the magnetic field generator vibrates, motion parameters related to the vibration are collected according to a preset compensation rule; The processor is used to determine matching vibration compensation parameters using vibration-related motion parameters; and to perform corresponding vibration compensation using the vibration compensation parameters. Specifically, the processor is used to determine the current vibration state of the magnetic field generator; the vibration state includes: during vibration or after vibration; based on the current vibration state of the magnetic field generator, it determines and uses a matching compensation rule from a set of preset first compensation rules, preset second compensation rules, preset third compensation rules, and preset fourth compensation rules, or combines multiple matching compensation rules, to collect and utilize vibration-related motion parameters to determine matching vibration compensation parameters; the preset first compensation rule is an algorithm-based compensation rule for after vibration that relies on a first type of motion parameter; the preset second compensation rule is an algorithm-based compensation rule for after vibration that relies on coordinate data collected by a depth camera; the preset third compensation rule is a mechanical compensation rule for after vibration that relies on a first type of motion parameter; and the preset fourth compensation rule is a mechanical compensation rule for during vibration that relies on the vibration frequency during vibration.

14. A computer-readable storage medium, characterized in that, It stores computer instructions that, when executed by a processor, implement the steps of the method according to any one of claims 1 to 12.

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