Tracking method, device, computer equipment, readable storage medium and program product based on magnetic navigation

Abstract

The present application relates to a tracking method, apparatus, computer device, computer-readable storage medium, and computer program product based on magnetic navigation, and relates to the field of medical technology, and can improve the accuracy of intraoperative tracking. The method comprises: constructing a second three-dimensional model corresponding to a first three-dimensional model in a visual coordinate system, and determining a first mapping relationship between a CT coordinate system and a visual coordinate system based on the first three-dimensional model and the second three-dimensional model; obtaining a plurality of target sampling points based on the movement trajectory of a surgical tool equipped with a magnetic sensor on the surface of a target object, and determining a second mapping relationship between the magnetic navigation coordinate system and the visual coordinate system based on the target sampling points and the second three-dimensional model; displaying the second three-dimensional model of the target object in a visualization interface based on the first mapping relationship, and displaying the position of the surgical tool equipped with a magnetic sensor relative to the second three-dimensional model in the visualization interface based on the second mapping relationship.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to a tracking method, apparatus, computer device, computer-readable storage medium, and computer program product based on magnetic navigation. Background Art

[0002] With the development of medical technology, relevant information of the surgical process can be tracked through tracking technology to understand the current operation status in a timely manner.

[0003] Intraoperative tracking primarily relies on optical navigation, using depth cameras and reflective spheres to capture and identify the target's posture. However, due to the large size of the reflective sphere's support, it can be easily obscured during operation, requiring re-registration or reducing tracking accuracy, significantly impacting intraoperative tracking accuracy. Summary of the Invention

[0004] Based on this, it is necessary to provide a tracking method, device, computer equipment, computer-readable storage medium and computer program product based on magnetic navigation to address the above technical problems.

[0005] In a first aspect, the present application provides a tracking method based on magnetic navigation, comprising:

[0006] Obtaining a first three-dimensional model of the target object in the CT coordinate system;

[0007] constructing a second three-dimensional model corresponding to the first three-dimensional model in a visual coordinate system, and determining a first mapping relationship between the CT coordinate system and the visual coordinate system based on the first three-dimensional model and the second three-dimensional model;

[0008] Acquiring a plurality of target sampling points of the target in a magnetic navigation coordinate system according to a movement trajectory of a surgical tool equipped with a magnetic sensor on the surface of the target object, and determining a second mapping relationship between the magnetic navigation coordinate system and the visual coordinate system according to the target sampling points and the second three-dimensional model;

[0009] According to the first mapping relationship, the second three-dimensional model of the target object is displayed in a visualization interface, and according to the second mapping relationship, the position of the surgical tool provided with the magnetic sensor relative to the second three-dimensional model is displayed in the visualization interface.

[0010] In one embodiment, determining a second mapping relationship between the magnetic navigation coordinate system and the visual coordinate system based on the target object sampling points and the second three-dimensional model includes:

[0011] Obtaining a second point cloud corresponding to the second three-dimensional model;

[0012] performing registration on the target object sampling point and the second point cloud, and determining magnetic navigation coordinate system rotation information and magnetic navigation coordinate system translation information for transforming from the magnetic navigation coordinate system to the visual coordinate system according to the registration result;

[0013] A second mapping relationship between the magnetic navigation coordinate system and the visual coordinate system is obtained according to the magnetic navigation coordinate system rotation information and the magnetic navigation coordinate system translation information.

[0014] In one embodiment, registering the target object sampling points and the second point cloud includes:

[0015] Pre-registering the target object sampling points and the second point cloud;

[0016] Determining, according to a candidate mapping relationship between the magnetic navigation coordinate system and the visual coordinate system obtained by the pre-registration, a first corresponding point of the target object sampling point in the visual coordinate system, and a second corresponding point of the first corresponding point in the magnetic navigation coordinate system;

[0017] determining accuracy information of the pre-registration correspondence according to an error between the second corresponding point and the target object sampling point;

[0018] A registration result is determined according to the candidate mapping relationship obtained by the pre-registration whose accuracy information satisfies the accuracy condition.

[0019] In one embodiment, determining the accuracy information of the pre-registration correspondence based on the error between the second corresponding point and the target object sampling point includes:

[0020] For the target object sampling point, obtaining an error distance between the second corresponding point and the target object sampling point;

[0021] According to each of the error distances, accuracy information corresponding to the pre-registration is determined.

[0022] In one embodiment, determining a first mapping relationship between the CT coordinate system and the visual coordinate system based on the first three-dimensional model and the second three-dimensional model includes:

[0023] Acquire a first point cloud corresponding to the first three-dimensional model and a second point cloud corresponding to the second three-dimensional model;

[0024] performing registration on the first point cloud and the second point cloud, and determining, according to a registration result, CT coordinate system rotation information and CT coordinate system translation information for transforming from the CT coordinate system to the visual coordinate system;

[0025] A first mapping relationship between the CT coordinate system and the visual coordinate system is obtained according to the CT coordinate system rotation information and the CT coordinate system translation information.

[0026] In one embodiment, obtaining a first three-dimensional model of the target object in a CT coordinate system includes:

[0027] Acquire multiple preoperative CT images corresponding to the target object;

[0028] For a same visible point in the plurality of preoperative CT images, determining a reconstructed position of the visible point in the CT coordinate system according to the visible point position and CT projection parameters of the visible point in each of the preoperative CT images;

[0029] A first three-dimensional model of the target object in the CT coordinate system is constructed according to the reconstructed position of each visible point.

[0030] In a second aspect, the present application further provides a tracking device based on magnetic navigation, comprising:

[0031] A first model acquisition module, configured to acquire a first three-dimensional model of the target object in a CT coordinate system;

[0032] a first mapping relationship acquisition module, configured to construct a second three-dimensional model corresponding to the first three-dimensional model in a visual coordinate system, and determine a first mapping relationship between the CT coordinate system and the visual coordinate system based on the first three-dimensional model and the second three-dimensional model;

[0033] a second mapping relationship acquisition module, configured to acquire a plurality of target sampling points of the target object in a magnetic navigation coordinate system according to a movement trajectory of a surgical tool equipped with a magnetic sensor on the surface of the target object, and determine a second mapping relationship between the magnetic navigation coordinate system and the visual coordinate system according to the target sampling points and the second three-dimensional model;

[0034] A tracking module is used to display the second three-dimensional model of the target object in a visualization interface according to the first mapping relationship, and to display the position of the surgical tool provided with the magnetic sensor relative to the second three-dimensional model in the visualization interface according to the second mapping relationship.

[0035] In a third aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0036] Obtaining a first three-dimensional model of the target object in the CT coordinate system;

[0037] constructing a second three-dimensional model corresponding to the first three-dimensional model in a visual coordinate system, and determining a first mapping relationship between the CT coordinate system and the visual coordinate system based on the first three-dimensional model and the second three-dimensional model;

[0038] Acquiring a plurality of target sampling points of the target in a magnetic navigation coordinate system according to a movement trajectory of a surgical tool equipped with a magnetic sensor on the surface of the target object, and determining a second mapping relationship between the magnetic navigation coordinate system and the visual coordinate system according to the target sampling points and the second three-dimensional model;

[0039] According to the first mapping relationship, the second three-dimensional model of the target object is displayed in a visualization interface, and according to the second mapping relationship, the position of the surgical tool provided with the magnetic sensor relative to the second three-dimensional model is displayed in the visualization interface.

[0040] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0041] Obtaining a first three-dimensional model of the target object in the CT coordinate system;

[0042] constructing a second three-dimensional model corresponding to the first three-dimensional model in a visual coordinate system, and determining a first mapping relationship between the CT coordinate system and the visual coordinate system based on the first three-dimensional model and the second three-dimensional model;

[0043] Acquiring a plurality of target sampling points of the target in a magnetic navigation coordinate system according to a movement trajectory of a surgical tool equipped with a magnetic sensor on the surface of the target object, and determining a second mapping relationship between the magnetic navigation coordinate system and the visual coordinate system according to the target sampling points and the second three-dimensional model;

[0044] According to the first mapping relationship, the second three-dimensional model of the target object is displayed in a visualization interface, and according to the second mapping relationship, the position of the surgical tool provided with the magnetic sensor relative to the second three-dimensional model is displayed in the visualization interface.

[0045] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the following steps:

[0046] Obtaining a first three-dimensional model of the target object in the CT coordinate system;

[0047] constructing a second three-dimensional model corresponding to the first three-dimensional model in a visual coordinate system, and determining a first mapping relationship between the CT coordinate system and the visual coordinate system based on the first three-dimensional model and the second three-dimensional model;

[0048] Acquiring a plurality of target sampling points of the target in a magnetic navigation coordinate system according to a movement trajectory of a surgical tool equipped with a magnetic sensor on the surface of the target object, and determining a second mapping relationship between the magnetic navigation coordinate system and the visual coordinate system according to the target sampling points and the second three-dimensional model;

[0049] According to the first mapping relationship, the second three-dimensional model of the target object is displayed in a visualization interface, and according to the second mapping relationship, the position of the surgical tool provided with the magnetic sensor relative to the second three-dimensional model is displayed in the visualization interface.

[0050] The above-mentioned tracking method, device, computer equipment, computer-readable storage medium and computer program product based on magnetic navigation can, on the one hand, obtain a first three-dimensional model of the target object in the CT coordinate system, and then construct a second three-dimensional model corresponding to the first three-dimensional model in the visual coordinate system, and determine the first mapping relationship between the CT coordinate system and the visual coordinate system based on the first three-dimensional model and the second three-dimensional model; on the other hand, according to the movement trajectory of the surgical tool equipped with a magnetic sensor on the surface of the target object, obtain multiple target sampling points of the target object in the magnetic navigation coordinate system, and determine the second mapping relationship between the magnetic navigation coordinate system and the visual coordinate system based on the target sampling points and the second three-dimensional model; and then, according to the first mapping relationship, the second three-dimensional model of the target object can be displayed in the visualization interface, and, according to the second mapping relationship, the position of the surgical tool equipped with a magnetic sensor relative to the second three-dimensional model can be displayed in the visualization interface. In this embodiment, by determining the first mapping relationship between the CT coordinate system and the visual coordinate system based on the first three-dimensional model and the second three-dimensional model, and determining the second mapping relationship between the magnetic navigation coordinate system and the visual coordinate system based on the target object sampling point and the second three-dimensional model, the mapping of the CT coordinate system and the magnetic navigation coordinate system to the visual coordinate system can be achieved, and then the intraoperative state of the target object and the intraoperative state of the surgical tool can be aligned and tracked in real time in the three-dimensional digital virtual scene according to the first mapping relationship and the second mapping relationship, thereby reducing the tracking error. By displaying in a visual interface, the user can perceive the tracking results in a timely manner, effectively improving the tracking accuracy and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments of the present application or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0052] Figure 1 1 is a flow chart of a tracking method based on magnetic navigation in one embodiment;

[0053] Figure 2 is a schematic diagram of coordinate points of a magnetic sensor in a magnetic navigation coordinate system according to an embodiment;

[0054] Figure 3 is a flow chart of another tracking method based on magnetic navigation in one embodiment;

[0055] Figure 4 A schematic diagram of the contents of a visualization interface in one embodiment;

[0056] Figure 5 A schematic flow chart of a step of obtaining a registration result in one embodiment;

[0057] Figure 6 is a structural block diagram of a tracking device based on magnetic navigation in one embodiment;

[0058] Figure 7 The figure is a diagram of the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0060] In one embodiment, Figure 1 As shown, a tracking method based on magnetic navigation is provided. This embodiment uses the method applied to a terminal as an example. For example, the terminal can be, but is not limited to, various medical devices, personal computers, laptops, tablet computers, etc. It is understandable that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0061] S101: Acquire a first three-dimensional model of the target object in a CT coordinate system.

[0062] The CT coordinate system is a three-dimensional coordinate system used for three-dimensional reconstruction based on computed tomography (CT) images. In one example, the CT coordinate system can be defined according to the isocenter of the CT system at zero rotation.

[0063] The target object may be a designated tissue structure, such as a tissue structure to be operated on or a tissue structure to be monitored during surgery. In some examples, the target object may include bone tissue or other soft tissues.

[0064] In this step, a three-dimensional model reconstructed for the target object with the CT coordinate system as the reference system can be obtained. To distinguish it from other three-dimensional models in the following text, the three-dimensional model of the target object in the CT coordinate system is called the first three-dimensional model.

[0065] In some embodiments, a first three-dimensional model of the target object can be acquired in advance. For example, the first three-dimensional model can be constructed in advance based on CT images collected during a physical examination; or, the first three-dimensional model can be constructed based on preoperative CT images collected on the operating table.

[0066] S102: Construct a second three-dimensional model corresponding to the first three-dimensional model in the visual coordinate system, and determine a first mapping relationship between the CT coordinate system and the visual coordinate system based on the first three-dimensional model and the second three-dimensional model.

[0067] The visual coordinate system may be a coordinate system within a fictitious 3D visualization scene. The visual coordinate system may be used to assist in constructing various virtual objects within the virtual 3D visualization scene. For example, the visual coordinate system may be used to set the positions of various virtual objects within the virtual 3D visualization scene using the visual coordinate system as a reference. In some embodiments, the visual coordinate system may be a coordinate system used in a visualization application, wherein the visualization application may provide a 3D visualization scene image, and the visualization application may provide a visualization interface through which a user may browse the 3D visualization scene image.

[0068] Specifically, a visual coordinate system can be constructed in advance, and the setting of the visual coordinate system can be different from the CT coordinate system. For example, the CT coordinate system is determined based on the settings of the CT equipment manufacturer or related CT projection parameters, while the visual coordinate system can be set by the developer of the visualization application, thereby obtaining different visual coordinate systems and CT coordinate systems.

[0069] After constructing the visual coordinate system, a three-dimensional model corresponding to the first three-dimensional model can be constructed in the visual coordinate system. The three-dimensional model can be the same as the first three-dimensional model, such as the same structure, but the three-dimensional model is a model with the visual coordinate system as the reference system. For the sake of convenience, the three-dimensional model with the visual coordinate system as the reference system is called the second three-dimensional model.

[0070] It is understandable that since the first three-dimensional model and the second three-dimensional model are constructed based on different reference systems, when the first three-dimensional model moves, the second three-dimensional model may not be able to directly adjust its posture according to the corresponding posture change of the first three-dimensional model in the CT coordinate system. For example, when the first three-dimensional model moves from position a to position b in the CT coordinate system, the second three-dimensional model does not move from position a to position b in the visual coordinate system, but moves from position c to position d.

[0071] In this regard, in this embodiment, the mapping relationship between the CT coordinate system and the visual coordinate system can be first identified based on the first three-dimensional model and the second three-dimensional model. For ease of distinction, the mapping relationship from the CT coordinate system to the visual coordinate system is referred to as the first mapping relationship. Specifically, since the position of the first three-dimensional model in the CT coordinate system and the position of the second three-dimensional model in the visual coordinate system are known, and the first three-dimensional model and the second three-dimensional model are three-dimensional models constructed based on the same target object, that is, there is a corresponding relationship between the first three-dimensional model and the second three-dimensional model, therefore, the first mapping relationship between the CT coordinate system and the visual coordinate system can be determined based on the corresponding relationship between the first three-dimensional model in the CT coordinate system and the second three-dimensional model in the visual coordinate system. Subsequently, the posture changes of the target object during the operation can be tracked and displayed on the visualization interface based on the first mapping relationship.

[0072] S103, obtaining a plurality of target sampling points of the target in the magnetic navigation coordinate system according to the movement trajectory of the surgical tool equipped with the magnetic sensor on the surface of the target object, and determining a second mapping relationship between the magnetic navigation coordinate system and the visual coordinate system according to the target sampling points and the second three-dimensional model.

[0073] In related technologies, optical navigation technology uses depth cameras and reflective balls to capture and identify the posture of target objects. However, since the reflective ball bracket used in it is easily blocked by the user, it will have a significant negative impact on tracking accuracy.

[0074] Magnetic navigation can be used to track a specific object (such as a surgical tool). Magnetic navigation is a technology that uses magnetic field signals for tracking. In a magnetic navigation system, a signal source generates a specific magnetic field, which is then detected by a magnetic sensor. The corresponding location is identified based on the strength and direction of the magnetic field signal.

[0075] In this embodiment, the magnetic navigation system has a corresponding magnetic navigation coordinate system, also referred to as the coordinate system of the electromagnetic tracking system. In some examples, the magnetic navigation coordinate system is defined by the position of a 6-degree-of-freedom sensor rigidly attached to the imaging table. This sensor is then used as a stable reference for recording electromagnetic measurements.

[0076] In a specific implementation, a magnetic sensor can be set on the surgical tool in advance, so that the position of the surgical tool in the magnetic navigation coordinate system can be determined by the magnetic sensor. For example, the following can be obtained: Figure 2 The coordinate positions of several magnetic sensors are shown. Then, the user can use the surgical tool equipped with the magnetic sensor to move on the surface of the target object. The terminal can obtain multiple target sampling points of the target object in the magnetic navigation coordinate system based on the movement trajectory of the surgical tool on the target object surface.

[0077] For example, a magnetic sensor can be set at the end of the surgical tool that contacts the target object (i.e., the contact end). Then, based on the coordinate position of the magnetic sensor during the movement of the surgical tool, multiple target object sampling points corresponding to the actual target object in this magnetic navigation coordinate system can be obtained. For another example, if the position where the magnetic sensor is set is a certain distance away from the contact end of the surgical tool, the coordinate position of the contact end in the magnetic navigation coordinate system can be determined based on the relative positional relationship between the magnetic sensor and the contact end. Then, based on the movement trajectory of the contact end on the surface of the target object, multiple target object sampling points can be obtained. In some examples, if the surgical tool is a surgical needle, nonlinear least squares optimization can be used to determine the position of the surgical needle in the magnetic navigation coordinate system, and then the surgical needle can be registered with the three-dimensional visualization scene based on this position.

[0078] Taking bone tissue as the target object as an example, since the multiple bone sampling points are obtained by sampling the actual bone tissue, and the second three-dimensional model is obtained based on the actual bone tissue structure, there are points on the second three-dimensional model corresponding to the bone sampling points, that is, there is also a corresponding relationship between the multiple bone sampling points and the second three-dimensional model. In this step, the second mapping relationship between the magnetic navigation coordinate system and the visual coordinate system can be determined based on the bone sampling points and the second three-dimensional model.

[0079] In some embodiments, as Figure 3 As shown, the CT coordinate system and the magnetic navigation coordinate system can be calibrated first, and then the CT coordinate system and the magnetic navigation coordinate system can be mapped. By performing the coordinate system calibration, the position representation of the same object in the CT coordinate system and the magnetic navigation coordinate system can be determined, and the standard can be unified to ensure the accuracy of subsequent measurements and reduce errors caused by inconsistent coordinate systems. In one example, the conversion positioning from the magnetic navigation coordinate system to the CT coordinate system can be achieved as shown below:

[0080]

[0081] in, is the magnetic navigation coordinate system matrix obtained based on the CT coordinate system transformation, is the coordinate system matrix after CT reconstruction, is the coordinate system matrix of the magnetic sensor, It is the original coordinate system of magnetic navigation.

[0082] S104 , displaying a second three-dimensional model of the target object in the visualization interface according to the first mapping relationship, and displaying a position of the surgical tool provided with a magnetic sensor relative to the second three-dimensional model in the visualization interface according to the second mapping relationship.

[0083] In this step, after obtaining the first mapping relationship and the second mapping relationship, the target object and the surgical tool provided with the magnetic sensor can be tracked and displayed in the visualization interface. On the one hand, the second three-dimensional model in the visualization interface can be displayed corresponding to the target object in the real world. By displaying the second three-dimensional model in the visualization interface, the situation of the target object can be intuitively understood. For example, when the bone structure is slightly displaced due to cutting by the surgical tool, it can be displayed accordingly in the visualization interface; on the other hand, the position of the surgical tool relative to the second three-dimensional model can also be displayed accordingly. For example, Figure 4 As shown, the second three-dimensional model corresponding to the target object and the points collected by the surgical needle on the target object are displayed in the visualization interface.

[0084] The above-mentioned tracking method based on magnetic navigation can, on the one hand, obtain a first three-dimensional model of the target object in the CT coordinate system, and then construct a second three-dimensional model corresponding to the first three-dimensional model in the visual coordinate system, and determine the first mapping relationship between the CT coordinate system and the visual coordinate system based on the first three-dimensional model and the second three-dimensional model; on the other hand, according to the movement trajectory of the surgical tool equipped with a magnetic sensor on the surface of the target object, obtain multiple target sampling points of the target object in the magnetic navigation coordinate system, and determine the second mapping relationship between the magnetic navigation coordinate system and the visual coordinate system based on the target sampling points and the second three-dimensional model; and then, according to the first mapping relationship, the second three-dimensional model of the target object can be displayed in the visualization interface, and, according to the second mapping relationship, the position of the surgical tool equipped with a magnetic sensor relative to the second three-dimensional model can be displayed in the visualization interface. In this embodiment, by determining the first mapping relationship between the CT coordinate system and the visual coordinate system based on the first three-dimensional model and the second three-dimensional model, and determining the second mapping relationship between the magnetic navigation coordinate system and the visual coordinate system based on the target object sampling point and the second three-dimensional model, the mapping of the CT coordinate system and the magnetic navigation coordinate system to the visual coordinate system can be achieved, and then the intraoperative state of the target object and the intraoperative state of the surgical tool can be aligned and tracked in real time in the three-dimensional digital virtual scene according to the first mapping relationship and the second mapping relationship, thereby reducing the tracking error. By displaying in a visual interface, the user can perceive the tracking results in a timely manner, effectively improving the tracking accuracy and safety.

[0085] In addition, this application helps improve the accuracy and safety of surgery by improving tracking accuracy and safety, thereby improving the quality and efficiency of surgery.

[0086] In one embodiment, in step S102, determining a first mapping relationship between the CT coordinate system and the visual coordinate system based on the first three-dimensional model and the second three-dimensional model may include the following steps:

[0087] Obtain a first point cloud corresponding to the first three-dimensional model and a second point cloud corresponding to the second three-dimensional model; align the first point cloud and the second point cloud, and determine the CT coordinate system rotation information and CT coordinate system translation information for transforming from the CT coordinate system to the visual coordinate system based on the alignment result; obtain a first mapping relationship between the CT coordinate system and the visual coordinate system based on the CT coordinate system rotation information and the CT coordinate system translation information.

[0088] In a specific implementation, the first three-dimensional model and the second three-dimensional model can be respectively composed of multiple points in the coordinate system, that is, the three-dimensional model is composed of corresponding point clouds. For the sake of convenience of distinction, the point cloud constituting the first three-dimensional model is called the first point cloud, and the point cloud constituting the second three-dimensional model is called the second point cloud.

[0089] After acquiring the first and second point clouds, the first and second point clouds can be registered. Based on the registration results, the CT coordinate system rotation information and CT coordinate system translation information for transforming the CT coordinate system into the visual coordinate system can be obtained. The CT coordinate system rotation information and the CT coordinate system translation information can then be used as a first mapping relationship. Subsequently, for any point in the CT coordinate system, the point can be rotated and translated based on the CT coordinate system rotation information and the CT coordinate system translation information to obtain the corresponding point in the visual coordinate system.

[0090] In some embodiments, point cloud registration can be performed based on an ICP (Iterative Closest Point) registration algorithm. For example, the centroids of the first point cloud and the second point cloud are defined as follows:

[0091]

[0092]

[0093] Among them, qi is the point in the first point cloud Qi, and pi is the point in the second point cloud Pi.

[0094] Then proceed as follows:

[0095]

[0096]

[0097] In the above formula, Represents the rotation angle of the camera relative to the Pi point cloud, and t represents the translation of the camera.

[0098] in:

[0099]

[0100] =

[0101] =

[0102] Then set The objective function is simplified to:

[0103]

[0104] Let R * , t * is the optimal solution, then:

[0105]

[0106]

[0107] where R * It can be deduced as:

[0108]

[0109] =

[0110] =

[0111] =

[0112] Let W = , through singular value decomposition (SVD):

[0113] W=

[0114] When W is full rank, then:

[0115]

[0116] And corresponding to the unique U, V combination, correspondingly:

[0117]

[0118]

[0119] in, is the CT coordinate system rotation information, It is the translation information of CT coordinate system.

[0120] In this embodiment, by aligning the first point cloud and the second point cloud, the CT coordinate system rotation information and the CT coordinate system translation information transformed from the CT coordinate system to the visual coordinate system can be accurately obtained, providing a reliable calculation basis for the subsequent mapping of points in the CT coordinate system to the visual coordinate system.

[0121] In one embodiment, in step S101, obtaining a first three-dimensional model of the target object in the CT coordinate system may include the following steps:

[0122] S1011 , obtaining multiple preoperative CT images corresponding to the target object.

[0123] In some embodiments, a CT imaging device may be used to scan and photograph the target object before surgery to obtain a plurality of preoperative CT images corresponding to the target object.

[0124] S1012 , for multiple visible points corresponding to the same spatial point in multiple preoperative CT images, determine a reconstructed position of the spatial point in the CT coordinate system according to the visible point position and CT projection parameters of the visible point in each preoperative CT image.

[0125] In a specific implementation, multiple preoperative CT images can capture the same object from different angles or different positions, that is, multiple preoperative CT images can contain image information for the same spatial point. To this end, visible points corresponding to the same spatial point can be determined from multiple preoperative CT images to obtain multiple visible points. Then, based on the visible point positions of each visible point in the preoperative CT image and the CT projection parameters used when performing the CT scan, the position of the visible point in the CT coordinate system, that is, the reconstructed position, is calculated. In some embodiments, the CT projection parameters include the gantry angle, the source-detector distance, the isocentric position, and the pixel scale. The spatial point can be reconstructed into a three-dimensional CT coordinate system based on the visible point position and the above-mentioned CT projection parameters. The above-mentioned processing is performed for each visible point corresponding to the same spatial point in multiple preoperative CT images, and the reconstructed position of each spatial point in the CT coordinate system can be obtained.

[0126] S1013: Construct a first three-dimensional model of the target object in the CT coordinate system according to the reconstructed position of each spatial point.

[0127] Furthermore, the reconstructed positions of the various spatial points can be combined to construct a first three-dimensional model of the target object in the CT coordinate system.

[0128] In this embodiment, a plurality of preoperative CT images and CT projection parameters can be used to quickly and accurately reconstruct a first three-dimensional model of the target object in the CT coordinate system.

[0129] In one embodiment, in step S103, determining the second mapping relationship between the magnetic navigation coordinate system and the visual coordinate system based on the target object sampling points and the second three-dimensional model may include the following steps:

[0130] Acquire a second point cloud corresponding to the second three-dimensional model; align the target object sampling points with the second point cloud, and determine the magnetic navigation coordinate system rotation information and the magnetic navigation coordinate system translation information for transforming from the magnetic navigation coordinate system to the visual coordinate system based on the alignment result; obtain a second mapping relationship between the magnetic navigation coordinate system and the visual coordinate system based on the magnetic navigation coordinate system rotation information and the magnetic navigation coordinate system translation information.

[0131] In a specific implementation, a second point cloud corresponding to the second three-dimensional model can be obtained. Since the second point cloud is obtained based on the target object, the target object sampling points are also obtained based on the target object. There is a correspondence between the target object sampling points and some points in the second point cloud.

[0132] To this end, the target object sampling points and the second point cloud can be registered to obtain corresponding registration results. In some embodiments, the target object sampling points and the second point cloud can be registered using an ICP algorithm. Specifically, multiple target object sampling points can be used as a third point cloud, and then the third point cloud and the second point cloud can be registered. The specific registration process is the same or similar to the ICP registration process mentioned in the previous embodiment and is not further described here.

[0133] Then, based on the alignment results, the magnetic navigation coordinate system rotation information and magnetic navigation coordinate system translation information for transforming from the magnetic navigation coordinate system to the visual coordinate system can be obtained, and the magnetic navigation coordinate system rotation information and magnetic navigation coordinate system translation information can be used as the second mapping relationship. Subsequently, for each coordinate position in the magnetic navigation coordinate system acquired based on the magnetic sensor, the coordinate position can be rotated and translated based on the magnetic navigation coordinate system rotation information and magnetic navigation coordinate system translation information to obtain the corresponding point in the visual coordinate system.

[0134] In this embodiment, by aligning the sampling points of the target object and the second point cloud, the rotation information and translation information of the magnetic navigation coordinate system transformed from the magnetic navigation coordinate system to the visual coordinate system can be accurately obtained, providing a reliable calculation basis for the subsequent mapping of points in the magnetic navigation coordinate system to the visual coordinate system.

[0135] In one embodiment, Figure 5 As shown, registering the target object sampling points with the second point cloud may include the following steps:

[0136] S501 , pre-registering the target object sampling points and the second point cloud.

[0137] In some embodiments, multiple registrations can be performed between the target object sampling points and the second point cloud. By comparing these multiple registrations, a more accurate registration result can be selected. For ease of distinction, each registration performed during multiple registrations can be referred to as a pre-registration. In this step, multiple pre-registrations can be performed between the target object sampling points and the second point cloud.

[0138] S502 : Determine a first corresponding point of a target object sampling point in the visual coordinate system and a second corresponding point of the first corresponding point in the magnetic navigation coordinate system according to a candidate mapping relationship between the pre-registered magnetic navigation coordinate system and the visual coordinate system.

[0139] After each pre-registration, a candidate mapping relationship corresponding to that pre-registration is obtained. This candidate mapping relationship represents the method for converting from the magnetic navigation coordinate system to the visual coordinate system. Then, based on the candidate mapping relationship, the corresponding points of the target sampling points in the visual coordinate system can be determined. In other words, the pose of the target sampling points is transformed using the candidate mapping relationship, and the points obtained in the visual coordinate system are regarded as corresponding points. For ease of distinction, the corresponding points obtained from the transformation from the magnetic navigation coordinate system to the visual coordinate system based on the candidate mapping relationship are referred to as first corresponding points.

[0140] During the transformation process, objective delays in the magnetic navigation device, such as those caused by data transmission and processing, can cause a certain deviation between the recorded target sampling point and the actual location of the sampled point, thereby affecting the accuracy of the registration result. To address this issue, in this embodiment, after obtaining the first corresponding point, an inverse operation can be performed based on the candidate mapping relationship to determine the corresponding point of the first corresponding point in the magnetic navigation coordinate system. For ease of distinction, the corresponding point obtained from the visual coordinate system and transformed into the magnetic navigation coordinate system based on the candidate mapping relationship is referred to as the second corresponding point.

[0141] S503: Determine accuracy information of the pre-registration correspondence according to an error between the second corresponding point and the target object sampling point.

[0142] If the registration accuracy is good, the second corresponding point and the corresponding target sampling point may be located at the same position in the magnetic navigation coordinate system, or the error may be small. If the registration accuracy is poor, a large error may exist between the second corresponding point and the corresponding target sampling point. Therefore, in this step, the accuracy information of the pre-registration can be determined based on the error between the second corresponding point and the target sampling point. In some embodiments, the accuracy information can be the degree of accuracy or the magnitude of the error.

[0143] S504: Determine a registration result according to the candidate mapping relationship corresponding to the pre-registration whose accuracy information satisfies the accuracy condition.

[0144] Then, the accuracy information of each pre-registration can be compared to determine the pre-registration whose accuracy information meets the accuracy condition. For example, the pre-registration with the highest accuracy or the pre-registration with an accuracy exceeding a threshold can be determined as meeting the accuracy condition, and the candidate mapping relationship corresponding to the pre-registration can be determined as the final registration result.

[0145] In this embodiment, by performing multiple pre-registrations and comparing the accuracy information of each pre-registration, the registration accuracy and reliability of mapping the magnetic navigation coordinate system to the visual coordinate system can be effectively improved in the presence of objective errors.

[0146] In one embodiment, in step S503, determining the accuracy information of the pre-registration correspondence based on the error between the second corresponding point and the target object sampling point may include the following steps:

[0147] For the target object sampling point, the error distance between the second corresponding point and the target object sampling point is obtained; and the accuracy information of the pre-registration corresponding is determined according to each error distance.

[0148] In a specific implementation, for each target sampling point, the corresponding first corresponding point can be determined based on the candidate mapping relationship obtained during pre-registration. The first corresponding point can then be converted back to a second corresponding point in the magnetic navigation coordinate system. The error distance between the second corresponding point and the target sampling point can then be obtained. Furthermore, the accuracy information for this pre-registration can be determined by combining the error distances corresponding to each target sampling point. For example, the error distances can be summed or averaged to obtain the accuracy information based on the processing results.

[0149] In one embodiment, multiple target sampling points can be divided into multiple point sets. The multiple point sets can be divided according to different sampling trajectories. For example, the target sampling points corresponding to a line along which the target moves during sampling can be determined as a point set. Alternatively, the target sampling points corresponding to a circle along which the target moves during sampling can be determined as a point set. Then, the accuracy information can be determined according to the following method:

[0150]

[0151] Where e is the sum of the squares of the distance errors, and are the number of point sets and the number of target sampling points in each point set, respectively. dij is the distance from the second corresponding point i to the feature j corresponding to the target sampling point set, such as the distance from the second corresponding point to the line and the distance from the second corresponding point to the circle.

[0152] In this embodiment, by obtaining the error distance between the second corresponding point and the target object sampling point, the accuracy information of the pre-registration correspondence can be accurately quantified.

[0153] In order to enable those skilled in the art to better understand the above steps, the embodiment of the present application is illustrated below by using an example, but it should be understood that the embodiment of the present application is not limited to this.

[0154] like Figure 3 As shown, the magnetic navigation coordinate system and the CT coordinate system can be calibrated in advance, and a first three-dimensional model in the CT coordinate system can be reconstructed based on multiple preoperative CT images corresponding to the target object, and a corresponding second three-dimensional model can be determined in the visual coordinate system.

[0155] Then, on the one hand, for the target object to be operated on, a scalpel, surgical needle or saw equipped with a magnetic sensor can be used to sample the surface of the target object to obtain multiple target sampling points in the magnetic navigation coordinate system. According to the registration results of the multiple target sampling points and the second three-dimensional model, the magnetic navigation coordinate system is mapped to the visual coordinate system. On the other hand, the CT coordinate system can be mapped to the visual coordinate system based on the registration results of the first three-dimensional model and the second three-dimensional model. Subsequently, the corresponding tracking results can be displayed in the visual interface based on the intraoperative CT image and the coordinate position of the magnetic sensor during the operation.

[0156] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0157] Based on the same inventive concept, embodiments of the present application also provide a magnetic navigation-based tracking device for implementing the aforementioned magnetic navigation-based tracking method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more magnetic navigation-based tracking device embodiments provided below can be found in the above-described limitations of the magnetic navigation-based tracking method and will not be further elaborated here.

[0158] In an exemplary embodiment, Figure 6 As shown, a tracking device based on magnetic navigation is provided, comprising:

[0159] A first model acquisition module 601 is used to acquire a first three-dimensional model of the target object in the CT coordinate system;

[0160] a first mapping relationship acquisition module 602 configured to construct a second three-dimensional model corresponding to the first three-dimensional model in a visual coordinate system, and determine a first mapping relationship between the CT coordinate system and the visual coordinate system based on the first three-dimensional model and the second three-dimensional model;

[0161] a second mapping relationship acquisition module 603, configured to acquire a plurality of target sampling points of the target in the magnetic navigation coordinate system according to a movement trajectory of a surgical tool equipped with a magnetic sensor on the surface of the target, and determine a second mapping relationship between the magnetic navigation coordinate system and the visual coordinate system according to the target sampling points and the second three-dimensional model;

[0162] The tracking module 604 is used to display the second three-dimensional model of the target object in a visualization interface according to the first mapping relationship, and to display the position of the surgical tool provided with the magnetic sensor relative to the second three-dimensional model in the visualization interface according to the second mapping relationship.

[0163] In one embodiment, the second mapping relationship acquisition module 603 is configured to:

[0164] Obtaining a second point cloud corresponding to the second three-dimensional model;

[0165] performing registration on the target object sampling point and the second point cloud, and determining magnetic navigation coordinate system rotation information and magnetic navigation coordinate system translation information for transforming from the magnetic navigation coordinate system to the visual coordinate system according to the registration result;

[0166] A second mapping relationship between the magnetic navigation coordinate system and the visual coordinate system is obtained according to the magnetic navigation coordinate system rotation information and the magnetic navigation coordinate system translation information.

[0167] In one embodiment, the second mapping relationship acquisition module 603 is configured to:

[0168] Pre-registering the target object sampling points and the second point cloud;

[0169] Determining, according to a candidate mapping relationship between the magnetic navigation coordinate system and the visual coordinate system obtained by the pre-registration, a first corresponding point of the target object sampling point in the visual coordinate system, and a second corresponding point of the first corresponding point in the magnetic navigation coordinate system;

[0170] determining accuracy information of the pre-registration correspondence according to an error between the second corresponding point and the target object sampling point;

[0171] A registration result is determined according to the candidate mapping relationship corresponding to the pre-registration whose accuracy information satisfies the accuracy condition.

[0172] In one embodiment, the second mapping relationship acquisition module 603 is configured to:

[0173] For the target object sampling point, obtaining an error distance between the second corresponding point and the target object sampling point;

[0174] According to each of the error distances, accuracy information corresponding to the pre-registration is determined.

[0175] In one embodiment, the first mapping relationship acquisition module 602 is configured to:

[0176] Acquire a first point cloud corresponding to the first three-dimensional model and a second point cloud corresponding to the second three-dimensional model;

[0177] performing registration on the first point cloud and the second point cloud, and determining, according to a registration result, CT coordinate system rotation information and CT coordinate system translation information for transforming from the CT coordinate system to the visual coordinate system;

[0178] A first mapping relationship between the CT coordinate system and the visual coordinate system is obtained according to the CT coordinate system rotation information and the CT coordinate system translation information.

[0179] In one embodiment, the first model acquisition module 601 is used to:

[0180] Acquire multiple preoperative CT images corresponding to the target object;

[0181] For a plurality of visible points corresponding to the same spatial point in the plurality of preoperative CT images, determining a reconstructed position of the spatial point in the CT coordinate system according to the visible point position and CT projection parameters of the visible point in each of the preoperative CT images;

[0182] A first three-dimensional model of the target object in the CT coordinate system is constructed according to the reconstructed position of each of the spatial points.

[0183] Each module in the aforementioned magnetic navigation-based tracking device can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a computer device memory in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0184] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 7As shown. The computer device includes a processor, memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals via wired or wireless means, and the wireless means can be implemented via Wi-Fi, a mobile cellular network, near-field communication (NFC), or other technologies. When executed by the processor, the computer program implements a tracking method based on magnetic navigation. The display unit of the computer device is used to form a visually visible image, and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device casing, or an external keyboard, touchpad or mouse.

[0185] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0186] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0187] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0188] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0189] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0190] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), quantum computing-based data processing logic devices, artificial intelligence (AI) processors, and the like.

[0191] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0192] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A tracking device based on magnetic navigation, characterized in that: The device is used to perform the following method, which includes: Obtaining a first three-dimensional model of the target object in the CT coordinate system; Constructing a second three-dimensional model corresponding to the first three-dimensional model in a visual coordinate system, and determining a first mapping relationship between the CT coordinate system and the visual coordinate system based on the first three-dimensional model and the second three-dimensional model; the second three-dimensional model corresponds to a second point cloud; Acquiring a plurality of target sampling points of the target in a magnetic navigation coordinate system based on a movement trajectory of a surgical tool equipped with a magnetic sensor on the surface of the target object; determining a first corresponding point of the target sampling point in the visual coordinate system and a second corresponding point of the first corresponding point in the magnetic navigation coordinate system based on a candidate mapping relationship between the magnetic navigation coordinate system and the visual coordinate system obtained by pre-registration of the target sampling point and the second point cloud; determining accuracy information corresponding to the pre-registration based on the target sampling point and the second corresponding point; and determining a second mapping relationship between the magnetic navigation coordinate system and the visual coordinate system based on the candidate mapping relationship corresponding to the pre-registration whose accuracy information satisfies an accuracy condition; According to the first mapping relationship, the second three-dimensional model of the target object is displayed in a visualization interface, and according to the second mapping relationship, the position of the surgical tool provided with the magnetic sensor relative to the second three-dimensional model is displayed in the visualization interface.

2. The device according to claim 1, characterized in that The determining, according to the candidate mapping relationship corresponding to the pre-registration whose accuracy information satisfies the accuracy condition, a second mapping relationship between the magnetic navigation coordinate system and the visual coordinate system comprises: Determining, according to a candidate mapping relationship corresponding to the pre-registration whose accuracy information satisfies the accuracy condition, magnetic navigation coordinate system rotation information and magnetic navigation coordinate system translation information for transforming from the magnetic navigation coordinate system to the visual coordinate system; A second mapping relationship between the magnetic navigation coordinate system and the visual coordinate system is obtained according to the magnetic navigation coordinate system rotation information and the magnetic navigation coordinate system translation information.

3. The device according to claim 1, characterized in that The determining the accuracy information of the pre-registration correspondence according to the target sampling point and the second corresponding point includes: Accuracy information of the pre-registration correspondence is determined according to an error between the second corresponding point and the target object sampling point.

4. The device according to claim 1, characterized in that Before determining the accuracy information of the pre-registration correspondence according to the target sampling point and the second corresponding point, the method further includes: For the target object sampling point, obtaining an error distance between the second corresponding point and the target object sampling point; According to each of the error distances, accuracy information corresponding to the pre-registration is determined.

5. The device according to claim 1, characterized in that The determining, based on the first three-dimensional model and the second three-dimensional model, a first mapping relationship between the CT coordinate system and the visual coordinate system includes: Acquire a first point cloud corresponding to the first three-dimensional model and a second point cloud corresponding to the second three-dimensional model; performing registration on the first point cloud and the second point cloud, and determining, according to a registration result, CT coordinate system rotation information and CT coordinate system translation information for transforming from the CT coordinate system to the visual coordinate system; A first mapping relationship between the CT coordinate system and the visual coordinate system is obtained according to the CT coordinate system rotation information and the CT coordinate system translation information.

6. The device according to claim 1, characterized in that The obtaining of a first three-dimensional model of the target object in a CT coordinate system includes: Acquire multiple preoperative CT images corresponding to the target object; For a plurality of visible points corresponding to the same spatial point in the plurality of preoperative CT images, determining a reconstructed position of the spatial point in the CT coordinate system according to the visible point position and CT projection parameters of the visible point in each of the preoperative CT images; A first three-dimensional model of the target object in the CT coordinate system is constructed according to the reconstructed position of each of the spatial points.

7. A tracking device based on magnetic navigation according to any one of claims 1 to 6, characterized in that: The device comprises: A first model acquisition module, configured to acquire a first three-dimensional model of the target object in a CT coordinate system; a first mapping relationship acquisition module, configured to construct a second three-dimensional model corresponding to the first three-dimensional model in a visual coordinate system, and determine a first mapping relationship between the CT coordinate system and the visual coordinate system based on the first three-dimensional model and the second three-dimensional model; the second three-dimensional model corresponds to a second point cloud; a second mapping relationship acquisition module, configured to acquire a plurality of target sampling points of the target object in a magnetic navigation coordinate system based on a movement trajectory of a surgical tool equipped with a magnetic sensor on the surface of the target object, determine a first corresponding point of the target sampling point in the visual coordinate system and a second corresponding point of the first corresponding point in the magnetic navigation coordinate system based on a candidate mapping relationship between the magnetic navigation coordinate system and the visual coordinate system obtained by pre-registration of the target sampling point and the second point cloud, determine accuracy information corresponding to the pre-registration based on the target sampling point and the second corresponding point, and determine a second mapping relationship between the magnetic navigation coordinate system and the visual coordinate system based on the candidate mapping relationship corresponding to the pre-registration whose accuracy information satisfies an accuracy condition; A tracking module is used to display the second three-dimensional model of the target object in a visualization interface according to the first mapping relationship, and to display the position of the surgical tool provided with the magnetic sensor relative to the second three-dimensional model in the visualization interface according to the second mapping relationship.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the processor implements the steps of the method performed by the apparatus according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method performed by the apparatus according to any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method performed by the apparatus according to any one of claims 1 to 6 are implemented.

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