Minimally invasive surgery simulation training instrument positioning device and positioning method

Abstract

The invention discloses a positioning device and a positioning method for a minimally invasive surgery simulation training instrument in the technical field of medical auxiliary devices. The positioning device and the positioning method for the minimally invasive surgery simulation training instrument have the advantage that the accuracy and the real-time performance of surgical instrument positioning can be obviously improved by the aid of the positioning device and the positioning method for the minimally invasive surgery simulation training instrument. Spatial pose parameters such as a pitch angle, a yaw angle, a roll angle and depth are measured through cooperation of multiple sensors, and a zero calibration method and a precision calibration method are combined, so that the problem of high-precision positioning of surgical instruments in complex spatial motion is effectively solved. According to the method, the action synchronization of the virtual surgical instrument and the actual instrument can be ensured, so that efficient and accurate simulation training is realized. Compared with traditional training equipment, more scientific and accurate data support can be provided for operation scheme design and operation consequence evaluation, and therefore the accuracy and reliability of minimally invasive operation training are further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical auxiliary devices, and in particular to a positioning device and a positioning method for a minimally invasive surgery simulation training instrument. Background Art

[0002] Minimally invasive surgery has become an indispensable part of modern medicine with its advantages of less trauma and faster recovery. However, minimally invasive surgery requires extremely high operating precision from doctors, especially in the positioning and control of surgical instruments. In order to improve surgical precision, minimally invasive surgery simulation training systems have emerged, which can simulate the actual surgical environment and help doctors conduct operation training in a virtual environment.

[0003] Existing minimally invasive surgery simulation training systems usually rely on a single sensor or traditional visual positioning methods. These methods have problems of insufficient accuracy and poor real-time performance in practical applications, especially in complex surgical scenarios, and it is difficult to meet the requirements of high-precision positioning. In order to overcome these shortcomings, the use of multi-sensor collaborative positioning has become an effective technical means. By combining different types of sensors such as angle sensors and displacement sensors, the positioning accuracy and reliability can be significantly improved.

[0004] Existing multi-sensor collaborative positioning methods rely on precise calibration and data fusion technology. However, how to obtain instrument posture information in real time and accurately in a complex and dynamic surgical environment remains a technical challenge. Therefore, a new type of minimally invasive surgery simulation training instrument positioning device is urgently needed, combined with advanced multi-sensor collaborative positioning methods to solve the accuracy and real-time problems in existing technologies. Summary of the invention

[0005] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0006] Therefore, the purpose of the present invention is to provide a minimally invasive surgery simulation training instrument positioning device and positioning method. When the operator performs actual surgical instrument operations, the virtual instrument will respond in real time and display the same operation results, greatly improving the immersion and accuracy of simulation training.

[0007] To solve the above technical problems, according to one aspect of the present invention, the present invention provides the following technical solutions: A minimally invasive surgery simulation training positioning device, comprising: A test bench having a supporting shaft; A first rotating platform is symmetrically arranged on the supporting shaft and can rotate around the supporting shaft; A second rotating platform, mounted on the first rotating platform and capable of horizontally rotating around the first rotating platform; A minimally invasive surgical instrument, which passes through the second rotating platform and can be extended and retracted relative to the second rotating platform; VR glasses for operators to wear; Among them, the first rotating platform is equipped with a pitch angle sensor for measuring the pitch angle change of the minimally invasive surgical instrument, the second rotating platform is equipped with a yaw angle sensor for measuring the yaw angle change of the minimally invasive surgical instrument and a displacement sensor for measuring the depth change of the minimally invasive surgical instrument, and a roll angle sensor for measuring the roll angle change of the minimally invasive surgical instrument is arranged at the front end of the second rotating platform.

[0008] A method for positioning a minimally invasive surgery simulation training instrument based on multi-sensor collaborative positioning, the specific steps are as follows: S1. Zero calibration: determine the initial voltage values ​​of the pitch angle sensor, yaw angle sensor, roll angle sensor and displacement sensor and adjusting the minimally invasive surgical instrument to a reference position to establish a zero reference and ensure initial alignment of coordinate systems of the virtual minimally invasive surgical instrument and the actual minimally invasive surgical instrument; S2, precision calibration: by fitting the linear relationship between the known physical quantities and the voltages of the pitch angle sensor, yaw angle sensor, roll angle sensor and displacement sensor, calculate the proportional coefficient, and establish the coordinate system transformation relationship between the actual minimally invasive surgical instrument and the virtual minimally invasive surgical instrument; S3, real-time positioning: according to the output voltage and calibration formula of the pitch angle sensor, yaw angle sensor, roll angle sensor and displacement sensor, the pitch angle, yaw angle, depth and roll angle of the actual minimally invasive surgical instrument are calculated, and these posture data are converted into the virtual instrument coordinate system; S4, virtual synchronization: The calculated posture changes are transmitted to the virtual environment, the position of the virtual minimally invasive surgical instrument is updated in real time, and the consistency of the coordinate system of the actual minimally invasive surgical instrument and the virtual minimally invasive surgical instrument is maintained.

[0009] As a preferred solution of the positioning method of a minimally invasive surgery simulation training device based on multi-sensor collaborative positioning described in the present invention, in step S1, the specific steps of zero position calibration are as follows: First, adjust the minimally invasive surgical instrument to the reference position and ensure that all sensors are stationary. At this time, the actual position of the minimally invasive surgical instrument is:

[0010] Record the initial voltage values ​​of the pitch angle sensor, yaw angle sensor, roll angle sensor and displacement sensor at this time, where: is the actual value of the pitch angle, is the actual value of the yaw angle, is the actual value of the roll angle, is the actual value of the depth, and the initial voltage of the pitch angle sensor is , the initial voltage of the yaw angle sensor is , the initial voltage of the roll angle sensor is , the initial voltage of the displacement sensor is ; Through the coordinate transformation matrix , transform the coordinate system of the actual minimally invasive surgical instrument into the coordinate system of the virtual minimally invasive surgical instrument, and change the origin of the virtual minimally invasive surgical instrument coordinate system to The origin of the actual minimally invasive surgical instrument coordinate system Alignment, the transformation matrix is ​​as follows:

[0011] in, is a 3x3 rotation matrix, which represents the rotation transformation from the actual instrument coordinate system to the virtual instrument coordinate system. It is a 3x1 translation vector, which represents the translation relationship between the two coordinate systems.

[0012] As a preferred solution of the positioning method of a minimally invasive surgery simulation training device based on multi-sensor collaborative positioning described in the present invention, in step S2, the specific steps of accuracy calibration are as follows: By experimentally measuring the changes in the output voltages of the pitch angle sensor, yaw angle sensor, roll angle sensor, and displacement sensor under different actual posture changes, a linear relationship between the voltage and the actual posture change is established, and the following proportional coefficients and bias terms are obtained: ; in: and Respectively represent the voltage change rate and deviation of the pitch angle, and Respectively represent the voltage change rate and deviation of the yaw angle, and They represent the voltage change rate and deviation of the roll angle respectively, and represent the voltage change rate and deviation at depth, respectively; According to the results of linear fitting, the relationship between the sensor output voltage and the actual posture change can be expressed as:

[0013] in: They are the real-time output voltages of the pitch angle sensor, yaw angle sensor, roll angle sensor and displacement sensor respectively; They represent the actual change values ​​of pitch angle, yaw angle, roll angle and depth respectively.

[0014] As a preferred solution of the positioning method of a minimally invasive surgery simulation training instrument based on multi-sensor collaborative positioning described in the present invention, in step S3, the specific steps of real-time positioning are as follows: First, based on the initial pose recorded during the zero calibration process: ; The posture increment is calculated by the real-time voltage change at each moment , gradually update the current posture of the actual instrument, where the actual posture of the minimally invasive surgical instrument at each moment is determined by the sum of the posture at the previous moment and the currently calculated posture increment, and the formula is as follows:

[0015] in, They are respectively the pitch angle, yaw angle, roll angle and depth position of the actual minimally invasive surgical instrument at the previous moment.

[0016] As a preferred solution of the positioning method of a minimally invasive surgery simulation training instrument based on multi-sensor collaborative positioning described in the present invention, in step S4, the specific steps of virtual synchronization are as follows: Using the coordinate system transformation matrix , convert the pose changes of the actual minimally invasive surgical instrument into the coordinate system of the virtual minimally invasive surgical instrument to ensure that the movement of the minimally invasive surgical instrument in the virtual environment is consistent with that of the actual minimally invasive surgical instrument: in, is the actual device posture, is the pose of the virtual device.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The minimally invasive surgery simulation training instrument positioning device and positioning method provided by the present invention significantly improve the accuracy and real-time positioning of surgical instruments. By using multiple sensors to collaboratively measure spatial posture parameters such as pitch angle, yaw angle, roll angle and depth, and combining zero-position calibration and precision calibration methods, the problem of high-precision positioning of surgical instruments in complex spatial motion is effectively solved. This method can ensure that the movements of virtual surgical instruments are synchronized with those of actual instruments, thereby achieving efficient and accurate simulation training. Compared with traditional training equipment, the present invention can provide more scientific and accurate data support for surgical plan design and operation consequence evaluation, thereby further improving the accuracy and reliability of minimally invasive surgery training.

[0018] 2. The present invention transmits the posture changes of actual instruments to the virtual surgical environment in real time, so that the operator can observe the movement changes of virtual instruments by wearing VR glasses, thereby greatly enhancing the immersion and realism of the training process. Based on multi-sensor collaborative positioning technology and virtual synchronization technology, the operator can master the core parameters of the instrument's spatial posture without complex operations, significantly reducing the cost of training and learning, and improving training efficiency and teaching effects. The positioning device and positioning method of the present invention can be widely used in the fields of minimally invasive surgery simulation training, surgical skills assessment, etc., providing important technical support for the intelligent development of surgical skills training. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below in combination with the accompanying drawings and detailed embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them: Figure 1 A schematic diagram of the structure of the positioning device for minimally invasive surgery simulation training equipment provided by the present invention; Figure 2 A flow chart of a method for positioning a minimally invasive surgery simulation training device based on multi-sensor collaborative positioning provided by the present invention; Figure 1 In the figure, laboratory table: 100, supporting shaft: 110, first rotating platform: 200, second rotating platform: 300, minimally invasive surgical instrument: 400, VR glasses: 500. DETAILED DESCRIPTION

[0020] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0021] Secondly, the present invention is described in detail with reference to schematic diagrams. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0022] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0023] The present invention provides a minimally invasive surgery simulation training instrument positioning device and positioning method. When the operator performs actual surgical instrument operations, the virtual instrument will respond in real time and display the same operation results, greatly improving the immersion and accuracy of simulation training.

[0024] Figure 1 The structure diagram of the positioning device of the minimally invasive surgery simulation training apparatus of the present invention is shown in FIG. Figure 1 , a minimally invasive surgery simulation training instrument positioning device in this embodiment includes two minimally invasive surgery instruments 400, two first rotating platforms 200, two first rotating platforms 200, a laboratory table 100 and VR glasses 500.

[0025] Among them, the experimental table 100 has a supporting shaft 110, a first rotating platform 200, which is symmetrically arranged on the supporting shaft 110 and can rotate around the supporting shaft 110; a second rotating platform 300, which is installed on the first rotating platform 200 and can rotate horizontally around the first rotating platform 200; a minimally invasive surgical instrument 400, which passes through the second rotating platform 300 and can be extended and retracted relative to the second rotating platform 300; after the operator wears the VR glasses 500, he can see the virtual surgical environment, and when operating the actual minimally invasive surgical instrument 400, the virtual instrument will operate synchronously, thereby performing simulation training.

[0026] Furthermore, in this embodiment, the first rotating platform 200 has a built-in pitch angle sensor for measuring the pitch angle change of the minimally invasive surgical instrument 400, the second rotating platform 300 has a built-in yaw angle sensor for measuring the yaw angle change of the minimally invasive surgical instrument 400 and a displacement sensor for measuring the depth change of the minimally invasive surgical instrument 400, and a roll angle sensor for measuring the roll angle change of the minimally invasive surgical instrument 400 is provided at the front end of the second rotating platform 300.

[0027] In order to further explain the minimally invasive surgery simulation training positioning device of the present invention in detail, the present invention also provides a minimally invasive surgery simulation training instrument positioning method based on multi-sensor collaborative positioning, the steps are as follows: S1. Zero calibration: determine the initial voltage values ​​of the pitch angle sensor, yaw angle sensor, roll angle sensor and displacement sensor , and adjust the minimally invasive surgical instrument 400 to a reference position to establish a zero reference and ensure initial alignment of the coordinate systems of the virtual minimally invasive surgical instrument 400 and the actual minimally invasive surgical instrument 400 .

[0028] S2, precision calibration: by fitting a linear relationship between known physical quantities and the voltages of the pitch angle sensor, yaw angle sensor, roll angle sensor and displacement sensor, calculate the proportionality coefficient, and establish a coordinate system transformation relationship between the actual minimally invasive surgical instrument 400 and the virtual minimally invasive surgical instrument 400; S3, real-time positioning: according to the output voltage and calibration formula of the pitch angle sensor, yaw angle sensor, roll angle sensor and displacement sensor, the pitch angle, yaw angle, depth and roll angle of the actual minimally invasive surgical instrument 400 are calculated, and these posture data are converted into a virtual instrument coordinate system; S4. Virtual synchronization: The calculated posture changes are transmitted to the virtual environment, the position of the virtual minimally invasive surgical instrument 400 is updated in real time, and the consistency of the coordinate systems of the actual minimally invasive surgical instrument 400 and the virtual minimally invasive surgical instrument 400 is maintained.

[0029] Among them, in step S1, the specific steps of zero position calibration are as follows: First, adjust the minimally invasive surgical instrument 400 to the reference position to ensure that all sensors are in a stationary state. At this time, the actual position of the minimally invasive surgical instrument 400 is:

[0030] Record the initial voltage values ​​of the pitch angle sensor, yaw angle sensor, roll angle sensor and displacement sensor at this time, where: is the actual value of the pitch angle, is the actual value of the yaw angle, is the actual value of the roll angle, is the actual value of the depth, and the initial voltage of the pitch angle sensor is , the initial voltage of the yaw angle sensor is , the initial voltage of the roll angle sensor is , the initial voltage of the displacement sensor is ; These initial voltage values ​​will serve as zero reference points, and subsequent voltage changes will be used to calculate the actual posture changes of the device based on these reference values.

[0031] In order to ensure that the position changes of the actual instrument and the virtual instrument are synchronized, a coordinate transformation matrix is ​​required. , the origin of the virtual minimally invasive surgical instrument 400 coordinate system The origin of the actual minimally invasive surgical instrument 400 coordinate system Alignment, then the coordinate system relationship between the virtual instrument and the actual instrument can be established through the initial position of the zero calibration, and the transformation matrix is ​​as follows:

[0032] in, is a 3x3 rotation matrix, which represents the rotation transformation from the actual instrument coordinate system to the virtual instrument coordinate system. It is a 3x1 translation vector, which represents the translation relationship between the two coordinate systems.

[0033] In step S2, the specific steps of accuracy calibration are as follows: In the zero position calibration, the initial output voltage value of the sensor is recorded , and use it as the reference value. Then, the output voltage changes of the pitch angle sensor, yaw angle sensor, roll angle sensor and displacement sensor are measured experimentally under different actual posture changes, and the linear relationship between the voltage and the actual posture change is established. The following proportional coefficient and bias term are obtained: ; in: and Respectively represent the voltage change rate and deviation of the pitch angle, and Respectively represent the voltage change rate and deviation of the yaw angle, and They represent the voltage change rate and deviation of the roll angle respectively, and represent the voltage change rate and deviation at depth, respectively; According to the results of linear fitting, the relationship between the sensor output voltage and the actual posture change can be expressed as:

[0034] in: They are the real-time output voltages of the pitch angle sensor, yaw angle sensor, roll angle sensor and displacement sensor respectively; They represent the actual change values ​​of pitch angle, yaw angle, roll angle and depth respectively.

[0035] In step S3, real-time positioning is performed by monitoring the voltage value output by the sensor in real time and calculating the actual position change of the device according to the proportional coefficient and bias value determined in the accuracy calibration. The specific steps are as follows: First, based on the initial pose recorded during the zero calibration process: ; The posture increment is calculated by the real-time voltage change at each moment , gradually updating the current posture of the actual instrument, wherein the actual posture of the minimally invasive surgical instrument 400 at each moment is determined by the sum of the posture at the previous moment and the currently calculated posture increment, and the formula is as follows:

[0036] in, They are respectively the pitch angle, yaw angle, roll angle and depth position of the actual minimally invasive surgical instrument 400 at the previous moment.

[0037] S4. The specific steps of virtual synchronization are as follows: Using the coordinate system transformation matrix , converting the position change of the actual minimally invasive surgical instrument 400 into the coordinate system of the virtual minimally invasive surgical instrument 400, ensuring that the movement of the minimally invasive surgical instrument 400 in the virtual environment is consistent with that of the actual minimally invasive surgical instrument 400: in, is the actual device posture, is the pose of the virtual device.

[0038] Through the above steps, the real-time positioning method accurately transmits the motion information of the actual instrument to the virtual environment, achieving high-precision synchronization between the virtual instrument and the actual instrument.

[0039] During the virtual synchronization process, all sensor data (including the output values ​​of the pitch angle sensor, yaw angle sensor, roll angle sensor and displacement sensor) will be transmitted to the virtual surgery system in real time to ensure that the relative position and posture of the virtual instrument and the physical instrument in space are completely synchronized. When the operator performs actual surgical instrument operations, the virtual instrument will respond in real time and display the same operation results, greatly improving the immersion and accuracy of simulation training.

[0040] Although the present invention has been described above with reference to the embodiments, various modifications may be made thereto and parts thereof may be replaced by equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the various features in the embodiments disclosed in the present invention may be used in combination with each other in any manner, and the fact that these combinations are not exhaustively described in this specification is only for the sake of omitting space and saving resources. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A minimally invasive surgery simulation training positioning device, characterized in that: include: A test bench (100) having a supporting shaft (110); A first rotating platform (200) is symmetrically arranged on the supporting shaft (110) and can rotate around the supporting shaft (110); A second rotating platform (300) is mounted on the first rotating platform (200) and can rotate horizontally around the first rotating platform (200); A minimally invasive surgical instrument (400), which passes through the second rotating platform (300) and can be extended and retracted relative to the second rotating platform (300); VR glasses (500), for the operator to wear; The first rotating platform (200) has a built-in pitch angle sensor for measuring changes in the pitch angle of the minimally invasive surgical instrument (400), the second rotating platform (300) has a built-in yaw angle sensor for measuring changes in the yaw angle of the minimally invasive surgical instrument (400) and a displacement sensor for measuring changes in the depth of the minimally invasive surgical instrument (400), and a roll angle sensor for measuring changes in the roll angle of the minimally invasive surgical instrument (400) is arranged at the front end of the second rotating platform (300).

2. A minimally invasive surgery simulation training equipment positioning method based on multi-sensor collaborative positioning, implemented by a minimally invasive surgery simulation training positioning device according to claim 1, characterized in that: The specific steps are as follows: S1. Zero calibration: determine the initial voltage values ​​of the pitch angle sensor, yaw angle sensor, roll angle sensor and displacement sensor and adjusting the minimally invasive surgical instrument (400) to a reference position to establish a zero reference and ensure initial alignment of the coordinate systems of the virtual minimally invasive surgical instrument (400) and the actual minimally invasive surgical instrument (400); S2, precision calibration: by fitting a linear relationship between known physical quantities and the voltages of the pitch angle sensor, the yaw angle sensor, the roll angle sensor and the displacement sensor, a proportionality coefficient is calculated, and a coordinate system transformation relationship between the actual minimally invasive surgical instrument (400) and the virtual minimally invasive surgical instrument (400) is established; S3, real-time positioning: according to the output voltages of the pitch angle sensor, yaw angle sensor, roll angle sensor and displacement sensor and the calibration formula, the pitch angle, yaw angle, depth and roll angle of the actual minimally invasive surgical instrument (400) are calculated, and these posture data are converted into a virtual instrument coordinate system; S4, virtual synchronization: transmitting the calculated posture change to the virtual environment, updating the position of the virtual minimally invasive surgical instrument (400) in real time, and maintaining the consistency of the coordinate system of the actual minimally invasive surgical instrument (400) and the virtual minimally invasive surgical instrument (400).

3. The positioning method of a minimally invasive surgery simulation training device based on multi-sensor collaborative positioning according to claim 2 is characterized in that: In step S1, the specific steps of zero position calibration are as follows: First, the minimally invasive surgical instrument (400) is adjusted to a reference position to ensure that all sensors are in a stationary state. At this time, the actual position of the minimally invasive surgical instrument (400) is: ； Record the initial voltage values ​​of the pitch angle sensor, yaw angle sensor, roll angle sensor and displacement sensor at this time, where: is the actual value of the pitch angle, is the actual value of the yaw angle, is the actual value of the roll angle, is the actual value of the depth, and the initial voltage of the pitch angle sensor is , the initial voltage of the yaw angle sensor is , the initial voltage of the roll angle sensor is , the initial voltage of the displacement sensor is ; Through the coordinate transformation matrix , converting the coordinate system of the actual minimally invasive surgical instrument (400) into the coordinate system of the virtual minimally invasive surgical instrument (400), and changing the origin of the coordinate system of the virtual minimally invasive surgical instrument (400) to The origin of the coordinate system of the actual minimally invasive surgical instrument (400) Alignment, the transformation matrix is ​​as follows: ； in, is a 3x3 rotation matrix, which represents the rotation transformation from the actual instrument coordinate system to the virtual instrument coordinate system. It is a 3x1 translation vector, which represents the translation relationship between the two coordinate systems.

4. The positioning method of a minimally invasive surgery simulation training device based on multi-sensor collaborative positioning according to claim 2 is characterized in that: In step S2, the specific steps of accuracy calibration are as follows: By experimentally measuring the changes in the output voltages of the pitch angle sensor, yaw angle sensor, roll angle sensor, and displacement sensor under different actual posture changes, a linear relationship between the voltage and the actual posture change is established, and the following proportional coefficients and bias terms are obtained: ; in: and They represent the voltage change rate and deviation of the pitch angle respectively, and Respectively represent the voltage change rate and deviation of the yaw angle, and Respectively represent the voltage change rate and deviation of the roll angle, and represent the voltage change rate and deviation at depth respectively; According to the results of linear fitting, the relationship between the sensor output voltage and the actual posture change can be expressed as: ； in: They are the real-time output voltages of the pitch angle sensor, yaw angle sensor, roll angle sensor and displacement sensor respectively; They represent the actual change values ​​of pitch angle, yaw angle, roll angle and depth respectively.

5. The positioning method of a minimally invasive surgery simulation training device based on multi-sensor collaborative positioning according to claim 2, characterized in that: In step S3, the specific steps of real-time positioning are as follows: First, based on the initial pose recorded during the zero calibration process: ； The posture increment is calculated by the real-time voltage change at each moment , gradually updating the current posture of the actual instrument, wherein the posture of the actual minimally invasive surgical instrument (400) at each moment is determined by the sum of the posture at the previous moment and the currently calculated posture increment, and the formula is as follows: ； in, They are respectively the pitch angle, yaw angle, roll angle and depth position of the actual minimally invasive surgical instrument (400) at the last moment.

6. The method for positioning a minimally invasive surgery simulation training device based on multi-sensor collaborative positioning according to claim 2, characterized in that: In step S4, the specific steps of virtual synchronization are as follows: Using the coordinate system transformation matrix , converting the position change of the actual minimally invasive surgical instrument (400) into the coordinate system of the virtual minimally invasive surgical instrument (400), ensuring that the movement of the minimally invasive surgical instrument (400) in the virtual environment is consistent with that of the actual minimally invasive surgical instrument (400): ； in, is the actual device posture, is the pose of the virtual device.

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