A positioning device and method for a minimally invasive surgical simulation training instrument

Abstract

The present invention discloses a positioning device and a positioning method for minimally invasive surgical simulation training instruments in the technical field of medical assistance devices. The positioning device and the positioning method for minimally invasive surgical simulation training instruments provided by the present invention significantly improve the accuracy and real-time performance of surgical instrument positioning. By means of cooperative measurement of spatial pose parameters such as pitch angle, yaw angle, roll angle, and depth by multiple sensors, and in combination with zero position calibration and accuracy calibration methods, the problem of high-precision positioning of surgical instruments in complex space motions is effectively solved. This method can ensure the synchronization of the actions of virtual surgical instruments and actual instruments, thereby realizing 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 surgical training.

Description

Technical Field

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

[0002] Minimally invasive surgery technology, with its advantages of small trauma and quick recovery, has become an indispensable part of modern medicine. However, minimally invasive surgery requires extremely high operation precision from doctors, especially in the positioning and control of surgical instruments. To improve the 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 precision and poor real-time performance in practical applications. Especially in complex surgical scenarios, it is difficult to meet the requirements of high-precision positioning. To overcome these deficiencies, the scheme 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 precision and reliability can be significantly improved.

[0004] Existing multi-sensor collaborative positioning methods rely on precise calibration and data fusion technologies. However, how to obtain the instrument pose information in real time and accurately in a complex and dynamic surgical environment is still a technical problem. Therefore, there is an urgent need for a new type of positioning device for minimally invasive surgery simulation training instruments, combined with advanced multi-sensor collaborative positioning methods, to solve the precision and real-time problems in the existing technology. Summary of the Invention

[0005] The purpose of this part is to outline some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this part, as well as in the abstract and title of the present application, to avoid obscuring the purpose of this part, the abstract, and the title. However, 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 positioning device and method for minimally invasive surgery simulation training instruments. When an operator operates an actual surgical instrument, the virtual instrument will respond in real time and display the same operation result, greatly enhancing the immersion and accuracy of the simulation training.

[0007] To solve the above technical problems, according to one aspect of the present invention, the following technical solutions are provided:

[0008] A positioning device for minimally invasive surgery simulation training, comprising:

[0009] An experimental table, which has a support shaft rod;

[0010] The first rotating platform is symmetrically arranged on the support shaft rod and can rotate around the support shaft rod;

[0011] The second rotating platform is installed on the first rotating platform and can rotate horizontally around the first rotating platform;

[0012] The minimally invasive surgical instrument penetrates the second rotating platform and can extend and retract relative to the second rotating platform;

[0013] The VR glasses are for the operator to wear;

[0014] Wherein, the first rotating platform is internally provided with a pitch angle sensor for measuring the change of the pitch angle of the minimally invasive surgical instrument, the second rotating platform is internally provided with a yaw angle sensor for measuring the change of the yaw angle of the minimally invasive surgical instrument and a displacement sensor for measuring the change of the depth of the minimally invasive surgical instrument, and a roll angle sensor for measuring the change of the roll angle of the minimally invasive surgical instrument is arranged at the front end of the second rotating platform.

[0015] A positioning method for a minimally invasive surgical simulation training instrument based on multi-sensor collaborative positioning, the specific steps are as follows:

[0016] S1. Zero position 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 to the reference position to establish a zero position reference and ensure the initial alignment of the coordinate systems of the virtual minimally invasive surgical instrument and the actual minimally invasive surgical instrument;

[0017] S2. Precision calibration: Calculate the proportionality coefficient by fitting the linear relationship between the known physical quantity and the voltages of the pitch angle sensor, yaw angle sensor, roll angle sensor and displacement sensor, and establish the coordinate system transformation relationship between the actual minimally invasive surgical instrument and the virtual minimally invasive surgical instrument;

[0018] S3. Real-time positioning: Calculate the pitch angle, yaw angle, depth and roll angle of the actual minimally invasive surgical instrument according to the output voltages of the pitch angle sensor, yaw angle sensor, roll angle sensor and displacement sensor and the calibration formula, and convert these pose data to the virtual instrument coordinate system;

[0019] S4. Virtual synchronization: Transmit the calculated pose changes to the virtual environment, update the position of the virtual minimally invasive surgical instrument in real time, and maintain the consistency of the coordinate systems of the actual minimally invasive surgical instrument and the virtual minimally invasive surgical instrument.

[0020] As a preferred scheme of a positioning method for a minimally invasive surgical simulation training instrument based on multi-sensor collaborative positioning according to the present invention, wherein, in step S1, the specific steps of zero position calibration are as follows:

[0021] First, adjust the minimally invasive surgical instrument to the reference position to ensure that all sensors are in a stationary state. At this time, the actual pose of the minimally invasive surgical instrument is as follows:

[0022]

[0023] Record the initial voltage values of the pitch angle sensor, yaw angle sensor, roll angle sensor, and displacement sensor at this time. Among them, 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. 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 , and the initial voltage of the displacement sensor is ;

[0024] Through the coordinate transformation matrix , convert the coordinate system of the actual minimally invasive surgical instrument to the coordinate system of the virtual minimally invasive surgical instrument. Align the origin of the virtual minimally invasive surgical instrument coordinate system with the origin of the actual minimally invasive surgical instrument coordinate system. The transformation matrix is as follows:

[0025]

[0026] Among them, is a 3x3 rotation matrix, representing the rotation transformation from the actual instrument coordinate system to the virtual instrument coordinate system, is a 3x1 translation vector, representing the translation relationship between the two coordinate systems.

[0027] As a preferred solution of a positioning method for a minimally invasive surgical simulation training instrument based on multi-sensor collaborative positioning according to the present invention, in step S2, the specific steps of accuracy calibration are as follows:

[0028] Measure through experiments the changes in the output voltages of the pitch angle sensor, yaw angle sensor, roll angle sensor, and displacement sensor under different actual pose changes, establish a linear relationship between the voltage and the actual pose changes, and obtain the following proportionality coefficients and bias terms: ;

[0029] Among them: 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 respectively represent the voltage change rate and deviation of the roll angle, and respectively represent the voltage change rate and deviation of the depth;

[0030] According to the results of linear fitting, the relationship between the sensor output voltage and the actual pose change can be expressed as:

[0031]

[0032] where: are the real-time output voltages of the pitch angle sensor, yaw angle sensor, roll angle sensor, and displacement sensor respectively; respectively represent the actual change values of the pitch angle, yaw angle, roll angle, and depth.

[0033] As a preferred solution of a positioning method for minimally invasive surgery simulation training instruments based on multi-sensor collaborative positioning according to the present invention, in step S3, the specific steps of real-time positioning are as follows:

[0034] First, based on the initial pose recorded during the zero position calibration:

[0035] ;

[0036] The pose increment calculated by the real-time voltage change at each moment is used to gradually update the current pose of the actual instrument. Among them, the pose of the actual minimally invasive surgery instrument at each moment is determined by the sum of the pose at the previous moment and the pose increment calculated currently. The formula is as follows:

[0037]

[0038] where are the pitch angle, yaw angle, roll angle, and depth positions of the actual minimally invasive surgery instrument at the previous moment respectively.

[0039] As a preferred solution of a positioning method for minimally invasive surgery simulation training instruments based on multi-sensor collaborative positioning according to the present invention, in step S4, the specific steps of virtual synchronization are as follows:

[0040] Using the coordinate system transformation matrix , the pose change of the actual minimally invasive surgery instrument is transformed into the coordinate system of the virtual minimally invasive surgery instrument to ensure that the movement of the minimally invasive surgery instrument in the virtual environment is consistent with that of the actual minimally invasive surgery instrument:

[0041]

[0042] where is the pose of the actual instrument, is the pose of the virtual instrument.

[0043] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0044] 1. The positioning device and method for minimally invasive surgery simulation training instruments provided by the present invention significantly improve the accuracy and real-time performance of surgical instrument positioning. By means of multi-sensor collaborative measurement of spatial pose parameters such as pitch angle, yaw angle, roll angle, and depth, and combined with zero-position calibration and accuracy calibration methods, the problem of high-precision positioning of surgical instruments in complex space movements is effectively solved. This method can ensure the synchronization of the actions of virtual surgical instruments and actual instruments, thereby realizing 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.

[0045] 2. By transmitting the pose changes of the actual instrument to the virtual surgical environment in real time, the present invention enables the operator to observe the action changes of the virtual instrument 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 spatial pose without complex operations, significantly reducing the training learning cost and improving the training efficiency and teaching effect. The positioning device and method of the present invention can be widely applied to fields such as minimally invasive surgery simulation training and surgical skill assessment, providing important technical support for the intelligent development of surgical skill training. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] 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 conjunction with the drawings and detailed embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. Among them:

[0047] Figure 1 is a schematic structural diagram of the positioning device for minimally invasive surgery simulation training instruments provided by the present invention;

[0048] Figure 2 is a flowchart of the positioning method for minimally invasive surgery simulation training instruments based on multi-sensor collaborative positioning provided by the present invention;

[0049] Figure 1 In, experimental table: 100, support shaft rod: 110, first rotating platform: 200, second rotating platform: 300, minimally invasive surgical instrument: 400, VR glasses: 500. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0050] To make the above objects, features, and advantages of the present invention more apparent and understandable, the following will provide a detailed description of the specific embodiments of the present invention with reference to the accompanying drawings.

[0051] Secondly, the present invention will be described in detail in conjunction with the schematic diagrams. When detailing the embodiments of the present invention, for ease of illustration, the cross-sectional views showing the device structure will be enlarged locally in a non-general proportion, and the schematic diagrams are only examples and should not limit the scope of protection of the present invention herein. In addition, in actual production, three-dimensional spatial dimensions including length, width, and depth should be included.

[0052] To make the purpose, technical solution, and advantages of the present invention clearer, the following will further describe the embodiments of the present invention in detail with reference to the accompanying drawings.

[0053] The present invention provides a positioning device and a positioning method for minimally invasive surgical simulation training instruments. When an operator operates the actual surgical instruments, the virtual instruments will respond in real time and display the same operation results, greatly enhancing the immersion and accuracy of the simulation training.

[0054] Figure 1 Shown is a structural schematic diagram of a positioning device for minimally invasive surgical simulation training instruments of the present invention. Please refer to Figure 1 In a positioning device for minimally invasive surgical simulation training instruments of this embodiment, the positioning device for minimally invasive surgical simulation training instruments includes two minimally invasive surgical instruments 400, two first rotating platforms 200, two first rotating platforms 200, a test bench 100, and VR glasses 500.

[0055] Among them, the test bench 100 has a support shaft rod 110. The first rotating platforms 200 are symmetrically arranged on the support shaft rod 110 and can rotate around the support shaft rod 110. The second rotating platform 300 is installed on the first rotating platform 200 and can rotate horizontally around the first rotating platform 200. The minimally invasive surgical instrument 400 passes through the second rotating platform 300 and can be telescoped relative to the second rotating platform 300. After the operator wears the VR glasses 500, they can see the virtual surgical environment. When operating the actual minimally invasive surgical instrument 400, the virtual instrument will operate synchronously, thereby performing simulation training.

[0056] Furthermore, in this embodiment, the first rotating platform 200 is internally provided with a pitch angle sensor for measuring the pitch angle change of the minimally invasive surgical instrument 400. The second rotating platform 300 is internally provided with a 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.

[0057] To further elaborate on the minimally invasive surgery simulation training positioning device of the present invention, the present invention also provides a positioning method for minimally invasive surgery simulation training instruments based on multi-sensor collaborative positioning, and the steps are as follows:

[0058] S1. Zero position 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 the reference position to establish a zero position reference and ensure the initial alignment of the coordinate systems of the virtual minimally invasive surgical instrument 400 and the actual minimally invasive surgical instrument 400.

[0059] S2. Precision calibration: Calculate the proportionality coefficient by fitting the linear relationship between the known physical quantity and the voltages of the pitch angle sensor, yaw angle sensor, roll angle sensor, and displacement sensor, and establish the coordinate system transformation relationship between the actual minimally invasive surgical instrument 400 and the virtual minimally invasive surgical instrument 400;

[0060] S3. Real-time positioning: Calculate the pitch angle, yaw angle, depth, and roll angle of the actual minimally invasive surgical instrument 400 according to the output voltages of the pitch angle sensor, yaw angle sensor, roll angle sensor, and displacement sensor and the calibration formula, and convert these pose data to the virtual instrument coordinate system;

[0061] S4. Virtual synchronization: Transmit the calculated pose changes to the virtual environment, update the position of the virtual minimally invasive surgical instrument 400 in real time, and maintain the consistency of the coordinate systems of the actual minimally invasive surgical instrument 400 and the virtual minimally invasive surgical instrument 400.

[0062] 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 pose of the minimally invasive surgical instrument 400 is:

[0063]

[0064] Record the initial voltage values of the pitch angle sensor, yaw angle sensor, roll angle sensor, and displacement sensor at this time. Among them, 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. 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 , and the initial voltage of the displacement sensor is ;

[0065] These initial voltage values will serve as the zero-reference point, and subsequent voltage changes will be used to calculate the actual pose changes of the device based on these reference values.

[0066] To ensure the synchronization of the pose changes between the actual instrument and the virtual instrument, a coordinate transformation matrix is needed , to align the origin of the coordinate system of the virtual minimally invasive surgical instrument 400 with the origin of the coordinate system of the actual minimally invasive surgical instrument 400 . Then, through the initial position determined by zero calibration, the coordinate system relationship between the virtual instrument and the actual instrument can be established. The transformation matrix is as follows:

[0067]

[0068] Among them, is a 3x3 rotation matrix, representing the rotational transformation from the actual instrument coordinate system to the virtual instrument coordinate system, is a 3x1 translation vector, representing the translation relationship between the two coordinate systems.

[0069] In step S2, the specific steps of accuracy calibration are as follows: In zero calibration, the initial output voltage value of the sensor is recorded , and it is used as the reference value. Subsequently, through experimental measurement, the voltage changes of the pitch angle sensor, yaw angle sensor, roll angle sensor, and displacement sensor are measured under different actual pose changes, and the linear relationship between the voltage and the actual pose changes is established to obtain the following proportionality coefficients and bias terms: ;

[0070] Among them: 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 respectively represent the voltage change rate and deviation of the roll angle, and respectively represent the voltage change rate and deviation of the depth;

[0071] According to the results of linear fitting, the relationship between the sensor output voltage and the actual pose changes can be expressed as:

[0072]

[0073] Among them: are the real-time output voltages of the pitch angle sensor, yaw angle sensor, roll angle sensor, and displacement sensor respectively; respectively represent the actual change values of the pitch angle, yaw angle, roll angle, and depth.

[0074] In step S3, real-time positioning is performed by continuously monitoring the voltage values output by the sensors and calculating the actual pose change of the device based on the proportionality coefficient and offset value determined during precision calibration. The specific steps are as follows:

[0075] First, based on the initial pose recorded during zero-position calibration:

[0076] ;

[0077] The pose increment calculated from the real-time voltage change at each moment is used to gradually update the current pose of the actual instrument. Among them, the pose of the actual minimally invasive surgical instrument 400 at each moment is determined by the sum of the pose at the previous moment and the currently calculated pose increment. The formula is as follows:

[0078]

[0079] where are respectively the pitch angle, yaw angle, roll angle, and depth position of the actual minimally invasive surgical instrument 400 at the previous moment.

[0080] S4. The specific steps of virtual synchronization are as follows:

[0081] Using the coordinate system transformation matrix the pose change of the actual minimally invasive surgical instrument 400 is transformed into the coordinate system of the virtual minimally invasive surgical instrument 400 to ensure 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:

[0082]

[0083] where is the pose of the actual instrument, is the pose of the virtual instrument.

[0084] Through the above steps, the real-time positioning method accurately transmits the movement information of the actual instrument to the virtual environment, realizing high-precision synchronization between the virtual instrument and the actual instrument.

[0085] 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 positions and postures of the virtual instrument and the physical instrument in space are completely synchronized. When the operator operates the actual surgical instrument, the virtual instrument will respond in real time and display the same operation results, greatly enhancing the immersion and accuracy of the simulation training.

[0086] Although the present invention has been described above with reference to the embodiments, various modifications can be made thereto and components thereof can be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the features in the embodiments disclosed in the present invention can be combined with each other in any way, and the exhaustive description of these combinations is not given in this specification only for the consideration of saving space and 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 positioning method for minimally invasive surgery simulation training instruments based on multi-sensor collaborative positioning, which is implemented by a minimally invasive surgery simulation training positioning device, characterized in that, The minimally invasive surgery simulation training positioning device includes: An experimental bench (100) having a support shaft rod (110); A first rotating platform (200) symmetrically arranged on the support shaft rod (110) and rotatable around the support shaft rod (110); A second rotating platform (300) mounted on the first rotating platform (200) and horizontally rotatable around the first rotating platform (200); A minimally invasive surgery instrument (400) passing through the second rotating platform (300) and telescopic relative to the second rotating platform (300); VR glasses (500) for the operator to wear; Wherein, a pitch angle sensor for measuring the change in the pitch angle of the minimally invasive surgery instrument (400) is built in the first rotating platform (200), a yaw angle sensor for measuring the change in the yaw angle of the minimally invasive surgery instrument (400) and a displacement sensor for measuring the change in the depth of the minimally invasive surgery instrument (400) are built in the second rotating platform (300), and a roll angle sensor for the change in the roll angle of the minimally invasive surgery instrument (400) is provided at the front end of the second rotating platform (300); The specific steps of the positioning method for the minimally invasive surgery simulation training instrument based on multi-sensor collaborative positioning are as follows: S1. Zero position 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 the reference position to establish a zero position reference and ensure the 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: Calculate the proportional coefficient by fitting the linear relationship between the known physical quantity and the voltages of the pitch angle sensor, yaw angle sensor, roll angle sensor and displacement sensor, and establish the coordinate system transformation relationship between the actual minimally invasive surgery instrument (400) and the virtual minimally invasive surgery instrument (400); S3. Real-time positioning: Calculate the pitch angle, yaw angle, depth and roll angle of the actual minimally invasive surgery instrument (400) according to the output voltages of the pitch angle sensor, yaw angle sensor, roll angle sensor and displacement sensor and the calibration formula, and convert these pose data into the virtual instrument coordinate system; S4. Virtual synchronization: Transmit the calculated pose changes to the virtual environment, update the position of the virtual minimally invasive surgery instrument (400) in real time, and maintain the consistency of the coordinate systems of the actual minimally invasive surgery instrument (400) and the virtual minimally invasive surgery instrument (400).

2. A positioning method for minimally invasive surgery simulation training instruments based on multi-sensor collaborative positioning according to claim 1, characterized in that, In step S1, the specific steps of zero position calibration are as follows: First, adjust the minimally invasive surgery instrument (400) to the reference position to ensure that all sensors are in a static state. At this time, the actual pose of the minimally invasive surgery 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. Among them, 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 , the coordinate system of the actual minimally invasive surgical instrument (400) is transformed into the coordinate system of the virtual minimally invasive surgical instrument (400). Align the origin of the coordinate system of the virtual minimally invasive surgical instrument (400) with the origin of the coordinate system of the actual minimally invasive surgical instrument (400). The transformation matrix is as follows: ​ ； Among them, is a 3x3 rotation matrix representing the rotational transformation from the actual instrument coordinate system to the virtual instrument coordinate system, is a 3x1 translation vector representing the translation relationship between the two coordinate systems.

3. A positioning method for minimally invasive surgical simulation training instruments based on multi-sensor collaborative positioning according to claim 2, characterized in that, In step S2, the specific steps of precision 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 pose changes, a linear relationship between the voltage and the actual pose changes is established, and the following proportionality coefficients and bias terms are obtained: ; Wherein: 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 respectively represent the voltage change rate and deviation of the roll angle, and respectively represent the voltage change rate and deviation of the depth; According to the results of linear fitting, the relationship between the sensor output voltage and the actual pose change can be expressed as: ； Wherein: are the real-time output voltages of the pitch angle sensor, yaw angle sensor, roll angle sensor, and displacement sensor respectively; respectively represent the actual change values of the pitch angle, yaw angle, roll angle, and depth.

4. A positioning method for a minimally invasive surgical simulation training instrument based on multi-sensor collaborative positioning according to claim 3, 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 position calibration: ； Pose increment calculated from the real-time voltage change at each moment , gradually update the current pose of the actual instrument, where the pose of the actual minimally invasive surgical instrument (400) at each moment is determined by the sum of the pose at the previous moment and the currently calculated pose increment, and the formula is as follows: ； wherein, are respectively the pitch angle, yaw angle, roll angle and depth position of the actual minimally invasive surgical instrument (400) at the previous moment.

5. A positioning method for a minimally invasive surgery simulation training instrument based on multi-sensor collaborative positioning according to claim 4, characterized in that In step S4, the specific steps of virtual synchronization are as follows: Using a coordinate system transformation matrix , the pose change of the actual minimally invasive surgical instrument (400) is transformed into the coordinate system of the virtual minimally invasive surgical instrument (400) to ensure 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): ； Among them, is the pose of the actual instrument, is the pose of the virtual instrument.

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