Puncture needle point calibration method, device, equipment, storage medium and system

Abstract

The invention relates to a puncture needle point calibration method, device and equipment, a storage medium and a system. The puncture needle point calibration method comprises the steps that under the condition that a puncture needle point reaches a needle point calibration module, a first space pose of the needle point calibration module relative to an optical tracking module is acquired, and a second space pose of a space positioning tracking module relative to the optical tracking module is acquired; according to the first space pose and the second space pose, determining a third space pose of the puncture needle point relative to the movement starting position of the puncture sliding table module; and acquiring a moving real-time distance of the puncture sliding table module, and determining a first real-time pose of the puncture needle point relative to the optical tracking module according to the moving real-time distance and the third space pose. According to the embodiment of the invention, the calibration process can be simplified when the puncture needle is replaced once or multiple times, and the calibration precision is improved.

Description

Technical Field

[0001] The present application relates to the field of medical equipment technology, and in particular to a puncture needle tip calibration method, device, equipment, storage medium and system. Background Art

[0002] The puncture robot system can control the operation of puncture needles including Kirschner wires to implement the surgical procedure and ensure the smooth progress of the surgical procedure.

[0003] Some puncture robot systems can install a puncture needle on the robot end tool, determine the target point, and control the movement of the puncture needle so that the puncture needle tip can reach the determined target point, thereby assisting doctors to complete the planned surgery and improving the safety and efficiency of the surgery. Among them, by calibrating the position of the puncture needle tip in the working space, the control of the puncture needle tip reaching the target point can be achieved. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a puncture needle tip calibration method, device, equipment, storage medium and system to solve at least one problem existing in the background technology.

[0005] In a first aspect, an embodiment of the present application provides a puncture needle tip calibration method, the puncture needle tip calibration method comprising:

[0006] When the puncture needle tip reaches the needle tip calibration module, a first spatial position of the needle tip calibration module relative to the optical tracking module is obtained, and a second spatial position of the spatial positioning tracking module relative to the optical tracking module is obtained; and a third spatial position of the puncture needle tip relative to the moving starting position of the puncture slide module is determined according to the first spatial position and the second spatial position;

[0007] Acquire the real-time moving distance of the puncture slide module, and determine the first real-time position of the puncture needle tip relative to the optical tracking module according to the real-time moving distance and the third spatial position;

[0008] Among them, the needle tip calibration module is used to calibrate the initial calibration position of the puncture needle tip, the spatial positioning tracking module is used to calibrate the moving starting position of the puncture slide module, and the puncture slide module is used to move the puncture needle installed thereon.

[0009] In combination with the first aspect, in an optional implementation manner, obtaining a first spatial position of the needle tip calibration module relative to the optical tracking module includes:

[0010] In the process where the puncture slide module drives the puncture needle to move toward the needle tip calibration module in the first moving direction, the spatial position of the needle tip calibration module relative to the optical tracking module is recorded at each preset time interval;

[0011] Searching for a spatial position corresponding to at least one preset time interval before the preset time interval when the puncture needle tip reaches the needle tip calibration module from all the recorded spatial positions, and using the spatial position as the initial spatial position of the needle tip calibration module relative to the optical tracking module when the puncture needle tip reaches the needle tip calibration module;

[0012] According to the initial spatial position, a first spatial position of the needle tip calibration module relative to the optical tracking module is determined.

[0013] In combination with the first aspect, in an optional implementation manner, obtaining a first spatial position of the needle tip calibration module relative to the optical tracking module includes:

[0014] In the case where the puncture slide module drives the puncture needle to move in the first moving direction so that the puncture needle tip reaches the needle tip calibration module, when the puncture slide module drives the puncture needle to move in the second moving direction so that the puncture needle tip leaves the needle tip calibration module, the spatial position of the needle tip calibration module relative to the optical tracking module is obtained, and the spatial position is used as the initial spatial position of the needle tip calibration module relative to the optical tracking module when the puncture needle tip reaches the needle tip calibration module;

[0015] According to the initial spatial position, a first spatial position of the needle tip calibration module relative to the optical tracking module is determined.

[0016] In combination with the first aspect, in an optional implementation, determining the first real-time position of the puncture needle tip relative to the optical tracking module according to the real-time moving distance and the third spatial position includes:

[0017] Determine a real-time translation matrix of the puncture needle tip according to the real-time moving distance;

[0018] A first real-time position and posture of the puncture needle tip relative to the optical tracking module is determined according to the real-time translation matrix and the third spatial position and posture.

[0019] In combination with the first aspect, in an optional implementation, determining the real-time translation matrix of the puncture needle tip according to the real-time moving distance includes:

[0020] Acquire the initial movement distance of the puncture slide module when the puncture needle tip reaches the needle tip calibration module, and determine the movement distance of the puncture needle tip relative to the needle tip calibration module according to the real-time movement distance and the initial movement distance;

[0021] According to the moving distance, a real-time translation matrix of the puncture needle tip is determined.

[0022] In combination with the first aspect, in an optional implementation, determining a first real-time posture of the puncture needle tip relative to the optical tracking module according to the real-time translation matrix and the third spatial posture includes:

[0023] Acquire a second real-time position and posture of the spatial positioning tracking module relative to the optical tracking module;

[0024] The first real-time posture of the puncture needle tip relative to the optical tracking module is determined according to the second real-time posture, the third spatial posture and the real-time translation matrix.

[0025] In combination with the first aspect, in an optional implementation, the puncture needle tip calibration method further includes:

[0026] When the puncture slide module reaches the space positioning tracking module, the moving starting position of the puncture slide module is calibrated.

[0027] In a second aspect, an embodiment of the present application provides a puncture needle tip calibration device, the puncture needle tip calibration device comprising:

[0028] A first determination module is used to obtain a first spatial posture of the needle tip calibration module relative to the optical tracking module and a second spatial posture of the spatial positioning tracking module relative to the optical tracking module when the puncture needle tip reaches the needle tip calibration module; and determine a third spatial posture of the puncture needle tip relative to the moving starting position of the puncture slide module according to the first spatial posture and the second spatial posture;

[0029] a second determination module, configured to obtain a real-time moving distance of the puncture slide module, and determine a first real-time position of the puncture needle tip relative to the optical tracking module according to the real-time moving distance and the third spatial position;

[0030] Among them, the needle tip calibration module is used to calibrate the initial calibration position of the puncture needle tip, the spatial positioning tracking module is used to calibrate the moving starting position of the puncture slide module, and the puncture slide module is used to move the puncture needle installed thereon.

[0031] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor, a memory, and an executable program stored in the memory and capable of being run by the processor, wherein the processor executes the steps of the puncture needle tip calibration method described in the first aspect when running the executable program.

[0032] In a fourth aspect, an embodiment of the present application provides a storage medium having an executable program stored thereon, and when the executable program is executed by a processor, the steps of the puncture needle tip calibration method described in the first aspect are implemented.

[0033] In a fifth aspect, an embodiment of the present application provides a puncture needle tip calibration system, the puncture needle tip calibration system comprising an optical tracking module, an end tool module, a puncture slide initial positioning sensing module, a spatial positioning tracking module, a needle tip calibration module, and a processor;

[0034] The optical tracking module is used to obtain the spatial position of the needle tip calibration module and the spatial posture of the spatial positioning tracking module;

[0035] The end tool module includes a puncture slide module for installing and moving the puncture needle;

[0036] The puncture slide initial positioning sensing module is fixed at the end of the end tool module, and is used to indicate the moving starting position of the puncture slide module;

[0037] The spatial positioning tracking module is fixed at the end of the end tool module and is used to calibrate the moving starting position of the puncture slide module;

[0038] The needle tip calibration module is fixed at the head end of the end tool module and is used to calibrate the initial calibration position of the puncture needle tip;

[0039] The processor is used to implement the steps of the puncture needle tip calibration method as described in the first aspect.

[0040] In conjunction with the fifth aspect, in an optional embodiment, the end tool module further includes a puncture screw module and a rotary clamping puncture module;

[0041] The puncture screw module is used to drive the puncture slide module to move, so as to drive the puncture needle to move; and to measure the moving distance of the puncture slide module;

[0042] The rotary clamping puncture module is fixed on the puncture slide module and is used for clamping the puncture needle.

[0043] The beneficial effects brought about by the technical solution provided in the embodiment of the present application include: by determining the real-time position of the puncture needle tip relative to the optical tracking module, the puncture needle can be automatically calibrated when the puncture needle is replaced once or multiple times, without the need for human participation in recalibration, which can effectively solve the problem of repeated calibration and complicated procedures for multiple needle changes, simplify the calibration process, shorten the operation time, reduce the cost of operation time, and reduce the patient's pain. In addition, the puncture needle calibration process does not require human participation, which can reduce the errors caused by human factors and improve the calibration accuracy. In addition, during the puncture needle calibration process, only the optical tracking module and the device for installing, moving and calibrating the puncture needle need to be used, and there is no need to introduce other equipment to assist in calibration, which reduces equipment procurement and training costs.

[0044] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below and in part will become apparent from the description below or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0046] Figure 1 A flowchart of a specific example of a puncture needle tip calibration method in an embodiment of the present application;

[0047] Figure 2 A flowchart of another specific example of the puncture needle tip calibration method in the embodiment of the present application;

[0048] Figure 3 It is a schematic diagram of a principle block diagram of a specific example of a puncture needle tip calibration device in an embodiment of the present application;

[0049] Figure 4 A schematic diagram of a principle block diagram of a specific example of an electronic device in an embodiment of the present application;

[0050] Figure 5 It is a structural schematic diagram of a specific example of a puncture needle tip calibration system in an embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to make the technical solutions and beneficial effects of the present invention more clearly understandable, the following is a detailed description by listing specific embodiments. The drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features; unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this application belongs.

[0052] The embodiments of the present application are not exhaustive, but are only illustrative of some embodiments, and are not intended to be a specific limitation on the scope of protection of the present application. In the absence of contradiction, each step in a certain embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, in a certain embodiment, the solution after removing some steps can also be implemented as an independent embodiment, and the order of the steps in a certain embodiment can be arbitrarily exchanged. In addition, the optional implementations in a certain embodiment can be arbitrarily combined; in addition, the embodiments can be arbitrarily combined, for example, some or all of the steps of different embodiments can be arbitrarily combined, and a certain embodiment can be arbitrarily combined with the optional implementations of other embodiments.

[0053] In each embodiment of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the embodiments are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form a new embodiment based on their internal logical relationships.

[0054] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application.

[0055] In the embodiments of the present application, unless otherwise specified, elements expressed in the singular form, such as "a", "an", "the", "above", "said", "aforementioned", "this", etc., may mean "one and only one", or "one or more", "at least one", etc. For example, when using articles such as "a", "an", "the" in English in translation, the noun after the article may be understood as a singular expression or a plural expression.

[0056] In the embodiments of the present application, "plurality" refers to two or more.

[0057] In some embodiments, the terms "at least one", "one or more", "a plurality of", "multiple", etc. can be used interchangeably.

[0058] In some embodiments, "at least one of A and B", "A and / or B", "A in one case, B in another case", "A in one case, B in another case", etc., may include the following technical solutions according to the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed); in some embodiments, A and B (both A and B are executed). When there are more branches such as A, B, C, etc., the above is also similar.

[0059] In some embodiments, the recording method of "A or B" may include the following technical solutions according to the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed). When there are more branches such as A, B, C, etc., the above is also similar.

[0060] The prefixes such as "first" and "second" in the embodiments of the present application are only used to distinguish different description objects, and do not constitute restrictions on the position, order, priority, value or content of the description objects. The statement of the description object refers to the description in the context of the claims or embodiments, and should not constitute redundant restrictions due to the use of prefixes. For example, if the description object is a "field", the ordinal number before the "field" in the "first field" and the "second field" does not limit the position or order between the "fields", and the "first" and "second" do not limit whether the "fields" they modify are in the same message, nor do they limit the order of the "first field" and the "second field". For another example, if the description object is a "level", the ordinal number before the "level" in the "first level" and the "second level" does not limit the priority between the "levels". For another example, the numerical value of the description object is not limited by the ordinal number, and can be one or more. Taking the "first device" as an example, the numerical value of the "device" can be one or more. In addition, the objects modified by different prefixes may be the same or different. For example, if the description object is "device", then the "first device" and the "second device" may be the same device or different devices, and their types may be the same or different. For another example, if the description object is "information", then the "first information" and the "second information" may be the same information or different information, and their contents may be the same or different.

[0061] In some embodiments, terms such as “…”, “determine…”, “in the case of…”, “at the time of…”, “when…”, “if…”, “if…”, etc. can be used interchangeably.

[0062] In some embodiments, terms such as "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not lower than", and "above" can be replaced with each other, and terms such as "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "no more than", "lower than", "lower than or equal to", "not higher than", and "below" can be replaced with each other.

[0063] In some embodiments, devices, etc. can be interpreted as physical or virtual, and their names are not limited to the names recorded in the embodiments. Terms such as "device", "equipment", "device", "circuit", "network element", "node", "function", "unit", "section", "system", "network", "chip", "chip system", "entity", and "subject" can be used interchangeably.

[0064] In some embodiments, the term "connection" may indicate that an electrical signal or data is transmitted between a connected end and a connected end, and may be understood as "electrical connection", "communication connection", etc. "Connection" may be a direct connection between two components, an indirect connection established through other components, internal communication between two components, or any other possible connection form.

[0065] This specification provides method operation steps such as embodiments or flow charts, but may include more or fewer operation steps based on conventional or non-creative labor. The order of steps listed in the embodiments is only one way of executing the order of many steps and does not represent the only execution order. When the actual device, system or server product is executed, it can be executed in the order of the method shown in the embodiments or the drawings or in parallel (for example, in a parallel processor or multi-threaded processing environment).

[0066] In the process of implementing the present invention, the inventors found that the related art has the following problems:

[0067] In some examples, the needle tip calibration method for orthopedic puncture needles (such as Kirschner wires, etc.) usually uses a spatial three-dimensional coordinate measuring instrument to obtain the position of the needle tip in the working space; or integrates an optical tracking system and uses standard calibration tooling to calibrate the needle tip. However, these methods usually require manual installation of the puncture needle on the tool. Some even require manual alignment of the puncture needle tip with a preset reference position during installation. The manual calibration process is cumbersome and complicated, and the calibration time is long. In addition, there are human errors. The errors caused by different people calibrating in different states are inconsistent, which is easy to cause cumulative errors and cannot achieve automation of puncture needle tip calibration.

[0068] In addition, during surgeries that require multiple manual replacements of puncture needles, the needle tip needs to be recalibrated each time a puncture needle is replaced. This process is relatively complicated, takes a long time in the operation, increases the patient's pain time, and brings unpredictable risks to the operation.

[0069] The embodiment of the present application provides a puncture needle tip calibration method, which can realize automatic calibration of the puncture needle and can be applied to single puncture needle calibration as well as multiple puncture needle calibration, thus simplifying the process of repeated calibration after multiple needle changes.

[0070] Figure 1 A schematic flow chart of a specific example of the puncture needle tip calibration method according to an embodiment of the present application is shown. Figure 1 As shown, the puncture needle tip calibration method includes:

[0071] Step S100: When the puncture needle tip reaches the needle tip calibration module, a first spatial posture of the needle tip calibration module relative to the optical tracking module is obtained, and a second spatial posture of the spatial positioning tracking module relative to the optical tracking module is obtained; and a third spatial posture of the puncture needle tip relative to the moving starting position of the puncture slide module is determined according to the first spatial posture and the second spatial posture;

[0072] Step S200: acquiring the real-time moving distance of the puncture slide module, and determining the first real-time position of the puncture needle tip relative to the optical tracking module according to the real-time moving distance and the third spatial position;

[0073] Among them, the needle tip calibration module is used to calibrate the initial calibration position of the puncture needle tip, the spatial positioning tracking module is used to calibrate the moving starting position of the puncture slide module, and the puncture slide module is used to move the puncture needle installed thereon.

[0074] In the present application, a puncture needle can be used to puncture into a target to be inspected. The target to be inspected can include the body of a person or an animal. The puncture needle can be called by different names, such as a Kirschner wire, a bone knife, a treatment needle, etc., and the names are not limited here.

[0075] The optical tracking module can have different names, such as optical navigation device, etc., and there is no restriction on the name here.

[0076] In some possible implementations, the optical tracking module may include at least one of the following: a binocular positioning camera, an OTS (Optical Tracking System) optical positioning device, an infrared tracker, and a structured light camera.

[0077] In some possible implementations, the optical tracking module can be placed in the working environment, so that its field of view can capture the needle tip calibration module and the spatial positioning tracking module. The optical tracking module can output the acquired poses or spatial positions to achieve the acquisition of the poses and spatial positions.

[0078] Exemplarily, the placement of the optical tracking module allows its field of view to capture the end tool module in the puncture robot system. The end tool module can be used to install and move the puncture needle.

[0079] In the present application, a pose may be a description of the position and posture of an object in a three-dimensional space. In some possible implementations, the description of the pose may include at least one of the following: three translation parameters (e.g., x, y, z coordinates) and three rotation parameters (e.g., rotation angles around the x-axis, y-axis, and z-axis) of the object in the three-dimensional space. In some possible implementations, the representation of the three rotation parameters may include at least one of the following: Euler angles, quaternions, and rotation matrices.

[0080] In this application, the spatial posture of A relative to B can be understood as: the position and posture of A in the coordinate system of B. The posture can be named differently, such as spatial coordinates, etc., and the name is not limited here.

[0081] In some possible implementations, the needle tip calibration module may include an active luminous marker (such as an actively luminous reflective ball) or a passive marker (such as a passively reflective reflective ball). In some possible implementations, the puncture needle tip reaching the needle tip calibration module may be understood as: the puncture needle tip shields the active luminous marker or passive marker of the needle tip calibration module, so that the optical tracking module cannot detect the active luminous marker or passive marker.

[0082] Exemplarily, the needle tip calibration module can be fixed to the head end of the end tool module (corresponding to the end of the end tool module) to indicate the initial calibration position of the puncture needle tip. In this application, the head end and the end end are relative positions, not limited to absolute positions.

[0083] Exemplarily, the active luminous marker or passive marker of the needle tip calibration module can be installed on the puncture needle extension line, so that the puncture needle can reach the needle tip calibration module by simply moving along the extension line and the puncture needle tip can cover the active luminous marker or passive marker, thereby simplifying the calibration process. Those skilled in the art should understand that the active luminous marker or passive marker of the needle tip calibration module is not limited to being installed on the puncture needle extension line, and can also be installed in other ways, such as the puncture needle tip can move along any trajectory and reach the needle tip calibration module to cover the active luminous marker or passive marker.

[0084] In some possible implementations, the spatial positioning tracking module may include a tracking bracket and three or more active luminous markers or passive markers, wherein the markers are fixed to the tracking bracket in a preset manner, and the tracking bracket is fixed to the marker position to be positioned and calibrated (such as a patient, an end tool module, etc.), for identifying and tracking the marker position in the working space. Exemplarily, the optical tracking module can obtain the position and posture of the spatial positioning tracking module.

[0085] In some possible implementations, the optical tracking module may obtain at least the following items:

[0086] The spatial position of the needle tip calibration module relative to the optical tracking module. Exemplarily, when the puncture needle tip reaches the needle tip calibration module, the initial spatial position of the needle tip calibration module relative to the optical tracking module can be recorded as P0;

[0087] The spatial position and posture of the spatial positioning tracking module relative to the optical tracking module. Exemplarily, when the puncture needle tip reaches the needle tip calibration module, the second spatial position and posture of the spatial positioning tracking module relative to the optical tracking module can be recorded as T_OTS_Tool0.

[0088] In some possible implementations, the optical tracking module may acquire the spatial position or posture in a manner that includes at least one of the following:

[0089] A needle tip calibration module or a spatial positioning tracking module is fixed at a preset position, and the optical tracking module can measure the spatial position of the needle tip calibration module or the posture of the spatial positioning tracking module, thereby obtaining the spatial position or posture of the preset position relative to the optical tracking module;

[0090] The optical tracking module emits a laser beam to a preset position, receives the reflected laser signal, measures the time difference or reflection angle from the emission to the reception of the laser, and thus obtains the spatial position or posture of the preset position relative to the optical tracking module.

[0091] In some possible implementations, the posture conversion can be used to obtain the third spatial posture T_Tool0_P0 of the moving starting position of the puncture needle tip relative to the puncture slide module, and the first real-time posture T_OTS_P of the puncture needle tip relative to the optical tracking module. In some possible implementations, the posture conversion can be implemented based on at least one intermediate posture. After determining the first real-time posture of the puncture needle tip relative to the optical tracking module, the puncture needle tip calibration is completed.

[0092] In some possible implementations, when the puncture needle tip reaches the needle tip calibration module, the first spatial posture of the needle tip calibration module relative to the optical tracking module is equivalent to the spatial posture of the puncture needle tip relative to the optical tracking module; the second spatial posture of the spatial positioning tracking module relative to the optical tracking module is equivalent to the spatial posture of the moving starting position of the puncture slide module relative to the optical tracking module.

[0093] Exemplarily, the calculation formula of the third spatial position T_Tool0_P0 of the moving starting position of the puncture needle tip relative to the puncture slide module is as follows:

[0094] T_Tool0_P0 = T_OTS_Tool0.inverse() * T_OTS_P0 (1)

[0095] Among them, .inverse() represents the inverse of the matrix, T_OTS_Tool0 represents the second spatial pose of the spatial positioning and tracking module relative to the optical tracking module, and T_OTS_P0 represents the first spatial pose of the needle tip calibration module relative to the optical tracking module.

[0096] Through the above step S100, when the puncture needle is replaced once or multiple times, the third spatial position of the puncture needle tip relative to the moving starting position of the puncture slide module can be automatically determined each time, so as to facilitate the subsequent automatic tracking and calibration of the puncture needle tip, simplify the calibration process, and do not require human intervention, which can improve the calibration accuracy.

[0097] In some possible implementations, the real-time moving distance Lc of the puncture slide module can be measured by a coding sensor module.

[0098] Through the above step S200, the moving distance of the puncture needle tip relative to the needle tip calibration module can be obtained in combination with the real-time moving distance of the puncture slide module, so as to perform posture conversion in combination with the third space posture, so as to track the real-time posture of the puncture needle tip, realize automatic calibration of the puncture needle tip, simplify the calibration process, and do not require human intervention, which can improve the calibration accuracy.

[0099] In this way, through the above steps S100 to S200, when the puncture needle is replaced once or multiple times, the real-time position of the puncture needle tip relative to the optical tracking module can be automatically determined each time, and the puncture needle can be automatically calibrated without human participation in recalibration. It can effectively solve the problem that multiple needle changes require repeated calibration and the process is complicated, simplify the calibration process, shorten the operation time, reduce the cost of operation time, and reduce the patient's pain. In addition, the puncture needle calibration process does not require human participation, which can reduce the errors caused by human factors and improve the calibration accuracy. In addition, during the puncture needle calibration process, only the optical tracking module and the device for installing, moving and calibrating the puncture needle need to be used, and there is no need to introduce other equipment to assist in calibration, which reduces equipment procurement and training costs.

[0100] In an optional implementation, the step of obtaining the first spatial position of the needle tip calibration module relative to the optical tracking module in step S100 includes:

[0101] In the process where the puncture slide module drives the puncture needle to move toward the needle tip calibration module in the first moving direction, the spatial position of the needle tip calibration module relative to the optical tracking module is recorded at each preset time interval;

[0102] Searching for a spatial position corresponding to at least one preset time interval before the preset time interval when the puncture needle tip reaches the needle tip calibration module from all the recorded spatial positions, and using the spatial position as the initial spatial position of the needle tip calibration module relative to the optical tracking module when the puncture needle tip reaches the needle tip calibration module;

[0103] According to the initial spatial position, a first spatial position of the needle tip calibration module relative to the optical tracking module is determined.

[0104] In the present application, determining that the puncture needle tip has reached the initial calibration position may include: the puncture needle tip moves to an active luminous marker or a passive marker that blocks the needle tip calibration module so that the optical tracking module cannot detect the active luminous marker or the passive marker.

[0105] In some possible implementations, the first moving direction may be a direction from the moving starting position of the puncture slide module to the initial calibration position of the puncture needle tip. The movement of the puncture needle along the first moving direction may be referred to as forward movement.

[0106] Exemplarily, when the puncture slide module carries the puncture needle and moves forward until the puncture needle tip reaches the needle tip calibration module, the optical tracking module cannot detect the active luminous marker or passive marker signal because the puncture needle tip blocks the active luminous marker or passive marker of the needle tip calibration module. By recording the spatial position of the needle tip calibration module relative to the optical tracking module before being blocked, the record can be reversely searched to obtain the spatial position of the active luminous marker or passive marker measured by the optical tracking module before being blocked (the spatial position of the needle tip calibration module), and this is used as the initial spatial position P0 of the needle tip calibration module relative to the optical tracking module.

[0107] In some possible implementations, the pre-shielding time may be at least one preset time interval before the preset time interval when the puncture needle tip reaches the needle tip calibration module. Exemplarily, the pre-shielding time may be one preset time interval before the preset time interval when the puncture needle tip reaches the needle tip calibration module, or multiple (the specific number of multiples can be preset according to actual needs) preset time intervals before.

[0108] In some possible implementations, the preset time interval may be a system clock cycle or a multiple thereof.

[0109] In some possible implementations, the initial spatial position P0 can be converted to the same coordinate system as the second spatial posture corresponding to the spatial positioning and tracking module, so that the first spatial posture T_OTS_P0 of the needle tip calibration module relative to the optical tracking module can be obtained according to the requirements of the spatial positioning and tracking module.

[0110] In this way, when the puncture needle moves in the first moving direction close to the needle tip calibration module, the spatial position of the needle tip calibration module relative to the optical tracking module can be recorded in real time, thereby reducing measurement errors and improving positioning accuracy.

[0111] In an optional implementation, the step of obtaining the first spatial position of the needle tip calibration module relative to the optical tracking module in step S100 includes:

[0112] In the case where the puncture slide module drives the puncture needle to move in the first moving direction so that the puncture needle tip reaches the needle tip calibration module, when the puncture slide module drives the puncture needle to move in the second moving direction so that the puncture needle tip leaves the needle tip calibration module, the spatial position of the needle tip calibration module relative to the optical tracking module is obtained, and the spatial position is used as the initial spatial position of the needle tip calibration module relative to the optical tracking module when the puncture needle tip reaches the needle tip calibration module;

[0113] According to the initial spatial position, a first spatial position of the needle tip calibration module relative to the optical tracking module is determined.

[0114] In some possible implementations, the first moving direction and the second moving direction may be two different directions. Exemplarily, the second moving direction may be opposite to the first moving direction. The second moving direction may be a direction from the initial calibration position of the puncture needle tip to the moving starting position of the puncture slide module. The movement of the puncture needle along the second moving direction may be referred to as backward movement.

[0115] Exemplarily, when the puncture needle tip is in a state of blocking the needle tip calibration module, the puncture slide module can carry the puncture needle and move backward until the puncture needle tip leaves the needle tip calibration module. At this time, the puncture needle tip does not block the active luminous marker or passive marker of the needle tip calibration module (indicating that the puncture needle tip leaves the needle tip calibration module), and the optical tracking module can detect the active luminous marker or passive marker signal (that is, when the needle tip is blocked, OTS is used in reverse to achieve needle tip calibration), thereby measuring the spatial position of the needle tip calibration module relative to the optical tracking module at this time, and using this as the initial spatial position P0 of the needle tip calibration module relative to the optical tracking module.

[0116] In this way, the puncture needle tip can be automatically identified and calibrated based on the reverse use of OTS, which subverts the traditional practice of calibrating the puncture needle tip based on the forward use of OTS, and is conducive to the automation of puncture needle calibration, reducing measurement errors and improving positioning accuracy.

[0117] In an optional implementation, the step S200 of determining the first real-time position of the puncture needle tip relative to the optical tracking module according to the real-time moving distance and the third spatial position includes:

[0118] Determine a real-time translation matrix of the puncture needle tip according to the real-time moving distance;

[0119] A first real-time position and posture of the puncture needle tip relative to the optical tracking module is determined according to the real-time translation matrix, the second spatial position and the third spatial position.

[0120] In an optional embodiment, determining the real-time translation matrix of the puncture needle tip according to the real-time moving distance includes:

[0121] Acquire the initial movement distance of the puncture slide module when the puncture needle tip reaches the needle tip calibration module, and determine the movement distance of the puncture needle tip relative to the needle tip calibration module according to the real-time movement distance and the initial movement distance;

[0122] According to the moving distance, a real-time translation matrix of the puncture needle tip is determined.

[0123] In some possible implementations, when the puncture needle tip reaches the needle tip calibration module, that is, it is in the initial calibration position, the initial distance L1 of the puncture slide module movement recorded by the encoding sensor module at this moment can be obtained. In this way, based on the real-time movement distance Lc and the initial movement distance L1, the movement distance L=Lc-L1 of the puncture needle tip relative to the needle tip calibration module can be determined. Combined with the installation orientation of the coordinate system axis of the spatial positioning tracking module, the real-time translation matrix Tran_c of the puncture needle tip can be determined. Exemplarily, the puncture needle tip can translate along the axis of the screw module, but is not limited to this. The installation of the spatial positioning tracking module may require that the coordinate system axis of the spatial positioning tracking module is parallel to the axis of the screw module, but is not limited to this. The coordinate system axis of the spatial positioning tracking module is not limited to the X or Y or Z axis.

[0124] In this way, by determining the real-time translation matrix of the puncture needle tip, the first real-time posture of the puncture needle tip relative to the optical sensing module can be calculated using posture conversion, which can improve the real-time tracking accuracy of the puncture needle tip.

[0125] In an optional implementation, determining the first real-time position of the puncture needle tip relative to the optical tracking module according to the real-time translation matrix and the third spatial position includes:

[0126] Acquire a second real-time position and posture of the spatial positioning tracking module relative to the optical tracking module;

[0127] The first real-time posture of the puncture needle tip relative to the optical tracking module is determined according to the second real-time posture, the third spatial posture and the real-time translation matrix.

[0128] In some possible implementations, during the calibration of the puncture needle tip, the spatial positioning tracking module can be considered to remain stationary relative to the optical tracking module, and the calculation formula of the first real-time posture T_OTS_P is as follows:

[0129] T_OTS_P = T_OTS_Tool0 * T_Tool0_P0 * Tran_c (2)

[0130] Among them, T_OTS_Tool0 represents the second spatial posture of the spatial positioning tracking module relative to the optical tracking module when the puncture needle tip reaches the needle tip calibration module. Since the spatial positioning tracking module remains stationary relative to the optical tracking module, it is the second real-time posture T_OTS_Tool of the spatial positioning tracking module relative to the optical tracking module; T_Tool0_P0 represents the third spatial posture of the moving starting position (calibrated position of the spatial positioning tracking module) of the puncture needle tip relative to the puncture slide module when the puncture needle tip reaches the needle tip calibration module, and Tran_c represents the real-time translation matrix of the puncture needle tip.

[0131] In this way, through the third spatial posture and the real-time translation matrix, the real-time posture of the puncture needle tip relative to the spatial positioning and tracking module can be calculated. Combined with the second spatial posture, the first real-time posture of the puncture needle tip relative to the optical tracking module can be accurately positioned, thereby improving the real-time tracking accuracy of the puncture needle tip.

[0132] In some possible implementations, during the calibration of the puncture needle tip, the spatial positioning tracking module may move or slightly move relative to the optical tracking module, and the calculation formula of the first real-time position T_OTS_P is as follows:

[0133] T_OTS_P = T_OTS_Tool * T_Tool0_P0 * Tran_c (3)

[0134] Among them, T_OTS_Tool represents the second real-time posture of the spatial positioning and tracking module relative to the optical tracking module; T_Tool0_P0 represents the third spatial posture of the puncture needle tip relative to the puncture slide module when the puncture needle tip reaches the needle tip calibration module (the calibration position of the spatial positioning and tracking module), and Tran_c represents the real-time translation matrix of the puncture needle tip.

[0135] In this way, through the third spatial posture and real-time translation matrix, the real-time posture of the puncture needle tip relative to the spatial positioning tracking module can be calculated. Combined with the second real-time posture, the posture changes caused by the movement or micro-motion of the spatial positioning tracking module relative to the optical tracking module can be obtained more in real time, and the first real-time posture of the puncture needle tip relative to the optical tracking module can be accurately located, thereby improving the real-time tracking accuracy of the puncture needle tip.

[0136] In an alternative embodiment, if Figure 2 As shown, the puncture needle tip calibration method also includes:

[0137] Step S300: When the puncture slide module reaches the space positioning tracking module, calibrate the moving starting position of the puncture slide module.

[0138] In some possible implementations, step S300 may be located before step S100, or may be located between step S100 and step S200.

[0139] In some possible implementations, the puncture slide initial positioning sensing module can be used to measure whether the puncture slide module reaches the moving starting position. Exemplarily, the moving starting position of the puncture slide module can be the position set by the spatial positioning tracking module or correspond to the position of the spatial positioning tracking module.

[0140] In some possible implementations, the puncture slide initial positioning sensing module may include a contact sensor or a non-contact sensor. The puncture slide initial positioning sensing module may be named differently, such as a sensor measurement module, etc., and the name is not limited here.

[0141] Exemplarily, when the puncture slide module reaches the moving starting position of the puncture slide module, the data measured by the encoding sensor module at this time is obtained as the moving starting position L0 of the puncture slide module to calibrate the moving starting position of the puncture slide module.

[0142] In this way, by calibrating the moving starting position of the puncture slide module, the accuracy of the acquired real-time moving distance of the puncture slide module can be improved, thereby improving the real-time tracking accuracy of the puncture needle tip.

[0143] The following describes the device, equipment, storage medium, system, etc. used to execute the puncture needle tip calibration method provided in this application. The specific implementation process and technical effects are described above and will not be repeated below.

[0144] The present application also provides a puncture needle tip calibration device, such as Figure 3 As shown, the puncture needle tip marking device comprises:

[0145] The first determination module 100 is used to obtain a first spatial posture of the needle tip calibration module relative to the optical tracking module and a second spatial posture of the spatial positioning tracking module relative to the optical tracking module when the puncture needle tip reaches the needle tip calibration module; and determine a third spatial posture of the puncture needle tip relative to the moving starting position of the puncture slide module according to the first spatial posture and the second spatial posture;

[0146] The second determination module 200 is used to obtain the real-time moving distance of the puncture slide module, and determine the first real-time position of the puncture needle tip relative to the optical tracking module according to the real-time moving distance and the third spatial position;

[0147] Among them, the needle tip calibration module is used to calibrate the initial calibration position of the puncture needle tip, the spatial positioning tracking module is used to calibrate the moving starting position of the puncture slide module, and the puncture slide module is used to move the puncture needle installed thereon.

[0148] In an optional implementation manner, the first determining module 100 includes:

[0149] A recording module, used for recording the spatial position of the needle tip calibration module relative to the optical tracking module at every preset time interval during the process in which the puncture slide module drives the puncture needle to move toward the needle tip calibration module in the first moving direction;

[0150] A first acquisition module is used to search for a spatial position corresponding to at least one preset time interval before the preset time interval when the puncture needle tip arrives at the needle tip calibration module from all the recorded spatial positions, and use the spatial position as the initial spatial position of the needle tip calibration module relative to the optical tracking module when the puncture needle tip arrives at the needle tip calibration module;

[0151] The third determination module is used to determine a first spatial posture of the needle tip calibration module relative to the optical tracking module according to the initial spatial position.

[0152] In an optional implementation manner, the first determining module 100 includes:

[0153] A second acquisition module is used for acquiring the spatial position of the needle tip calibration module relative to the optical tracking module when the puncture slide module drives the puncture needle to move in the first moving direction so that the puncture needle tip reaches the needle tip calibration module, and when the puncture slide module drives the puncture needle to move in the second moving direction so that the puncture needle tip leaves the needle tip calibration module, and using the spatial position as the initial spatial position of the needle tip calibration module relative to the optical tracking module when the puncture needle tip reaches the needle tip calibration module;

[0154] The fourth determination module is used to determine a first spatial position of the needle tip calibration module relative to the optical tracking module according to the initial spatial position.

[0155] In an optional implementation manner, the second determining module 200 includes:

[0156] A fifth determination module, used to determine the real-time translation matrix of the puncture needle tip according to the real-time moving distance;

[0157] The sixth determination module is used to determine a first real-time posture of the puncture needle tip relative to the optical tracking module according to the real-time translation matrix and the third spatial posture.

[0158] In an optional implementation, the fifth determining module includes:

[0159] a seventh determination module, for obtaining an initial movement distance of the puncture slide module when the puncture needle tip reaches the needle tip calibration module, and determining a movement distance of the puncture needle tip relative to the needle tip calibration module according to the real-time movement distance and the initial movement distance;

[0160] An eighth determination module is used to determine the real-time translation matrix of the puncture needle tip according to the moving distance.

[0161] In an optional implementation manner, the sixth determining module includes:

[0162] A third acquisition module, used for acquiring a second real-time position and posture of the spatial positioning and tracking module relative to the optical tracking module;

[0163] A ninth determination module is used to determine a first real-time posture of the puncture needle tip relative to the optical tracking module according to the second real-time posture, the third spatial posture and the real-time translation matrix.

[0164] In an optional embodiment, the puncture needle tip marking device further includes:

[0165] The calibration module is used to calibrate the moving starting position of the puncture slide module when the puncture slide module reaches the space positioning tracking module.

[0166] It should be understood that the division of the units or modules in the above devices is only a division of logical functions, and in actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. In addition, the units or modules in the device can be implemented in the form of a processor calling software: for example, the device includes a processor, the processor is connected to a memory, the memory stores instructions, and the processor calls the instructions stored in the memory to implement any of the above methods or implement the functions of the units or modules of the above devices.

[0167] Among them, the processor is a circuit with signal processing capability. In one implementation, the processor can be a circuit with instruction reading and running capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP), etc.; in another implementation, the processor can realize certain functions through the logical relationship of the hardware circuit, and the logical relationship of the above hardware circuit is fixed or reconfigurable, such as the processor is a hardware circuit implemented by a dedicated integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the function described by the instructions. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. All units or modules of the above devices may be implemented entirely in the form of a processor calling software, or entirely in the form of a hardware circuit, or partially in the form of a processor calling software and the rest in the form of a hardware circuit.

[0168] The memory may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor may execute the program instructions to implement the steps in the above method and / or other desired functions.

[0169] The present application also provides an electronic device, such as Figure 4As shown, the electronic device 9100 can be a measuring device, a terminal (such as a user device, etc.), a chip, a chip system, or a processor that supports the implementation of any of the above methods, or a chip, a chip system, or a processor that supports the terminal to implement any of the above methods. The electronic device 9100 can be used to implement the puncture needle tip calibration method described in the above method embodiment, and the details can be referred to the description in the above method embodiment.

[0170] like Figure 4 As shown, the electronic device 9100 may include one or more processors 9101. The processor 9101 may be used to call instructions so that the electronic device 9100 executes any of the above methods. The processor 9101 may be the processor in the above embodiment.

[0171] In some embodiments, the electronic device 9100 may further include one or more memories 9102 for storing instructions. Optionally, all or part of the memory 9102 may also be outside the electronic device 9100.

[0172] In some embodiments, the electronic device 9100 may further include one or more transceivers 9103. When the electronic device 9100 includes one or more transceivers 9103, the steps of sending, receiving and / or acquiring in the above method may be performed by the transceiver 9103, and the other steps may be performed by the processor 9101.

[0173] In some embodiments, the steps of obtaining and the like in the above method may also be executed by the processor 9101 , for example, obtaining information from the memory 9102 .

[0174] In some embodiments, the transceiver may include a receiver and a transmitter, and the receiver and the transmitter may be separate or integrated. Optionally, the terms such as transceiver, transceiver unit, transceiver, transceiver circuit, etc. may be replaced with each other, the terms such as transmitter, transmission unit, transmitter, transmission circuit, etc. may be replaced with each other, and the terms such as receiver, receiving unit, receiver, receiving circuit, etc. may be replaced with each other.

[0175] Optionally, the electronic device 9100 may further include one or more interface circuits 9104, which are connected to the memory 9102. The interface circuit 9104 may be used to receive signals from the memory 9102 or other devices, and may be used to send signals to the memory 9102 or other devices. For example, the interface circuit 9104 may read instructions stored in the memory 9102 and send the instructions to the processor 9101.

[0176] The electronic device 9100 described in the above embodiment may be a network device or a terminal, but is not limited thereto. The structure of the electronic device 9100 may not be limited thereto. Figure 4The electronic device may be an independent device or may be part of a larger device. For example, the electronic device may be: (1) an independent integrated circuit IC, or a chip, or a chip system or subsystem; (2) a collection of one or more ICs, optionally, the above IC collection may also include a storage component for storing data and programs; (3) an ASIC, such as a modem; (4) a module that can be embedded in other devices; (5) a receiver, a terminal device, an intelligent terminal device, a cellular phone, a wireless device, a handheld device, a mobile unit, a vehicle-mounted device, a network device, a cloud device, an artificial intelligence device, etc.; (6) others, etc.

[0177] The embodiment of the present application further provides a computer-readable storage medium on which an executable program is stored. When the executable program is executed by a processor, the steps of the puncture needle tip calibration method are implemented.

[0178] In some embodiments, computer-readable storage media can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. Computer-readable storage media is a tangible device that can keep and store instructions used by an instruction execution device. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: portable computer disk, hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disk read-only memory (CD-ROM), digital versatile disk (DVD), memory stick, floppy disk, mechanical encoding device, such as a punch card or a convex structure in a groove on which instructions are stored, and any suitable combination of the above. The computer-readable storage medium used here is not interpreted as a transient signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagated by a waveguide or other transmission medium (for example, a light pulse by an optical fiber cable), or an electrical signal transmitted by a wire.

[0179] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0180] The present application also provides a puncture needle tip calibration system, which can be used to implement the steps of the puncture needle tip calibration method in the above embodiment. Figure 5 As shown, the puncture needle tip calibration system includes an optical tracking module 8, an end tool module 9, a puncture slide initial positioning sensing module 3, a spatial positioning tracking module 2, a needle tip calibration module 1, and a processor (not shown in the figure);

[0181] The optical tracking module 8 is used to obtain the spatial position of the needle tip calibration module 1 and the spatial posture of the spatial positioning tracking module 2;

[0182] The end tool module 9 includes a puncture slide module 4 for installing and moving the puncture needle;

[0183] The puncture slide initial positioning sensing module 3 is fixed at the end of the end tool module 9 and is used to indicate the moving starting position of the puncture slide module 4;

[0184] The spatial positioning tracking module 2 is fixed at the end of the end tool module and is used to calibrate the moving starting position of the puncture slide module 4;

[0185] The needle tip calibration module 1 is fixed to the head end of the end tool module 9 and is used to calibrate the initial calibration position of the puncture needle tip;

[0186] The processor is used to implement the steps of the puncture needle tip calibration method described in the above embodiment.

[0187] In an optional embodiment, the end tool module 9 further includes a puncture screw module 7 and a rotary clamping puncture module 5;

[0188] The puncture screw module is used to drive the puncture slide module to move, so as to drive the puncture needle to move; and to measure the moving distance of the puncture slide module;

[0189] The rotary clamping puncture module is fixed on the puncture slide module and is used for clamping the puncture needle.

[0190] In some possible implementations, the processor may adopt the processor in the above embodiments.

[0191] In some possible implementations, the puncture screw module 7 may include a drive motor module, a coding sensor module and a screw module. The drive motor module drives the screw module to rotate, thereby pushing the puncture slide module 4 to move linearly. The coding sensor module records the movement distance of the puncture slide module 4. In this way, the calibration process can be simplified.

[0192] In some possible implementations, the puncture slide module 4 may be installed on the puncture lead screw module 7 in the form of a threaded screw, so that rotating the lead screw module pushes the puncture slide module 4 to move parallel to the axis.

[0193] In some possible implementations, the rotary clamping puncture module 5 may include a rotary motor module and a clamping claw module. The rotary clamping puncture module 5 is fixedly mounted on the puncture slide module 4. The clamping claw module can clamp the puncture needle 6. The rotary motor module can drive the clamping claw module, and the forward movement causes the clamping claw module to clamp the puncture needle and drive the puncture needle to rotate axially, and the reverse movement causes the clamping claw module to loosen and the puncture needle to detach from the clamping claw module. In this way, the automatic loading and unloading of the puncture needle can be realized, which is convenient for single or multiple replacement of the puncture needle.

[0194] It should be understood that the above embodiments are exemplary and are not intended to include all possible implementations included in the claims. Various modifications and changes may be made on the basis of the above embodiments without departing from the scope of the present disclosure. Similarly, the various technical features of the above embodiments may be arbitrarily combined to form other embodiments of the present application that may not be explicitly described. Therefore, the above embodiments only express several implementations of the present application and do not limit the scope of protection of the patent of this application.

Claims

1. A puncture needle tip calibration method, characterized in that: The puncture needle tip calibration method comprises: When the puncture needle tip reaches the needle tip calibration module, a first spatial position of the needle tip calibration module relative to the optical tracking module is obtained, and a second spatial position of the spatial positioning tracking module relative to the optical tracking module is obtained; and a third spatial position of the puncture needle tip relative to the moving starting position of the puncture slide module is determined according to the first spatial position and the second spatial position; Acquire the real-time moving distance of the puncture slide module, and determine the first real-time position of the puncture needle tip relative to the optical tracking module according to the real-time moving distance and the third spatial position; Among them, the needle tip calibration module is used to calibrate the initial calibration position of the puncture needle tip, the spatial positioning tracking module is used to calibrate the moving starting position of the puncture slide module, and the puncture slide module is used to move the puncture needle installed thereon.

2. The puncture needle tip calibration method according to claim 1, characterized in that: The step of obtaining a first spatial position of the needle tip calibration module relative to the optical tracking module includes: In the process where the puncture slide module drives the puncture needle to move toward the needle tip calibration module in the first moving direction, the spatial position of the needle tip calibration module relative to the optical tracking module is recorded at each preset time interval; Searching for a spatial position corresponding to at least one preset time interval before the preset time interval when the puncture needle tip reaches the needle tip calibration module from all the recorded spatial positions, and using the spatial position as the initial spatial position of the needle tip calibration module relative to the optical tracking module when the puncture needle tip reaches the needle tip calibration module; According to the initial spatial position, a first spatial position of the needle tip calibration module relative to the optical tracking module is determined.

3. The puncture needle tip calibration method according to claim 1, characterized in that: The step of obtaining a first spatial position of the needle tip calibration module relative to the optical tracking module includes: In the case where the puncture slide module drives the puncture needle to move in the first moving direction so that the puncture needle tip reaches the needle tip calibration module, when the puncture slide module drives the puncture needle to move in the second moving direction so that the puncture needle tip leaves the needle tip calibration module, the spatial position of the needle tip calibration module relative to the optical tracking module is obtained, and the spatial position is used as the initial spatial position of the needle tip calibration module relative to the optical tracking module when the puncture needle tip reaches the needle tip calibration module; According to the initial spatial position, a first spatial position of the needle tip calibration module relative to the optical tracking module is determined.

4. The puncture needle tip calibration method according to claim 1, characterized in that: Determining the first real-time position of the puncture needle tip relative to the optical tracking module according to the real-time moving distance and the third spatial position includes: Determine a real-time translation matrix of the puncture needle tip according to the real-time moving distance; A first real-time position and posture of the puncture needle tip relative to the optical tracking module is determined according to the real-time translation matrix and the third spatial position and posture.

5. The puncture needle tip calibration method according to claim 4, characterized in that: The step of determining the real-time translation matrix of the puncture needle tip according to the real-time moving distance comprises: Acquire the initial movement distance of the puncture slide module when the puncture needle tip reaches the needle tip calibration module, and determine the movement distance of the puncture needle tip relative to the needle tip calibration module according to the real-time movement distance and the initial movement distance; According to the moving distance, a real-time translation matrix of the puncture needle tip is determined.

6. The puncture needle tip calibration method according to claim 4, characterized in that: Determining a first real-time position of the puncture needle tip relative to the optical tracking module according to the real-time translation matrix and the third spatial position includes: Acquire a second real-time position and posture of the spatial positioning tracking module relative to the optical tracking module; The first real-time posture of the puncture needle tip relative to the optical tracking module is determined according to the second real-time posture, the third spatial posture and the real-time translation matrix.

7. The puncture needle tip calibration method according to any one of claims 1 to 6, characterized in that: The puncture needle tip calibration method also includes: When the puncture slide module reaches the space positioning tracking module, the moving starting position of the puncture slide module is calibrated.

8. A puncture needle tip marking device, characterized in that: The puncture needle tip marking device comprises: A first determination module is used to obtain a first spatial posture of the needle tip calibration module relative to the optical tracking module and a second spatial posture of the spatial positioning tracking module relative to the optical tracking module when the puncture needle tip reaches the needle tip calibration module; and determine a third spatial posture of the puncture needle tip relative to the moving starting position of the puncture slide module according to the first spatial posture and the second spatial posture; a second determination module, configured to obtain a real-time moving distance of the puncture slide module, and determine a first real-time position of the puncture needle tip relative to the optical tracking module according to the real-time moving distance and the third spatial position; Among them, the needle tip calibration module is used to calibrate the initial calibration position of the puncture needle tip, the spatial positioning tracking module is used to calibrate the moving starting position of the puncture slide module, and the puncture slide module is used to move the puncture needle installed thereon.

9. An electronic device comprising a processor, a memory, and an executable program stored in the memory and capable of being run by the processor, characterized in that: When the processor runs the executable program, the processor executes the steps of the puncture needle tip calibration method according to any one of claims 1 to 7.

10. A storage medium having an executable program stored thereon, characterized in that: When the executable program is executed by the processor, the steps of the puncture needle tip calibration method according to any one of claims 1 to 7 are implemented.

11. A puncture needle tip calibration system, characterized in that: The puncture needle tip calibration system includes an optical tracking module, an end tool module, a puncture slide initial positioning sensing module, a spatial positioning tracking module, a needle tip calibration module, and a processor; The optical tracking module is used to obtain the spatial position of the needle tip calibration module and the spatial posture of the spatial positioning tracking module; The end tool module includes a puncture slide module for installing and moving the puncture needle; The puncture slide initial positioning sensing module is fixed at the end of the end tool module, and is used to indicate the moving starting position of the puncture slide module; The spatial positioning tracking module is fixed at the end of the end tool module and is used to calibrate the moving starting position of the puncture slide module; The needle tip calibration module is fixed at the head end of the end tool module and is used to calibrate the initial calibration position of the puncture needle tip; The processor is used to implement the steps of the puncture needle tip calibration method as described in any one of claims 1-7.

12. The puncture needle tip marking system according to claim 11, characterized in that: The end tool module also includes a puncture screw module and a rotary clamping puncture module; The puncture screw module is used to drive the puncture slide module to move, so as to drive the puncture needle to move; and to measure the moving distance of the puncture slide module; The rotary clamping puncture module is fixed on the puncture slide module and is used for clamping the puncture needle.

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