Auxiliary navigation method and device, electronic equipment and readable storage medium

Abstract

The invention discloses an auxiliary navigation method, an auxiliary navigation device, electronic equipment and a readable storage medium. The aided navigation method comprises the steps that a first guide mark pointing to a second reference point from a first reference point is provided, the first reference point is an intersection point formed by an operation line of an equipment model and a horizontal plane of the equipment model, and the second reference point is determined based on a normal of a target object model and the horizontal plane of the equipment model; and guiding the normal of the target object and the operation line of the equipment to intersect at a target point on the target object or a first reference point of the equipment based on the first guide mark, the target object and the target object model are correspondingly arranged, and the equipment and the equipment model are correspondingly arranged.

Description

Technical Field

[0001] The present invention relates to the field of medical equipment, and in particular to an auxiliary navigation method, an auxiliary navigation device, an electronic device and a readable storage medium. Background Art

[0002] With the rapid development of medical imaging technology and medical image processing technology, image-guided operating systems have emerged. With the help of the three-dimensional reconstruction model of medical images, the operator can intuitively and accurately analyze the structure of a certain part of the subject and its surrounding tissues, which helps the operator to perform corresponding operations.

[0003] In the above operation process, optical assisted navigation is an effective medical navigation system. It is a robot operating system composed of an optical tracking device and a six-axis robot. The system uses a robot to clamp the medical device, the optical tracking device is fixed by a bracket, and a marker is fixed on the subject (such as the head) for the optical tracking device to locate the head coordinates.

[0004] In some 3D view guidance processes, in order to facilitate operator observation, it is usually required that the normal direction of the target object is roughly perpendicular to the displayed interface. However, in actual situations, due to the different positions of the target points on the target object, the posture of the target object, and the operator's habits, it is easy to cause the view angle of the target object in the 3D view to be uncertain, and it is impossible to ensure that the normal direction of the target object is roughly perpendicular to the interface, and thus it is impossible to effectively guide the operator's operation.

[0005] Some navigation systems provide overly simple or unintuitive prompts during navigation, and operators are unable to quickly achieve alignment based on the prompts, which increases operation time and reduces operation efficiency. Summary of the invention

[0006] In order to solve at least one aspect of the above-mentioned problems and defects existing in the prior art, the embodiments of the present invention provide an auxiliary navigation method, an auxiliary navigation device, an electronic device and a readable storage medium to solve the problem that alignment cannot be achieved quickly.

[0007] An object of the present invention is to provide an assisted navigation method.

[0008] Another object of the present invention is to provide an auxiliary navigation device.

[0009] Another object of the present invention is to provide an electronic device.

[0010] Another object of the present invention is to provide a readable storage medium.

[0011] According to one aspect of the present invention, an assisted navigation method is provided, wherein the assisted navigation method comprises:

[0012] Providing a first guide mark pointing from a first reference point to a second reference point, wherein the first reference point is an intersection point formed by a working line of the equipment model and a horizontal plane of the equipment model, and the second reference point is determined based on a normal line of the target object model and the horizontal plane of the equipment model;

[0013] Based on the first guide mark, the normal line of the target object is guided to intersect with the operation line of the equipment at the target point on the target object or the first reference point of the equipment. The target object and the target object model are set correspondingly, and the equipment and the equipment model are set correspondingly.

[0014] In some embodiments, determining the second reference point based on the normal line of the target model and the horizontal plane of the device model includes:

[0015] Constructing a first reference line passing through the first reference point, wherein the first reference line is perpendicular to a normal line of the target object model;

[0016] Determine an intersection point of the first reference line and a normal line of the target object model as a third reference point;

[0017] The projection point of the third reference point on the horizontal plane of the device model is determined as the second reference point, or

[0018] Constructing a second reference line passing through the target point on the normal line of the target object model;

[0019] An intersection point of the second reference line and a horizontal plane of the equipment model is determined as a second reference point.

[0020] In some embodiments, the second reference line is a normal line of the target object model; or

[0021] The second reference line is a line passing through the target point and parallel to the operation line of the equipment model.

[0022] In some embodiments, the assisted navigation method further includes:

[0023] Determining a first angle between a normal line of the target object model and an operation line of the equipment model;

[0024] When it is determined that the first angle is greater than a first preset angle, determining a projection point of the third reference point on the horizontal plane of the device model as a second reference point;

[0025] When it is determined that the first angle is less than or equal to a first preset angle, an intersection point of the second reference line and a horizontal plane of the device model is determined as a second reference point.

[0026] In some embodiments, when it is determined that the first angle is less than or equal to a first preset angle, the auxiliary navigation method further includes:

[0027] Determine the distance between the target object model and the device model;

[0028] Comparing the distance with a preset distance;

[0029] When it is determined that the distance is less than or equal to the preset distance, determining the intersection of the normal line of the target model and the horizontal plane of the device model as the second reference point;

[0030] When it is determined that the distance is greater than the preset distance, an intersection point of the second reference line and the horizontal plane of the device model is determined as a second reference point.

[0031] In some embodiments, the preset distance is determined by the following steps:

[0032] Determine the size of the target object and the size of the equipment respectively;

[0033] Determine the average value of the size of the target object and the size of the device;

[0034] The preset distance is 1-2 times of the average value.

[0035] In some embodiments, the assisted navigation method further includes:

[0036] providing a second guide mark pointing from the first reference point to a third reference line, wherein the third reference line is determined based on the first reference point, a normal line of the target model and a horizontal plane of the device model;

[0037] The working line of the guiding device is parallel to the normal line of the target object based on the second index mark.

[0038] In some embodiments, the third reference line is determined based on the following steps:

[0039] constructing a fourth reference line passing through the first reference point and parallel to the normal line;

[0040] A projection line of a portion of the fourth reference line located above the horizontal plane of the device model on the horizontal plane of the device model is determined as the third reference line.

[0041] In some embodiments, the assisted navigation method further includes:

[0042] In the case where the horizontal baseline of the equipment is required to be parallel to the target baseline of the target object and the plane where the normal line of the target object is located during the operation of the equipment, the horizontal baseline is perpendicular to and intersects the operation line of the equipment, the target baseline is perpendicular to and intersects the normal line of the target object, and the target point of the target object is located on the target operation line,

[0043] forming a third guide mark based on the target baseline of the target object model, the first reference point, the horizontal plane of the equipment model and the horizontal baseline of the equipment model, wherein the first reference point is located on the horizontal baseline;

[0044] The horizontal baseline of the guiding device based on the third index mark is parallel to the target baseline of the target object and the plane where the normal line of the target object is located.

[0045] In some embodiments, forming a third guide mark based on the target baseline of the target object model, the first reference point, the horizontal plane of the medical device model, and the horizontal baseline of the medical device model comprises the following steps:

[0046] constructing a fifth reference line passing through the first reference point and parallel to the target baseline;

[0047] Determine a projection line of a portion of the fifth reference line located above the horizontal plane of the medical device model on the horizontal plane of the device model as a sixth reference line;

[0048] A third guide mark is formed based on the sixth reference line and the horizontal baseline and points from the horizontal baseline to the sixth reference line.

[0049] In some embodiments, forming a third guide mark based on the target operation line of the target object model, the first reference point, the horizontal plane of the equipment model and the horizontal baseline of the equipment model further includes the following steps:

[0050] determining a second angle between the sixth reference line and the horizontal baseline;

[0051] When the second angle is less than or equal to the second preset angle, a third guide mark pointing from the horizontal baseline to the sixth reference line is formed based on the sixth reference line and the horizontal baseline.

[0052] In some embodiments, the assisted navigation method further includes:

[0053] Determine the intersection point of the normal line of the target model and the working horizontal plane of the equipment model, wherein the working horizontal plane is a plane passing through the working point of the equipment model and perpendicular to the working line of the equipment model;

[0054] Determine the relationship between the direction from the intersection point to the target point of the target object model and the positive direction of the normal vector of the target object model, wherein the normal vector is determined based on the normal line of the target object model;

[0055] forming a fourth guide mark based on the relationship;

[0056] Based on the fourth guide mark, the intersection point of the normal line of the target object and the working horizontal plane of the equipment coincides with the target point.

[0057] In some embodiments, forming a fourth index mark based on the relationship comprises the following steps:

[0058] When the direction from the intersection point to the target point is the same as the positive direction of the normal vector, a fourth guide mark corresponding to the positive direction of the normal vector is formed.

[0059] When the direction from the intersection point to the target point is opposite to the positive direction of the normal vector, a fourth guide mark corresponding to the direction opposite to the positive direction of the normal vector is formed.

[0060] In some embodiments, the first guide mark includes a first arrow in a straight line shape.

[0061] The second guide mark includes a second arrow in a bowstring shape,

[0062] The third guide mark comprises a third arrow in an arc shape, wherein the third arrow in an arc shape takes the first reference point as the center;

[0063] The fourth guide mark includes a fourth arrow in a straight line shape located near the end of the first arrow,

[0064] The operation line of the equipment model forms a first angle with a vertical line of the interface showing the visualization perspective, and the first angle is greater than 0 degrees but less than or equal to 30 degrees.

[0065] According to another aspect of the present invention, there is provided an auxiliary navigation device, the auxiliary navigation device comprising:

[0066] a generating module configured to provide a first guide mark pointing from a first reference point to a second reference point, wherein the first reference point is an intersection point formed by a working line of the equipment model and a horizontal plane of the equipment model, and the second reference point is determined based on a normal line of the target object model and the horizontal plane of the equipment model;

[0067] The control module is communicatively connected to the generation module and is configured to guide the normal line of the target object and the operation line of the equipment to intersect at the target point on the target object or the first reference point of the equipment based on the first guidance mark, and the target object and the target object model are set correspondingly, and the equipment and the equipment model are set correspondingly.

[0068] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0069] A memory and a processor, wherein the memory stores a program, wherein the processor implements the auxiliary navigation method according to any of the aforementioned embodiments when executing the program on the memory.

[0070] According to another aspect of the present invention, a readable storage medium is provided, in which a computer-readable program or instruction is stored. When the computer-readable program or instruction is executed by a processor, the assisted navigation method according to any of the aforementioned embodiments is implemented.

[0071] The assisted navigation method, assisted navigation device, electronic device and readable storage medium according to the present invention have at least one of the following advantages:

[0072] (1) The assisted navigation method, assisted navigation device, electronic device and readable storage medium of the present invention can provide corresponding guidance marks based on relevant information (relative position relationship between the target object and the device, or relative position relationship between the target object model and the device model), thereby providing navigation more intuitively (for example, generating different arrows), thereby increasing the usability of the product;

[0073] (2) The assisted navigation method, assisted navigation device, electronic device and readable storage medium of the present invention are helpful for the operator to quickly achieve alignment between the target object and the device, thereby improving the operation efficiency;

[0074] (3) The assisted navigation method, assisted navigation device, electronic device and readable storage medium of the present invention can provide a variety of first guidance marks to increase the flexibility of the navigation process;

[0075] (4) The assisted navigation method, assisted navigation device, electronic device and readable storage medium of the present invention can generate different horizontal movement guidance marks based on the different sizes of the angle (e.g., the first angle) between the target object and the device, thereby ensuring the effectiveness of the navigation process;

[0076] (5) The assisted navigation method, assisted navigation device, electronic device and readable storage medium of the present invention can provide a variety of navigation information (e.g., the first guide mark to the third guide mark) based on multiple dimensions, which helps to quickly achieve alignment between the target point on the target object and the device;

[0077] (6) The assisted navigation method, assisted navigation device, electronic device and readable storage medium of the present invention can generate a horizontal rotation guidance mark based on the size of the angle (such as the second angle) between the target object and the device, thereby ensuring the operability of the navigation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] These and / or other aspects and advantages of the present invention will become apparent and readily understood from the following description of the preferred embodiments in conjunction with the accompanying drawings, in which:

[0079] Figure 1 An auxiliary navigation method according to an embodiment of the present invention is shown;

[0080] Figure 2A first guide mark according to an embodiment of the present invention is shown;

[0081] Figure 3 A first index mark according to another embodiment of the present invention is shown;

[0082] Figure 4 shows a first index mark according to yet another embodiment of the present invention;

[0083] Figure 5 An auxiliary navigation method according to another embodiment of the present invention is shown;

[0084] Figure 6 A second guide mark according to an embodiment of the present invention is shown;

[0085] Figure 7 An auxiliary navigation method according to another embodiment of the present invention is shown;

[0086] Figure 8 A third index mark according to an embodiment of the present invention is shown;

[0087] Fig. 9 An auxiliary navigation method according to another embodiment of the present invention is shown;

[0088] Fig.10 A fourth guide mark according to an embodiment of the present invention is shown;

[0089] Fig.11 An auxiliary navigation device according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0090] The technical solution of the present invention is further specifically described below by examples and in conjunction with the accompanying drawings. In the specification, the same or similar reference numerals indicate the same or similar components. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the overall inventive concept of the present invention and should not be construed as a limitation of the present invention.

[0091] In an embodiment of the present invention, an auxiliary navigation method is provided, which can navigate a target object or equipment (for example, guiding a target point on the target object to align with an operating point of the equipment) so as to facilitate the equipment to process the target object.

[0092] The target object includes an object that is expected to be processed, such as a body part of a subject. For example, the body part of a subject may be the head, the foot, etc. The target point includes a point of the target object that is expected to be processed, such as a target point, which may be located on the surface of the target object or may be located inside the target object. Specifically, the target point may be, for example, a certain position on the cerebral cortex.

[0093] Devices include devices that operate on a target object, such as medical devices. Medical devices may include magnetic stimulation devices, electrical stimulation devices, light stimulation devices, mechanical wave stimulation devices, and the like.

[0094] The target object model is determined based on the target object and is used for display on the interface. The target object and the target object model are set accordingly. The target object model can be determined in a 1:1 ratio with the target object. Of course, it is clear to those skilled in the art that the target object model can also be determined in other desired ratios.

[0095] The normal of the target model is determined by the following process: the scalp in the target model is processed into a smooth arc surface, the point on the scalp surface closest to the target point is determined, a tangent plane of the scalp arc surface is made through the point, and a straight line perpendicular to the tangent plane and passing through the target point is determined as the normal. The normal of the target corresponds to the normal of the target model.

[0096] In the medical field, the device model is determined based on the device and is used for display on the interface. The device and the device model are set accordingly. The device model can be determined in a 1:1 ratio with the device. Of course, it is clear to those skilled in the art that the device model can also be determined in other desired ratios.

[0097] The operating point of the device is the center point of the energy field formed by the component of the device that acts on the target object. For example, the operating point of the 8-shaped magnetic stimulation coil is the center point of the magnetic field formed by the 8-shaped magnetic stimulation coil; the butterfly-shaped magnetic stimulation coil has two magnetic stimulation coils at an angle, and its operating point is the center point formed by the center points of the magnetic fields of the two magnetic stimulation coils. The operating point of the device model corresponds to the operating point of the device.

[0098] The operation line of the equipment is a straight line passing through the equipment's operation point and along the current operation direction. The operation line of the equipment model corresponds to the equipment's operation line.

[0099] The horizontal plane of the equipment refers to a characteristic surface on the equipment that is perpendicular to the working line. The horizontal plane of the equipment model corresponds to the horizontal plane of the equipment.

[0100] like Figure 1 As shown, the assisted navigation method includes:

[0101] Providing a first guide mark pointing from a first reference point to a second reference point, wherein the first reference point is an intersection point formed by a working line of the equipment model and a horizontal plane of the equipment model, and the second reference point is determined based on a normal line of the target object model and the horizontal plane of the equipment model;

[0102] Based on the first guide mark, the normal line of the target object is guided to intersect with the operation line of the equipment at the target point on the target object or the first reference point of the equipment. The target object and the target object model are set correspondingly, and the equipment and the equipment model are set correspondingly.

[0103] The embodiments of the present invention can provide corresponding guidance marks based on the relative position relationship between the target object (or target object model) and the device (or device model), so that the user can adjust the position of the target object or the device according to the guidance marks, thereby achieving the intersection of the normal line of the target object and the operation line of the device at the target point on the target object or the first reference point of the device, so that the two are as close as possible.

[0104] The navigation method performed by the guide mark in the embodiment of the present invention is more intuitive, which increases the usability of the product. Moreover, this method is conducive to the operator to quickly achieve the alignment of the target object and the device, thereby improving the operation efficiency.

[0105] The embodiment of the present invention provides a first guide mark to guide the horizontal movement in an intuitive manner.

[0106] In one example, the first guide mark includes a first arrow in a straight line shape, such as Figure 2 Mark I1 in Figure 3 Mark I1 in ’ , Figure 4 Mark I1 in " Of course, the embodiments of the present invention may also be provided with first arrows of other shapes as required, as long as they can indicate the moving direction, so as to facilitate the use by the operator.

[0107] like Figure 2 As shown, the first reference point is represented by point a1, which is the intersection point formed by the intersection of the working line L0 of the equipment model and the horizontal plane H of the equipment model. In addition, the working point is represented by point Z, and the target point is represented by point T.

[0108] In one embodiment, if Figure 2 As shown, the second reference point is represented by point a2, which is determined by the following process:

[0109] A first reference line L1 passing through the first reference point a1 is constructed, wherein the first reference line L1 is perpendicular to the normal line L of the target object model. F ;

[0110] The first reference line L1 and the normal line L F The intersection point is determined as the third reference point a3;

[0111] The projection point of the third reference point a3 on the horizontal plane H of the equipment model is determined as the second reference point a2.

[0112] exist Figure 2 In the example, the normal line of the target object referenced by the first guide mark intersects with the working line of the equipment at the first reference point a1.

[0113] In another embodiment, if Figure 3-4 As shown, the second reference point is determined by the following process:

[0114] Constructing a second reference line passing through the target point on the normal line of the target object model;

[0115] An intersection point of the second reference line and a horizontal plane of the equipment model is determined as a second reference point.

[0116] exist Figure 3 In the example of , the first reference point is represented by point a1, which is the intersection point formed by the intersection of the working line L0 of the equipment model and the horizontal plane H of the equipment model. The working point is represented by point Z, and the target point is represented by point T.

[0117] The second reference point is denoted by a2', which is determined by the following process:

[0118] Construct the normal line L of the target point T through the target object model F (i.e., the second reference line L2);

[0119] The normal L F The intersection point with the horizontal plane H of the equipment model is determined as the second reference point a2 ′.

[0120] exist Figure 3 In the example, the normal line of the target object referenced by the first guide mark intersects with the working line of the equipment at the first reference point a1.

[0121] exist Figure 4 In the example of , the first reference point is represented by point a1, which is the intersection of the working line L0 of the equipment model and the horizontal plane H of the equipment model. The working point is represented by point Z, and the target point is represented by point T. The second reference point is represented by a2", which is determined by the following process:

[0122] Construct the normal line L of the target object model F A second reference line L2' which is parallel to the target point T on the equipment model and the operation line L0;

[0123] The intersection point of the second reference line L2' and the horizontal plane H of the equipment model is determined as the second reference point a2".

[0124] exist Figure 4 In the example, the normal line of the target object referenced by the first guide mark intersects the working line of the equipment at the target point T.

[0125] The embodiment of the present invention can provide a variety of first guide marks (such as Figure 2-4), to increase the flexibility of the navigation process (for example, for horizontal movement). Those skilled in the art can arbitrarily select a specific first guide mark as needed.

[0126] In one embodiment, in order to increase the effectiveness of the navigation process, the first guide mark (ie, the second reference point) may be selected based on the relative relationship (eg, angle) between the current target object and the device.

[0127] Specifically, the assisted navigation method further includes:

[0128] Determining a first angle between a normal line of the target object model and an operation line of the equipment model;

[0129] When it is determined that the first angle is greater than a first preset angle (for example, 20-40 degrees), the projection point of the third reference point a3 on the horizontal plane H of the device model is determined as the second reference point a2;

[0130] When it is determined that the first angle is less than or equal to the first preset angle, an intersection point of the second reference line and the horizontal plane of the device model is determined as the second reference point.

[0131] That is, when the first angle is greater than the first preset angle, Figure 2 The example of determining the second reference point and thereby forming a corresponding first index mark, for example, I1. Figure 2 In the example of , the distance between the first reference point a1 and the second reference point a2 (i.e., the translation distance) will not change significantly due to the change of the first angle. Therefore, when the first angle is large, use Figure 2 can improve navigation accuracy.

[0132] When the first angle is less than or equal to the first preset angle, Figure 3 and Figure 4 In order to improve the efficiency of the navigation process, an embodiment of the present invention may utilize the relative relationship (such as distance) between the target object and the device to further select the first guide mark (i.e., select the second reference point).

[0133] Specifically, when it is determined that the first angle is less than or equal to a first preset angle, the auxiliary navigation method further includes:

[0134] Determine the distance between the target object model and the device model;

[0135] Comparing the distance with a preset distance;

[0136] When it is determined that the distance is less than or equal to the preset distance, the intersection of the normal line of the target model and the horizontal plane of the device model is determined as the second reference point a2';

[0137] When it is determined that the distance is greater than the preset distance, the intersection of the second reference line and the horizontal plane of the device model is determined as the second reference point a2".

[0138] That is, when the first angle is less than or equal to the first preset angle and the distance is less than or equal to the preset distance, Figure 3 Example determines a second reference point and thereby forms a first index mark, for example I1'. Figure 3 The example is simple, direct and easy to understand. In the process of moving according to the first guide mark, the direction of the first guide mark can remain unchanged until the first reference point a1 and the second reference point a2' coincide with each other. Figure 3 For example, when the first angle is greater than the first preset angle, or when the distance is greater than the preset distance, the distance error between the corresponding first reference point and the second reference point is large, which is not conducive to ensuring the accuracy of the navigation process.

[0139] When the first angle is less than or equal to a first preset angle and the distance is greater than a preset distance, Figure 4 Example of determining a second reference point and thereby forming a first index mark, for example I1". Figure 4 The example is simple and intuitive and indicates stability. Figure 4 In the example of , the distance between the corresponding first reference point and the second reference point is less affected by the first angle, and the direction of the first indicator mark hardly changes with the movement during its movement. However, in the case where the first angle is large, according to Figure 4 After the first guide marker in the example moves, there is a large error between the result and the position that should be reached, which is not conducive to ensuring the accuracy of the navigation process.

[0140] The preset distance is related to the size of the target object and the device. The preset distance is determined by the following steps:

[0141] Determine the size of the target object and the size of the equipment respectively;

[0142] Determine the average value of the size of the target object and the size of the device;

[0143] The preset distance is 1-2 times of the average value.

[0144] The size of the target object may be the size of the target object in one two-dimensional direction, or the maximum value of the sizes of the target object in all two-dimensional directions. The embodiments of the present disclosure do not limit the specific size, and those skilled in the art may set it as needed, for example, the average value of the sizes in all two-dimensional directions may be selected.

[0145] The size of the device may be the size of the device in one two-dimensional direction, or the maximum value of the sizes of the device in all two-dimensional directions. The embodiments of the present disclosure do not limit the specific size, and those skilled in the art may set it as needed, for example, the average value of the sizes in all two-dimensional directions may be selected.

[0146] In one embodiment, if Figure 5 As shown, the assisted navigation method includes:

[0147] providing a second guide mark pointing from the first reference point to a third reference line, wherein the third reference line is determined based on the first reference point, a normal line of the target model and a horizontal plane of the device model;

[0148] The working line of the guiding device is parallel to the normal line of the target object based on the second index mark.

[0149] The embodiment of the present invention can guide the working line of the device to be parallel to the normal line of the target object (for example, to achieve normal flipping) in an intuitive manner by providing the second guide mark.

[0150] In one example, the second guide mark includes a second arrow in a bowstring shape. The bowstring-shaped arrow includes an arrow portion of a bow and a string portion connecting two ends of the bow. The first reference point is located at an end of the bow away from the arrow end, and the string portion is located on a third reference line. The arrow portion has a characteristic of being thinner in the middle and gradually thicker at both ends, so that the flipping can be more easily observed. The string portion is composed of a straight line or a dotted line.

[0151] like Figure 6 As shown, the first reference point is represented by point a1, which is the intersection formed by the working line L0 of the equipment model and the horizontal plane H of the equipment model. The working point is represented by point Z, and the target point is represented by point T. The third reference line is represented by line L3, which is determined by the following process:

[0152] Construct a first reference point a1 and parallel to the normal line L F A fourth reference line L4;

[0153] A projection line of a portion of the fourth reference line L4 located above the horizontal plane H of the device model on the horizontal plane H of the device model is determined as the third reference line L3.

[0154] In one embodiment, during the operation of the device, the horizontal baseline of the device is required to be parallel to the target baseline of the target object and the plane where the normal line of the target object is located to meet the operation requirements. The horizontal baseline is perpendicular to and intersects the operation line of the device. The target baseline is perpendicular to and intersects the normal line of the target object, and the target point of the target object is located on the target baseline. In view of this, if Figure 7 As shown, the assisted navigation method includes:

[0155] In the case where the horizontal baseline of the device is required to be parallel to the target baseline of the target object and the plane where the normal line of the target object lies during the operation of the device,

[0156] The target baseline L based on the target model T , the first reference point a1, the horizontal plane H of the equipment model and the horizontal baseline L of the equipment model B The third index mark I3 is formed, and the first reference point a1 is located at the horizontal baseline L B On the horizontal baseline L B perpendicular to the operation line L0;

[0157] The horizontal baseline of the guiding device based on the third guiding mark I3 is parallel to the target baseline of the target object and the plane where the normal line of the target object is located.

[0158] The embodiment of the present invention can guide the device or target to rotate horizontally in an intuitive manner by providing a third guide mark, so as to achieve that the horizontal baseline of the device is parallel to the plane where the target baseline and the normal line of the target are located.

[0159] It should be noted that the horizontal baseline of the device is set corresponding to the horizontal baseline of the device model; the target baseline of the target object is set corresponding to the target baseline of the target object model.

[0160] In one example, when the working line of the device has been guided to be parallel to the normal of the target object based on the second guidance mark, an embodiment of the present invention can achieve, based on the third guidance mark, that the horizontal baseline of the device is parallel to the target baseline of the target object and the plane where the normal of the target object is located, and the horizontal baseline of the device is parallel to the target baseline of the target object.

[0161] In one example, when the working line of the device has been guided to be parallel to the normal of the target object based on the second guidance mark, and the normal of the target object has been guided to intersect with the working line of the device at the target point on the target object or the first reference point of the device based on the first guidance mark, the horizontal baseline of the device is parallel to the target baseline of the target object, and the horizontal baseline of the device is on the plane where the target baseline of the target object and the normal of the target object are located.

[0162] In one example, if Figure 8 As shown, the third guide mark includes a third arrow in an arc shape. The third arrow in an arc shape takes the first reference point as the center.

[0163] like Figure 8 As shown, the first reference point is represented by point a1, which is the intersection formed by the intersection of the working line L0 of the equipment model and the horizontal plane H of the equipment model. The working point is represented by point Z, and the target point is represented by point T. The third guide mark is represented by I3, which is determined by the following process:

[0164] Constructed through the first reference point a1 and the target baseline L T a parallel fifth reference line L5;

[0165] Determine a projection line of a portion of the fifth reference line L5 located above the horizontal plane H of the device model on the horizontal plane H of the device model as a sixth reference line L6;

[0166] Based on the sixth reference line L6 and the horizontal baseline L B Formed from the horizontal baseline L B A third index mark I3 pointing to the sixth reference line L6.

[0167] In one example, in the process of forming the third index mark, the embodiment of the present invention further includes the following steps:

[0168] Determine the sixth reference line L6 and the horizontal baseline L B The second angle α between them;

[0169] When the second angle α is less than or equal to the second preset angle (30-60 degrees), based on the sixth reference line L6 and the horizontal baseline L B A third index mark is formed pointing from the horizontal base line to the sixth reference line.

[0170] When the second angle α is too large, the operability of the rotation according to the third guide mark is low. Therefore, when the second angle α is less than or equal to the second preset angle, the third guide mark is formed. When the second angle α is greater than the second preset angle, the second guide mark can be formed without forming the third guide mark.

[0171] In one embodiment, during the operation, some target points are inside the contact surface, such as in the brain tissue, and the operation point is at a distance from the target point. During the operation, the operation point needs to be as close to the target point as possible. Fig. 9 As shown, the assisted navigation method of the present invention includes:

[0172] Determine the intersection point of the normal line of the target model and the working horizontal plane of the equipment model, wherein the working horizontal plane is a plane passing through the working point of the equipment model and perpendicular to the working line of the equipment model;

[0173] Determine the relationship between the direction from the intersection point to the target point of the target object model and the positive direction of the normal vector of the target object model, wherein the normal vector is determined based on the normal line of the target object model;

[0174] forming a fourth guide mark based on the relationship;

[0175] Based on the fourth guide mark, the intersection point of the normal line of the target object and the working horizontal plane of the equipment coincides with the target point.

[0176] The embodiment of the present invention uses the fourth guide mark to realize the longitudinal movement between the target object and the equipment in an intuitive form, thereby meeting the requirement of operating at a distance between the target point and the operating point.

[0177] The normal vector is parallel to the normal line of the target object model but has a direction attribute. Those skilled in the art can determine the direction of the normal vector as needed.

[0178] In one example, if Fig.10 As shown, the fourth guide mark includes a fourth arrow in a straight line shape located near the end of the first arrow. The specific size of the fourth arrow can be set as needed.

[0179] like Fig.10 As shown, the first reference point is represented by point a1, which is the intersection of the working line L0 of the equipment model and the horizontal plane H of the equipment model. The working point is represented by point Z, the target point is represented by point T, and the normal line is represented by line L F The intersection point is represented by point b, and the working level is represented by H Z The fourth index mark is represented by I4, which is determined by the following process:

[0180] When the direction from the intersection point b to the target point is the same as the positive direction of the normal vector F, a fourth guide mark I4 (eg, Fig.10 shown),

[0181] When the direction from the intersection point b to the target point is opposite to the positive direction of the normal vector F, a fourth guide mark corresponding to the direction opposite to the positive direction of the normal vector F is formed.

[0182] When the intersection point coincides with the target point, the fourth guide mark is not formed.

[0183] In one embodiment, the auxiliary navigation method of the present invention is applicable to a visualization perspective in which the device model is fixed and the target model is movable. However, the embodiment of the present invention does not limit the actual motion state of the device and the target, that is, the device may be moving but the target may be stationary, the device may be stationary but the target may be moving, or both the device and the target may be moving. As long as it is displayed on the interface that the device model is fixed and the target model is movable. This is conducive to facilitating the operator to align the target and the device during the navigation process, because when the operator performs fine alignment on the handheld device, the relative position between the operator and the device is usually approximately stationary.

[0184] In one embodiment, the operation line of the device model of the present invention forms a first angle with a vertical line of the interface showing the visual perspective, and the first angle is greater than 0 degrees but less than or equal to 30 degrees. In this way, the operation line can be roughly oriented toward (but not perpendicular to) the interface, which is more consistent with the perspective of a human body holding an object, and is conducive to the operator to clearly see the operation line and the guide mark at the same time.

[0185] In one example, the first to fourth guide marks of the present invention may be presented in the form of arrows, and the arrows are displayed along or floating on the horizontal plane of the equipment model to facilitate observation by the operator.

[0186] It should be noted that the embodiments of the present invention do not limit the specific forms of the first to fourth guide marks, such as color, size, transparency, shape, etc., as long as they can play the corresponding guiding role, those skilled in the art can set them as needed.

[0187] The guide mark of the embodiment of the present invention can change the state of the guide mark according to the size of the movement amount, so as to visually and intuitively remind the operator of the current state. Changing the state of the guide mark includes changing the color, size, transparency, shape, dynamic effect, etc. The embodiment of the present invention is not specifically limited, as long as the current relative state can be displayed to the operator.

[0188] The auxiliary navigation method of the embodiment of the present invention can select to perform navigation based on any one of the first guide mark, the second guide mark, the third guide mark and the fourth guide mark or any combination thereof as needed.

[0189] In one embodiment, the present invention decomposes the motion of a target object or device into three components, including horizontal movement, normal flip, and horizontal rotation. Horizontal movement includes the linear movement of the device toward the target location, such as Figure 2-4 . If necessary, longitudinal movement can also be provided, such as Fig.10 Normal flipping involves rotating the device along an angle so that the working line is parallel to or even coincides with the normal line, such as Figure 6 Horizontal rotation includes rotating the device along the horizontal plane so that the horizontal baseline is parallel to or even coincides with the target baseline, such as Figure 8 .

[0190] The assisted navigation method of the present invention is described below with an example. In the scenario of this example, the horizontal baseline needs to be parallel to the target baseline. The specific navigation process is as follows:

[0191] First, the operator moves the handheld device to the vicinity of the target point of the target object, and first estimates with the naked eye that the position and posture of the device's working point are roughly close to the position and posture required for the target point operation.

[0192] The solution of the present invention can generate the first indicator mark, the second indicator mark or the third indicator mark based on the above process, and the specific generation process is not described here. The operator observes all the indicator marks in the visual interface, and can first fine-tune the normal flip according to the second indicator mark until the second indicator mark disappears; then fine-tune the horizontal rotation according to the third indicator mark until the third indicator mark disappears; finally, fine-tune the horizontal movement according to the first indicator mark until the first indicator mark disappears. Through this indicator mark, each movement can be quickly approached to the target requirement.

[0193] In another embodiment of the present invention, an auxiliary navigation device is provided. Fig.11 As shown, the auxiliary navigation device 100 includes a generating module 10 and a controlling module 20. Optionally, the auxiliary navigation device 100 further includes an analyzing module 30.

[0194] The generation module 10 is configured to provide a first guide mark pointing from a first reference point to a second reference point, wherein the first reference point is an intersection point formed by a work line of the equipment model and a horizontal plane of the equipment model, and the second reference point is determined based on a normal line of the target object model and the horizontal plane of the equipment model. The generation module 10 can determine and provide the first guide mark using the method described in any of the above embodiments.

[0195] The control module 20 is in communication with the generation module 10. The control module 20 is configured to guide the normal line of the target object and the working line of the device to intersect at the target point on the target object or the first reference point of the device based on the first guide mark. The control module 20 can use the method described in any of the above embodiments to guide the normal line of the target object and the working line of the device to intersect at the target point on the target object or the first reference point of the device based on the first guide mark.

[0196] The analysis module 30 is in communication connection with the generation module 10. The analysis module 30 is configured to determine a first angle between a normal line of the target model and an operation line of the equipment model, and to determine a size relationship between the first angle and a first preset angle. The generation module 10 is configured to provide different first guide marks based on the size relationship from the analysis module 30. Specifically, the generation module 20 is configured to, when it is determined that the first angle is greater than the first preset angle, determine the projection point of the third reference point on the horizontal plane of the equipment model as the second reference point; when it is determined that the first angle is less than or equal to the first preset angle, determine the intersection point of the second reference line with the horizontal plane of the equipment model as the second reference point.

[0197] The analysis module 30 is also configured to, when determining that the first angle is less than or equal to the first preset angle, determine the distance between the target model and the device model, and compare the distance with the preset distance. The generation module 20 is configured to provide different first guidance marks based on the distance from the analysis module 30 and the preset distance. Specifically, the generation module 20 is configured to, when determining that the distance is less than or equal to the preset distance, determine the intersection of the normal of the target model and the horizontal plane of the device model as the second reference point; when determining that the distance is greater than the preset distance, determine the intersection of the second reference line and the horizontal plane of the device model as the second reference point.

[0198] The generating module 10 is configured to provide a second index mark pointing from the first reference point to the third reference line. The generating module 20 can provide the second index mark by using the method described in any of the above embodiments.

[0199] The control module 20 is configured to guide the working line of the device to be parallel to the normal line of the target object based on the second guide mark. The control module 20 can use the method described in any of the above embodiments to guide the working line of the device to be parallel to the normal line of the target object based on the second guide mark.

[0200] The generation module 10 is further configured to form a third guide mark based on the target baseline of the target model, the first reference point, the horizontal plane of the equipment model and the horizontal baseline of the equipment model. The generation module 10 can form the third guide mark using the method described in any of the above embodiments.

[0201] The control module 20 is configured to guide the horizontal baseline of the device to be parallel to the target baseline of the target object and the plane where the normal line of the target object is located based on the third guide mark. The control module 20 can use the method described in any of the above embodiments to guide the horizontal baseline of the device to be parallel to the target baseline of the target object and the plane where the normal line of the target object is located based on the third guide mark.

[0202] The analysis module 30 is further configured to determine a second angle between the sixth reference line and the horizontal baseline, and determine a magnitude relationship between the second angle and the second preset angle. The generation module 10 is configured to form a third guide mark based on the magnitude relationship from the analysis module 30 .

[0203] The generation module 10 is configured to provide a fourth index mark. The generation module 10 can provide the fourth index mark using the method described in any of the above embodiments.

[0204] The control module 20 is configured to guide the intersection of the normal line of the target object and the working horizontal plane of the equipment to coincide with the target point based on the fourth guide mark. The control module 20 can use the method described in any of the above embodiments to guide the intersection of the normal line of the target object and the working horizontal plane of the equipment to coincide with the target point based on the fourth guide mark.

[0205] In an embodiment of the present invention, a readable storage medium is provided, wherein a program or instruction is stored on the readable storage medium, and when the program or instruction is executed by a processor, the auxiliary navigation method described in any one of the above embodiments is implemented.

[0206] The "readable storage medium" of an embodiment of the present invention refers to any medium that participates in providing a program or instruction to a processor for execution. The medium can take a variety of forms, including but not limited to non-volatile media, volatile media and transmission media. Non-volatile media include, for example, optical disks or disks, such as storage devices. Volatile media include dynamic memory, such as main memory. Transmission media include coaxial cables, copper wires and optical fibers, including wires containing buses. Transmission media can also take the form of sound waves or light waves, such as sound waves or light waves generated during radio frequency (RF) and infrared (IR) data communications. Common forms of readable storage media include, for example, floppy disks, flexible disks, hard disks, magnetic tapes, any other magnetic media, CD-ROMs, DVDs, any other optical media, punch cards, paper tapes, any other physical media with hole patterns, RAMs, PROMs and EPROMs, FLASH-EPROMs, any other memory chips or boxes, carriers as described below, or any other media from which a computer can read.

[0207] In an embodiment of the present invention, an electronic device is also provided. The electronic device (not shown) includes a processor (not shown) and a memory (not shown). The memory stores a program, and when the program is executed by the processor, the auxiliary navigation method of any of the above embodiments can be implemented.

[0208] In one example, the processor may be a microprocessor, such as a general-purpose processor such as a graphics processing unit (GPU), a central processing unit (CPU), a digital signal processor (DSP), etc. In one example, the processor may also be a microprocessor core implemented by a hardware circuit, such as a microprocessor core implemented in a hardware logic component by a reconfigurable logic, and the hardware logic component includes a field programmable gate array (FPGA), a complex programmable logic device (CPLD), an application-specific integrated circuit (ASIC), an application-specific standard product (ASSP), a system on a chip (SOC), etc.

[0209] In one example, the processor may also be a virtual processor, which may be a virtual processor with the characteristics of an Intel x86 processor, or a virtual processor with the characteristics of a PowerPC processor. Preferably, the processor is a graphics processor. In one example, the processor may be a single-core processor or a multi-core processor.

[0210] In one example, the memory includes a volatile memory (i.e., a random access memory) and a non-volatile memory. The volatile memory includes a main memory, a cache, etc., and the non-volatile memory includes an auxiliary memory, etc. In one example, the memory can be set as a remote memory, and the remote memory can be connected to the processor via a network (wired network or wireless network). The network includes, but is not limited to, a wide area network, a local area network, a metropolitan area network, a personal area network, the Internet, a satellite communication network, and any combination thereof.

[0211] In one example, the processor executes a program based on the program obtained from the memory to create a corresponding task thread and execute the thread. In one example, the processor obtains a program from the external memory based on the read instruction in the memory to create a corresponding task thread and execute the thread. The above program is used to implement the auxiliary navigation method.

[0212] Although the subject matter described herein is provided in the general context of being executed in conjunction with the execution of an operating system and an application program on a computer system, it will be appreciated by those skilled in the art that it can also be implemented in conjunction with other types of program modules. Generally speaking, program modules include routines, programs, components, data structures, and other types of structures that perform specific tasks or implement specific abstract data types. It will be appreciated by those skilled in the art that the method steps described in conjunction with any one of the examples herein can all be implemented with electronic hardware, or a combination of computer software and electronic hardware. Whether to perform in hardware or software mode depends mainly on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0213] When the method steps are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Therefore, the technical solution of the present invention, or the part that contributes to the original technology, or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each example of the present invention.

[0214] The assisted navigation method, assisted navigation device, electronic device and readable storage medium according to the present invention have at least one of the following advantages:

[0215] (1) The assisted navigation method, assisted navigation device, electronic device and readable storage medium of the present invention can provide corresponding guidance marks based on relevant information (relative position relationship between the target object and the device, or relative position relationship between the target object model and the device model), thereby providing navigation more intuitively (for example, generating different arrows), thereby increasing the usability of the product;

[0216] (2) The assisted navigation method, assisted navigation device, electronic device and readable storage medium of the present invention are helpful for the operator to quickly achieve alignment between the target object and the device, thereby improving the operation efficiency;

[0217] (3) The assisted navigation method, assisted navigation device, electronic device and readable storage medium of the present invention can provide a variety of first guidance marks to increase the flexibility of the navigation process;

[0218] (4) The assisted navigation method, assisted navigation device, electronic device and readable storage medium of the present invention can generate different horizontal movement guidance marks based on the different sizes of the angle (e.g., the first angle) between the target object and the device, thereby ensuring the effectiveness of the navigation process;

[0219] (5) The assisted navigation method, assisted navigation device, electronic device and readable storage medium of the present invention can provide a variety of navigation information (e.g., the first guide mark to the third guide mark) based on multiple dimensions, which helps to quickly achieve alignment between the target point on the target object and the device;

[0220] (6) The assisted navigation method, assisted navigation device, electronic device and readable storage medium of the present invention can generate a horizontal rotation guidance mark based on the size of the angle (such as the second angle) between the target object and the device, thereby ensuring the operability of the navigation process.

[0221] Although some embodiments of the present general inventive concept have been shown and described, it will be appreciated by those skilled in the art that changes may be made to these embodiments without departing from the principles and spirit of the present general inventive concept, the scope of which is defined by the claims and their equivalents.

Claims

1. An assisted navigation method, wherein: The assisted navigation method comprises: Providing a first guide mark pointing from a first reference point to a second reference point, wherein the first reference point is an intersection point formed by a working line of the equipment model and a horizontal plane of the equipment model, and the second reference point is determined based on a normal line of the target object model and the horizontal plane of the equipment model; Based on the first guide mark, the normal line of the target object is guided to intersect with the operation line of the equipment at the target point on the target object or the first reference point of the equipment. The target object and the target object model are set correspondingly, and the equipment and the equipment model are set correspondingly.

2. The assisted navigation method according to claim 1, wherein: The second reference point is determined based on the normal line of the target model and the horizontal plane of the device model, including: Constructing a first reference line passing through the first reference point, wherein the first reference line is perpendicular to a normal line of the target object model; Determine an intersection point of the first reference line and a normal line of the target object model as a third reference point; The projection point of the third reference point on the horizontal plane of the device model is determined as the second reference point, or Constructing a second reference line passing through the target point on the normal line of the target object model; An intersection point of the second reference line and a horizontal plane of the equipment model is determined as a second reference point.

3. The assisted navigation method according to claim 2, wherein: The second reference line is a normal line of the target object model; or The second reference line is a line passing through the target point and parallel to the operation line of the equipment model.

4. The assisted navigation method according to claim 3, wherein: The assisted navigation method further includes: Determining a first angle between a normal line of the target object model and an operation line of the equipment model; When it is determined that the first angle is greater than a first preset angle, determining a projection point of the third reference point on the horizontal plane of the device model as a second reference point; When it is determined that the first angle is less than or equal to a first preset angle, an intersection point of the second reference line and a horizontal plane of the device model is determined as a second reference point.

5. The assisted navigation method according to claim 4, wherein: When it is determined that the first angle is less than or equal to a first preset angle, the auxiliary navigation method further includes: Determine the distance between the target object model and the device model; Comparing the distance with a preset distance; When it is determined that the distance is less than or equal to the preset distance, determining the intersection of the normal line of the target model and the horizontal plane of the device model as the second reference point; When it is determined that the distance is greater than the preset distance, an intersection point of the second reference line and the horizontal plane of the device model is determined as a second reference point.

6. The assisted navigation method according to claim 5, wherein: The preset distance is determined by the following steps: Determine the size of the target object and the size of the equipment respectively; Determine the average value of the size of the target object and the size of the device; The preset distance is 1-2 times of the average value.

7. The assisted navigation method according to any one of claims 1 to 6, wherein: The assisted navigation method further includes: providing a second guide mark pointing from the first reference point to a third reference line, wherein the third reference line is determined based on the first reference point, a normal line of the target model and a horizontal plane of the device model; The working line of the guiding device is parallel to the normal line of the target object based on the second index mark.

8. The assisted navigation method according to claim 7, wherein: The third reference line is determined based on the following steps: constructing a fourth reference line passing through the first reference point and parallel to the normal line; A projection line of a portion of the fourth reference line located above the horizontal plane of the device model on the horizontal plane of the device model is determined as the third reference line.

9. The assisted navigation method according to claim 8, wherein: The assisted navigation method further includes: In the case where the horizontal baseline of the equipment is required to be parallel to the target baseline of the target object and the plane where the normal line of the target object is located during the operation of the equipment, the horizontal baseline is perpendicular to and intersects the operation line of the equipment, the target baseline is perpendicular to and intersects the normal line of the target object, and the target point of the target object is located on the target operation line, forming a third guide mark based on the target baseline of the target object model, the first reference point, the horizontal plane of the equipment model and the horizontal baseline of the equipment model, wherein the first reference point is located on the horizontal baseline; The horizontal baseline of the guiding device based on the third index mark is parallel to the target baseline of the target object and the plane where the normal line of the target object is located.

10. The assisted navigation method according to claim 9, wherein: Forming a third guide mark based on the target baseline of the target object model, the first reference point, the horizontal plane of the medical device model, and the horizontal baseline of the medical device model includes the following steps: constructing a fifth reference line passing through the first reference point and parallel to the target baseline; Determine a projection line of a portion of the fifth reference line located above the horizontal plane of the medical device model on the horizontal plane of the device model as a sixth reference line; A third guide mark is formed based on the sixth reference line and the horizontal baseline and points from the horizontal baseline to the sixth reference line.

11. The assisted navigation method according to claim 10, wherein: The third guide mark is formed based on the target operation line of the target object model, the first reference point, the horizontal plane of the equipment model and the horizontal baseline of the equipment model, and further includes the following steps: determining a second angle between the sixth reference line and the horizontal baseline; When the second angle is less than or equal to the second preset angle, a third guide mark pointing from the horizontal baseline to the sixth reference line is formed based on the sixth reference line and the horizontal baseline.

12. The assisted navigation method according to claim 11, wherein: The assisted navigation method further includes: Determine the intersection point of the normal line of the target model and the working horizontal plane of the equipment model, wherein the working horizontal plane is a plane passing through the working point of the equipment model and perpendicular to the working line of the equipment model; Determine the relationship between the direction from the intersection point to the target point of the target object model and the positive direction of the normal vector of the target object model, wherein the normal vector is determined based on the normal line of the target object model; forming a fourth guide mark based on the relationship; Based on the fourth guide mark, the intersection point of the normal line of the target object and the working horizontal plane of the equipment coincides with the target point.

13. The assisted navigation method according to claim 12, wherein: Forming a fourth guide mark based on the relationship includes the following steps: When the direction from the intersection point to the target point is the same as the positive direction of the normal vector, a fourth guide mark corresponding to the positive direction of the normal vector is formed. When the direction from the intersection point to the target point is opposite to the positive direction of the normal vector, a fourth guide mark corresponding to the direction opposite to the positive direction of the normal vector is formed.

14. The assisted navigation method according to claim 13, wherein: The first guide mark includes a first arrow in a straight line shape, The second guide mark includes a second arrow in a bowstring shape, The third guide mark comprises a third arrow in an arc shape, wherein the third arrow in an arc shape takes the first reference point as the center; The fourth guide mark includes a fourth arrow in a straight line shape located near the end of the first arrow, The operation line of the equipment model forms a first angle with a vertical line of the interface showing the visualization perspective, and the first angle is greater than 0 degrees but less than or equal to 30 degrees.

15. An auxiliary navigation device, characterized in that: The auxiliary navigation device comprises: a generating module configured to provide a first guide mark pointing from a first reference point to a second reference point, wherein the first reference point is an intersection point formed by a working line of the equipment model and a horizontal plane of the equipment model, and the second reference point is determined based on a normal line of the target object model and the horizontal plane of the equipment model; The control module is communicatively connected to the generation module and is configured to guide the normal line of the target object and the operation line of the equipment to intersect at the target point on the target object or the first reference point of the equipment based on the first guidance mark, and the target object and the target object model are set correspondingly, and the equipment and the equipment model are set correspondingly.

16. An electronic device, characterized in that: The electronic device comprises: A memory and a processor, wherein the memory stores a program, wherein the processor implements the assisted navigation method according to any one of claims 1-14 when executing the program on the memory.

17. A readable storage medium, characterized in that: The readable storage medium stores a computer-readable program or instruction, and when the computer-readable program or instruction is executed by a processor, the assisted navigation method according to any one of claims 1-14 is implemented.

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