Registration and positioning method and device of grinding and filing tool and storage medium

Abstract

The invention discloses a registration and positioning method and device of a grinding and filing tool and a storage medium, and the method comprises the steps: under an optical positioning system, creating a coordinate system of the grinding and filing tool according to a plurality of first markers, and creating a coordinate system of a registration plate according to a plurality of second markers; establishing a first conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the filing tool according to the plurality of first markers; establishing a second conversion relation between the coordinate system of the optical positioning system and the coordinate system of the registration plate according to a plurality of second markers; the first conversion relation and the second conversion relation are fused into a third conversion relation between the coordinate system of the registration plate and the coordinate system of the filing tool; and according to the third conversion relation, registration information is generated for the grinding and filing rod and the grinding and filing ball so as to register grinding and filing tools of different models. According to the embodiment, registration of the grinding and filing tools of different models can be completed through one-time registration, and the efficiency of registering the grinding and filing tools is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of computer vision, and particularly relates to a method, device and storage medium for registering and positioning a grinding tool. Background Art

[0002] Total Hip Arthroplasty (THA) is used to treat osteonecrosis of the femoral head, severe hip arthritis and other hip joint diseases. During this process, an optical positioning system is used for navigation to track the positions of surgical instruments and anatomical structures in real time.

[0003] During the process of acetabular surgery, different models of grinding tools are sequentially replaced in ascending order to remove the damaged acetabular cartilage, so as to gradually expand and shape a suitable bone bed to fit the final acetabular prosthesis.

[0004] Due to the differences in geometric shapes and sizes of different models of grinding tools, when the optical navigation system positions the grinding tool, an optical registration plate is separately designed for each model of grinding tool, and each model of grinding tool is registered separately.

[0005] This registration mode not only increases the hardware cost, but also increases the complexity of navigation, increases the risk of misoperation, adds additional registration operations each time the grinding tool is replaced, takes a long time, and moreover, frequent registration operations increase the potential risk of error accumulation, which may affect the positioning accuracy, thus resulting in low efficiency of registering the grinding tool. Summary of the Invention

[0006] In view of this, the present invention provides a method, device and storage medium for registering and positioning a grinding tool, so as to improve the registration efficiency of the grinding tool.

[0007] The first aspect of the present invention provides a method for registering a grinding tool. Among different models of grinding tools, there are multiple first markers, a grinding rod and a grinding ball. In the registration plate configured for different models of the grinding tool, there are multiple second markers, and both the grinding rod and the grinding ball are embedded in the registration plate. The method includes:

[0008] Under an optical positioning system, create a coordinate system of the grinding tool based on multiple first markers, and create a coordinate system of the registration plate based on multiple second markers;

[0009] Establish a first conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the grinding tool based on multiple first markers;

[0010] Establish a second conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the registration plate based on multiple second markers;

[0011] Fuse the first conversion relationship and the second conversion relationship into a third conversion relationship between the coordinate system of the registration plate and the coordinate system of the grinding tool;

[0012] Generate registration information for the grinding rod and the grinding ball according to the third conversion relationship to register grinding tools of different models.

[0013] The second aspect of the present invention provides a positioning method for a grinding tool. The grinding tools of different models all include a grinding rod and a grinding ball. The method includes:

[0014] Query the registration information generated for the grinding rod and the grinding ball according to the method described in the first aspect above;

[0015] Query the specification information of the grinding ball according to the model of the grinding tool;

[0016] Under the optical positioning system, position the grinding ball according to the registration information and the specification information.

[0017] The third aspect of the present invention provides a registration device for a grinding tool. The grinding tools of different models all include a plurality of first markers, a grinding rod and a grinding ball. The registration plate configured for the grinding tools of different models includes a plurality of second markers. The grinding rod and the grinding ball are both embedded in the registration plate. The device includes:

[0018] A coordinate system creation module, configured to create the coordinate system of the grinding tool according to a plurality of the first markers and create the coordinate system of the registration plate according to a plurality of the second markers under the optical positioning system;

[0019] A first conversion relationship establishment module, configured to establish a first conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the grinding tool according to a plurality of the first markers;

[0020] A second conversion relationship establishment module, configured to establish a second conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the registration plate according to a plurality of the second markers;

[0021] A third conversion relationship fusion module, configured to fuse the first conversion relationship and the second conversion relationship into a third conversion relationship between the coordinate system of the registration plate and the coordinate system of the grinding tool;

[0022] A registration information generation module, configured to generate registration information for the grinding rod and the grinding ball according to the third conversion relationship to register grinding tools of different models.

[0023] The fourth aspect of the present invention provides a positioning device for a grinding and filing tool. Different models of grinding and filing tools include a grinding and filing rod and a grinding and filing ball. The device includes:

[0024] A registration information query module for querying the registration information generated for the grinding and filing rod and the grinding and filing ball according to the method described in the first aspect above;

[0025] A specification information query module for querying the specification information of the grinding and filing ball according to the model of the grinding and filing tool;

[0026] A grinding and filing ball positioning module for positioning the grinding and filing ball under the optical positioning system according to the registration information and the specification information.

[0027] The fifth aspect of the present invention provides an electronic device, which includes:

[0028] At least one processor; and

[0029] A memory communicatively connected to the at least one processor; wherein,

[0030] The memory stores a computer program executable by the at least one processor. When the computer program is executed by the at least one processor, the at least one processor is enabled to execute the registration of the grinding and filing tool described in the first aspect above or the positioning method of the grinding and filing tool described in the second aspect above.

[0031] The sixth aspect of the present invention provides a computer-readable storage medium storing a computer program, which when executed by a processor implements the registration of the grinding and filing tool described in the first aspect above or the positioning method of the grinding and filing tool described in the second aspect above.

[0032] The seventh aspect of the present invention provides a computer program product, which includes a computer program that when executed by a processor implements the registration of the grinding and filing tool described in the first aspect above or the positioning method of the grinding and filing tool described in the second aspect above.

[0033] In this embodiment, multiple first markers, a grinding file rod, and a grinding file ball are included in grinding file tools of different models. Multiple second markers are included in the registration plates configured for the grinding file tools of different models. The grinding file rod and the grinding file ball are both embedded in the registration plate. Under the optical positioning system, a coordinate system of the grinding file tool is created based on the multiple first markers, and a coordinate system of the registration plate is created based on the multiple second markers. A first conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the grinding file tool is established based on the multiple first markers. A second conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the registration plate is established based on the multiple second markers. The first conversion relationship and the second conversion relationship are fused into a third conversion relationship between the coordinate system of the registration plate and the coordinate system of the grinding file tool. Registration information is generated for the grinding file rod and the grinding file ball based on the third conversion relationship to register grinding file tools of different models. This embodiment provides a unified registration plate for grinding file tools of different models. By using any model of grinding file tool to register with the registration plate once, the registration of grinding file tools of different models can be completed. This not only reduces the number of registration plates and lowers the hardware cost, but also reduces the complexity of navigation, reduces the risk of misoperation, can be directly used each time the grinding file tool is replaced, with short time consumption. Moreover, reducing the registration operation reduces the potential risk of error accumulation, ensures the positioning accuracy, and thus effectively improves the efficiency of registering the grinding file tools.

[0034] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understandable through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0036] Figure 1 is a flowchart of a method for registering a grinding file tool provided in Embodiment 1 of the present invention.

[0037] Figure 2 is a schematic structural diagram of an optical positioning system, a grinding file tool, and a registration plate provided in Embodiment 1 of the present invention.

[0038] Figure 3 is a schematic diagram of a grinding file tool embedded in a registration plate provided in Embodiment 1 of the present invention.

[0039] Figure 4 is a schematic diagram of the alignment between a grinding file tool and a registration plate provided in Embodiment 1 of the present invention.

[0040] Figure 5 It is a flowchart of a positioning method for a grinding and filing tool provided in the second embodiment of the present invention.

[0041] Figure 6 It is a schematic structural diagram of a registration device for a grinding and filing tool provided in the third embodiment of the present invention.

[0042] Figure 7 It is a schematic structural diagram of a positioning device for a grinding and filing tool provided in the fourth embodiment of the present invention.

[0043] Figure 8 It is a schematic structural diagram of an electronic device provided in the fifth embodiment of the present invention. Detailed implementation manners

[0044] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0045] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can cover sequences other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0046] Embodiment 1

[0047] Refer to Figure 1 , which shows a flowchart of a registration method for a grinding and filing tool provided in the first embodiment of the present invention. This method can be executed by a registration device for the grinding and filing tool. The registration and positioning device for the grinding and filing tool can be implemented in the form of hardware and / or software, and the registration device for the grinding and filing tool can be configured in an electronic device.

[0048] As Figure 2 , Figure 3 And Figure 4As shown in the figure, the devices involved in the registration stage include an optical positioning system 201, filing tools 202 of different models, and a general registration plate 203, etc.

[0049] Among them, the optical positioning system 201 is an optical navigation device that uses technologies such as binocular stereo vision based on infrared light to track and position tools such as the filing tool 202 and the registration plate 203. It can dynamically track the tool position in a specific three-dimensional space in real time, and the tracking accuracy can reach the millimeter level.

[0050] Each of the filing tools 202 of different models includes multiple (such as 4) first markers, a filing rod 2022, and a filing ball 2021. The registration plate configured for the filing tools of different models includes multiple (such as 4) second markers.

[0051] Among them, both the first marker and the second marker belong to optical positioning markers, such as spheres with a reflective coating on the surface, which can emit infrared light during the tracking process of the optical positioning system 201. In the filing tools 202 of different models, the distribution of multiple first markers can be the same or different, and this embodiment does not limit this.

[0052] The filing ball 2021 is located at the end of the filing rod 2022.

[0053] The generality of the registration plate 203 means that any filing tool 202 is selected from the filing tools 202 of different models and the registration plate 203 is used for registration, and the registration of the filing tools 202 of different models can be completed.

[0054] The structure of the registration plate 203 is adapted to the structure of the filing tools 202 of different models. During the registration process, the filing rod 2021 and the filing ball 2022 are both embedded in the registration plate 203.

[0055] As Figure 1 shown, the method includes:

[0056] Step 101, under the optical positioning system, create the coordinate system of the filing tool according to multiple first markers, and create the coordinate system of the registration plate according to multiple second markers.

[0057] As Figure 2 、 Figure 3 and Figure 4 shown, the coordinate system of the optical positioning system is defined as S o , under the optical positioning system, the coordinate system S t of the filing tool can be created by identifying multiple first markers on the filing tool, and the coordinate system S d of the registration plate can be created by identifying multiple second markers on the registration plate.

[0058] Step 102: establishing a first conversion relationship between a coordinate system of the optical positioning system and a coordinate system of the filing tool according to a plurality of first markers.

[0059] In practical applications, the multiple first markers on the grinding and filing tool can be recognized by the optical positioning system. The point registration between different spaces belongs to the category of rigid registration. The multiple first markers on the grinding and filing tool are in the coordinate system S of the optical positioning system. o Coordinate system S of the grinding tool t Therefore, the coordinate system S of the optical positioning system can be established by using the multiple first markers on the grinding tool as the anchor points of the conversion. o Coordinate system S of the grinding tool t The first conversion relationship V to , where the first conversion relationship V to Expressed in the form of a matrix.

[0060] In one embodiment of the present invention, step 102 may include the following steps:

[0061] Step 1021: Calculate an average value of a plurality of first marking coordinates of a plurality of first marking objects in the coordinate system of the grinding and filing tool to obtain a first center point.

[0062] In this embodiment, the coordinates of the plurality of first markers on the grinding and filing tool in the coordinate system S of the grinding and filing tool can be queried. t A plurality of first marking coordinates P in t , for multiple first marking coordinates P t Calculate the average value to obtain the first center point of multiple first markers (expressed in coordinates).

[0063] Taking 4 first markers as an example, the coordinates of the first markers P t Can be expressed as in, They are the coordinate system S of the four first markers in the grinding tool. t The first marker coordinates in .

[0064] Then, the first center point can be expressed as:

[0065]

[0066] in, is the first center point, is the first marker coordinate of the i-th first marker, i∈n, and n is the number of first markers, such as n=4.

[0067] Step 1022: Calculate the average value of the multiple second marker coordinates of the multiple first markers in the coordinate system of the optical positioning system to obtain the second center point.

[0068] In this embodiment, the multiple second marker coordinates Q of the multiple first markers on the grinding and filing tool can be queried in the coordinate system S o of the optical positioning system o , and the average value is calculated for the multiple second marker coordinates Q o to obtain the second center point of the multiple first markers (expressed in the form of coordinates).

[0069] Taking 4 first markers as an example, the multiple second marker coordinates Q o can be expressed as where are respectively the second marker coordinates of the 4 first markers in the coordinate system S o of the optical positioning system.

[0070] Then, the second center point can be expressed as:

[0071]

[0072] where is the second center point, is the second marker coordinate of the i-th first marker, i ∈ n, and n is the number of first markers, such as n = 4.

[0073] Step 1023: Calculate the first covariance matrix using the multiple first marker coordinates and the first center point.

[0074] In this embodiment, the coordinate differences between the multiple first marker coordinates and the first center point (coordinates) can be used to calculate the first covariance matrix corresponding to the multiple first marker coordinates.

[0075] Among them, the first covariance matrix can be expressed as:

[0076]

[0077] where is the first covariance matrix, is the first center point, is the first marker coordinate of the i-th first marker, T is the transpose matrix, i ∈ n, and n is the number of first markers, such as n = 4.

[0078] Step 1024: Calculate the second covariance matrix using the multiple second marker coordinates and the second center point.

[0079] In this embodiment, the coordinate differences between multiple second marker coordinates and the second center point (coordinates) can be used to calculate the second covariance matrix corresponding to the multiple second marker coordinates.

[0080] Among them, the second covariance matrix can be expressed as:

[0081]

[0082] Among them, is the second covariance matrix, is the second center point, is the second marker coordinate of the i-th first marker, i ∈ n, and n is the number of first markers, such as n = 4.

[0083] Step 1025: Create a first transformation relationship between the coordinate system of the optical positioning system and the coordinate system of the grinding tool using the first covariance matrix, the second covariance matrix, the first center point, and the second center point.

[0084] In this embodiment, the first covariance matrix, the second covariance matrix, the first center point, and the second center point can be used to analyze the rotation relationship and translation relationship between the coordinate system S o of the optical positioning system and the coordinate system S t of the grinding tool, so as to create a first transformation relationship V o between the coordinate system S t of the optical positioning system and the coordinate system S to .

[0085] In a specific implementation, on the one hand, the first covariance matrix can be subjected to singular value decomposition (Singular Value Decomposition, SVD) to obtain the first left singular vector.

[0086] Among them, the process of performing singular value decomposition on the first covariance matrix can be expressed as:

[0087]

[0088] Among them, is the first covariance matrix, is the first left singular vector, is the first singular value vector, is the first right singular vector, T is the transpose matrix, and are both orthogonal matrices, is a diagonal matrix.

[0089] On the other hand, the second covariance matrix can be subjected to singular value decomposition SVD to obtain the second left singular vector.

[0090] Among them, the process of performing singular value decomposition on the second covariance matrix can be expressed as:

[0091]

[0092] Among them, is the second covariance matrix, is the second left singular vector, is the second singular value vector, is the second right singular vector, T is the transpose matrix, and are both orthogonal matrices, is a diagonal matrix.

[0093] Calculate the product of the first left singular vector and the inverse matrix of the second left singular vector to obtain the first rotation matrix.

[0094] At this time, the first rotation matrix can be expressed as:

[0095]

[0096] Among them, R to is the first rotation matrix, is the first left singular vector, is the second left singular vector.

[0097] Subtract the product of the first rotation matrix and the first center point from the second center point to obtain the first translation matrix.

[0098] At this time, the first translation matrix can be expressed as:

[0099]

[0100] Among them, T to is the first translation matrix, is the first center point, is the second center point, R to is the first rotation matrix.

[0101] Fuse the first rotation matrix and the first translation matrix into the first conversion relationship V o between the coordinate system S t of the optical positioning system and the coordinate system S to of the grinding tool.

[0102] Then, the first conversion relationship V to can be expressed as:

[0103]

[0104] Among them, T to is the first translation matrix, Rto is the first rotation matrix.

[0105] At this time, the first marker coordinate p t ∈P t and the second marker coordinate q o ∈Q o can satisfy: q o = R to p t + T to .

[0106] Step 103: Establish a second conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the registration board based on multiple second markers.

[0107] In practical applications, multiple second markers on the registration board can be recognized by the optical positioning system. The point registration between different spaces belongs to the category of rigid registration. Multiple second markers on the registration board have a one-to-one correspondence in the coordinate system S o of the optical positioning system and the coordinate system S d of the registration board. Therefore, multiple second markers on the registration board can be used as the anchor points for conversion to establish the second conversion relationship V o between the coordinate system S d of the optical positioning system and the coordinate system S do of the registration board, where the second conversion relationship V do is expressed in the form of a matrix or the like.

[0108] In an embodiment of the present invention, step 103 may include the following steps:

[0109] Step 1031: Calculate the average value of multiple third marker coordinates of multiple second markers in the coordinate system of the registration board to obtain the third center point.

[0110] In this embodiment, multiple third marker coordinates P d of multiple second markers on the registration board in the coordinate system S d of the registration board can be queried, and the average value of multiple third marker coordinates P d is calculated to obtain the third center point of multiple second markers (expressed in the form of coordinates).

[0111] Taking 4 second markers as an example, multiple second marker coordinates P d can be expressed as where are the third marker coordinates of 4 second markers in the coordinate system S d of the registration board respectively.

[0112] Then, the third center point can be expressed as:

[0113]

[0114] Among them, is the third center point, is the third marker coordinate of the i-th second marker, where i ∈ n, and n is the number of second markers, such as n = 4.

[0115] Step 1032: Calculate the average value of the multiple fourth marker coordinates of the multiple second markers in the coordinate system of the optical positioning system to obtain the fourth center point.

[0116] In this embodiment, the multiple fourth marker coordinates Q o in the coordinate system S o of the optical positioning system of the multiple second markers on the registration board can be queried. Calculate the average value of the multiple fourth marker coordinates Q o to obtain the second center point of the multiple second markers (expressed in the form of coordinates).

[0117] Taking 4 second markers as an example, the multiple fourth marker coordinates Q o can be expressed as Among them, are respectively the fourth marker coordinates of the 4 second markers in the coordinate system S o of the optical positioning system.

[0118] Then, the fourth center point can be expressed as:

[0119]

[0120] Among them, is the fourth center point, is the fourth marker coordinate of the i-th second marker, where i ∈ n, and n is the number of second markers, such as n = 4.

[0121] Step 1033: Calculate the third covariance matrix using the multiple third marker coordinates and the third center point.

[0122] In this embodiment, the coordinate differences between the multiple third marker coordinates and the third center point (coordinates) can be used to calculate the third covariance matrix corresponding to the multiple third marker coordinates.

[0123] Among them, the third covariance matrix can be expressed as:

[0124]

[0125] Among them, is the third covariance matrix, is the third center point, is the third marker coordinate of the i-th second marker, T is the transpose matrix, i ∈ n, where n is the number of second markers, e.g., n = 4.

[0126] Step 1034: Calculate the fourth covariance matrix using multiple fourth marker coordinates and the fourth center point.

[0127] In this embodiment, the coordinate differences between multiple fourth marker coordinates and the fourth center point (coordinates) can be used to calculate the fourth covariance matrix corresponding to the multiple fourth marker coordinates.

[0128] Among them, the fourth covariance matrix can be expressed as:

[0129]

[0130] Among them, is the fourth covariance matrix, is the fourth center point, is the fourth marker coordinate of the i-th second marker, i ∈ n, where n is the number of second markers, e.g., n = 4.

[0131] Step 1035: Create a second conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the registration board using the third covariance matrix, the fourth covariance matrix, the third center point, and the fourth center point.

[0132] In this embodiment, the third covariance matrix, the fourth covariance matrix, the third center point, and the fourth center point can be used to analyze the rotation relationship and translation relationship between the coordinate system S o of the optical positioning system and the coordinate system S d of the registration board, so as to create a first conversion relationship V o between the coordinate system S d of the optical positioning system and the coordinate system S do of the registration board.

[0133] In a specific implementation, on the one hand, the singular value decomposition (SVD) can be performed on the third covariance matrix to obtain the third left singular vector.

[0134] Among them, the process of performing the singular value decomposition on the third covariance matrix can be expressed as:

[0135]

[0136] Among them, is the third covariance matrix, is the third left singular vector, is the third singular value vector, is the third right singular vector, T is the transpose matrix, and are both orthogonal matrices. is a diagonal matrix.

[0137] On the other hand, the fourth covariance matrix can be subjected to singular value decomposition (SVD) to obtain the fourth left singular vector.

[0138] Among them, the process of performing singular value decomposition on the fourth covariance matrix can be expressed as:

[0139]

[0140] Among them, is the fourth covariance matrix, is the fourth left singular vector, is the fourth singular value vector, is the fourth right singular vector, T is the transpose matrix, and are both orthogonal matrices, is a diagonal matrix.

[0141] Calculate the product of the third left singular vector and the inverse matrix of the fourth left singular vector to obtain the second rotation matrix.

[0142] At this time, the second rotation matrix can be expressed as:

[0143]

[0144] Among them, R do is the second rotation matrix, is the third left singular vector, is the fourth left singular vector.

[0145] Subtract the product of the second rotation matrix and the third center point from the fourth center point to obtain the second translation matrix.

[0146] At this time, the second translation matrix can be expressed as:

[0147]

[0148] Among them, T do is the second translation matrix, is the third center point, is the fourth center point, R do is the second rotation matrix.

[0149] Fuse the second rotation matrix and the second translation matrix into the coordinate system S o of the optical positioning system and the coordinate system S d of the registration board to obtain the second conversion relationship V do .

[0150] Then, the second conversion relationship V doCan be expressed as:

[0151]

[0152] Wherein, T do is the second translation matrix, and R do is the second rotation matrix.

[0153] At this time, the third marker coordinate p d ∈P d and the fourth marker coordinate q o ∈Q o can satisfy: q o = R do p d + T do .

[0154] Step 104: Integrate the first conversion relationship and the second conversion relationship into a third conversion relationship between the coordinate system of the registration plate and the coordinate system of the grinding tool.

[0155] In this embodiment, the first conversion relationship V to and the second conversion relationship V do are integrated into a third conversion relationship V d between the coordinate system S t of the registration plate and the coordinate system S dt of the grinding tool.

[0156] In a specific implementation, assume that the point p d in the coordinate system S d of the registration plate, its corresponding point in the coordinate system S o of the optical positioning system is p o , and its corresponding point in the coordinate system S t of the grinding tool is p t . The first conversion relationship V to includes the first rotation matrix R to and the first translation matrix T to . The second conversion relationship V do includes the second rotation matrix R do and the second translation matrix T do . Then the point p o can be converted from the point p d in the coordinate system S d of the registration plate and the corresponding point p t in the coordinate system S t of the grinding tool to the coordinate system S o of the optical positioning system: p o = R do p d + T do , p o = Rto p t +T to 。

[0157] Thus, the coordinate system S of the registration plate d and the coordinate system S of the grinding tool t The third transformation relationship V between them dt includes the third rotation matrix R dt and the third translation matrix T dt :

[0158] Step 105. Generate registration information for the grinding rod and the grinding ball according to the third transformation relationship to register different models of grinding tools.

[0159] When the grinding rod and the grinding ball are embedded in the registration plate, some points on the grinding tool overlap with some points on the grinding rod and the grinding ball. Therefore, according to the coordinate system S of the grinding tool t and the coordinate system S of the registration plate d The third transformation relationship V between them td Generate registration information related to positioning for the grinding rod and the grinding ball, so as to realize the registration of different models of grinding tools.

[0160] In a specific implementation, as Figure 4 shown, the top of the registration plate has a first groove point c1 and the bottom has a second groove point c2. Among them, the positioning point t1 on the grinding rod is embedded in the first groove point c1, and the center of the grinding ball t2 is embedded in the second groove point c2. At this time, the points of the first groove point c1 and the second groove point c2 in the coordinate system S of the grinding tool t respectively overlap with the positioning point t1 on the grinding rod and the center of the grinding ball t2.

[0161] Furthermore, by combining the spatial relationship between the first marker and the grinding ball in the design document of the grinding tool, the position of the center of the grinding ball can be determined, and the design of the groove can ensure that the grinding balls of different models of grinding tools are in the same position.

[0162] For different models of grinding tools, the positioning points on the grinding rod can be the same or different, and this embodiment does not limit this.

[0163] In the coordinate system S of the registration plate d Query the first groove coordinates of the first groove point c1 and the second groove coordinates of the second groove point c2.

[0164] When the grinding tool grinds the acetabulum, the optical positioning system real-time tracks the directions of the grinding ball and the grinding rod of the grinding tool to achieve precise grinding of the acetabulum. Therefore, subtract the plate coordinates of the second groove point c2 from the plate coordinates of the first groove point c1 to obtain the first direction vector corresponding to the direction of the grinding rod That is,

[0165] in the coordinate system S of the filing operation t the first groove coordinates are respectively converted into the positioning coordinates t1 of the center of the filing ball and the first direction vector is converted into the second direction vector of the filing rod by using the third conversion relationship As registration information to complete the registration of filing tools of different models.

[0166] Let the coordinate system S of the registration plate d and the coordinate system S of the filing tool t The third conversion relationship V dt between them includes the third rotation matrix R dt and the third translation matrix T dt Then, t2 = R dt c2 + T dt ,

[0167] Furthermore, as Figure 2 shown in Figure 4 for the convenience of management, a coordinate system S n can be established with the center of the filing ball as the origin, and the coordinate system S t of the filing tool is converted to the coordinate system S n of the filing ball. The fourth conversion relationship (usually a translation relationship, not including a rotation relationship) between them is used to convert the positioning coordinates t1 of the center of the filing ball and the second direction vector of the filing rod from the coordinate system S t of the filing tool to the coordinate system S n of the filing ball.

[0168] To ensure that the rotation matrix between the coordinate system S t of the filing tool and the coordinate system S n of the filing ball is the identity matrix, the axis directions of the coordinate system S n of the filing ball and the axis directions of the coordinate system S t of the filing tool are kept consistent.

[0169] In this embodiment, multiple first markers, a grinding file rod, and a grinding file ball are included in grinding file tools of different models. The registration plate configured for the grinding file tools of different models includes multiple second markers. Both the grinding file rod and the grinding file ball are embedded in the registration plate. Under the optical positioning system, a coordinate system of the grinding file tool is created based on the multiple first markers, and a coordinate system of the registration plate is created based on the multiple second markers. A first conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the grinding file tool is established based on the multiple first markers. A second conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the registration plate is established based on the multiple second markers. The first conversion relationship and the second conversion relationship are fused into a third conversion relationship between the coordinate system of the registration plate and the coordinate system of the grinding file tool. Registration information is generated for the grinding file rod and the grinding file ball based on the third conversion relationship to register grinding file tools of different models. This embodiment provides a unified registration plate for grinding file tools of different models. By using any model of grinding file tool to register with the registration plate once, the registration of grinding file tools of different models can be completed. This not only reduces the number of registration plates and lowers the hardware cost, but also reduces the complexity of navigation, reduces the risk of misoperation, can be directly used each time the grinding file tool is replaced, takes less time, and moreover, reducing the registration operation reduces the potential risk of error accumulation, ensures the positioning accuracy, and thus effectively improves the efficiency of registering grinding file tools.

[0170] Embodiment 2

[0171] See Figure 5 , which shows a flowchart of a positioning method for a grinding file tool provided in Embodiment 1 of the present invention. This method can be executed by a positioning device of the grinding file tool. The registration of the grinding file tool and its positioning device can be implemented in the form of hardware and / or software. The positioning device of the grinding file tool can be configured in an electronic device. Both the grinding file rod and the grinding file ball are included in grinding file tools of different models. As Figure 1 shown, this method includes:

[0172] Step 501, query the registration information generated by the grinding file rod and the grinding file ball.

[0173] When using a specific model of grinding file tool, the grinding file tool can be positioned based on the first markers on the grinding file tool to construct the coordinate system of the grinding file tool or the coordinate system of the grinding file ball.

[0174] In the coordinate system of the grinding file work or the coordinate system of the grinding file ball, query the registration information generated for the grinding file rod and the grinding file ball by using a general registration plate when registering grinding file tools of different models according to the method described in Embodiment 1.

[0175] Step 502, query the specification information of the grinding file ball according to the model of the grinding file tool.

[0176] In practical applications, the model of the current grinding file tool can be queried, and the specification information of the grinding balls in the grinding file tool of this model can be queried according to the model of the grinding file tool.

[0177] Generally, the specification information of the grinding balls in different models of grinding file tools is different.

[0178] Step 503: Under the optical positioning system, position the grinding ball according to the registration information and the specification information.

[0179] Under the optical positioning system, the grinding ball can be positioned according to the registration information generated for the grinding rod and the grinding ball and the specification information of the grinding ball, so as to provide navigation services.

[0180] In a specific implementation, the registration information generated for the grinding rod and the grinding ball includes the positioning coordinates of the center of the grinding ball and the second direction vector of the grinding rod, and the specification information of the grinding ball includes the radius of the grinding ball.

[0181] Then, conversion relationships such as the first conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the grinding file tool, and the fourth conversion relationship between the coordinate system of the grinding file tool and the coordinate system of the grinding ball can be used to project the positioning coordinates of the center of the grinding ball and the second direction vector of the grinding rod from the coordinate system of the grinding file tool or the coordinate system of the grinding ball into the coordinate system of the optical positioning system.

[0182] In the coordinate system of the optical positioning system, based on the positioning coordinates O2 of the center of the grinding ball, along the second direction vector of the grinding rod Add the radius r of the grinding ball to obtain the top point O3 of the grinding ball.

[0183] Then, the top point of the grinding ball can be expressed as:

[0184] Therefore, when switching to different models of grinding file tools, the top point of the grinding ball in the new grinding file tool can be positioned according to the radius of the corresponding grinding ball, so as to adapt to different models of grinding file tools.

[0185] In this embodiment, the filing tools of different models all include a filing rod and a filing ball. Query the registration information generated for the filing rod and the filing ball; query the specification information of the filing ball according to the model of the filing tool; under the optical positioning system, position the filing ball according to the registration information and the specification information. This embodiment provides a unified registration board for filing tools of different models. By using any model of filing tool to register with the registration board once, the registration of filing tools of different models can be completed. This not only reduces the number of registration boards and the hardware cost, but also reduces the complexity of navigation and the risk of misoperation. It can be directly used each time the filing tool is replaced, with short time consumption. Moreover, reducing the registration operation reduces the risk of potential error accumulation, ensures the positioning accuracy, and thus effectively improves the efficiency of registering the filing tools.

[0186] Embodiment III

[0187] See Figure 6 , which shows a schematic structural diagram of a registration device for a filing tool provided in Embodiment III of the present invention. The filing tools of different models all include a plurality of first markers, a filing rod and a filing ball. The registration board configured for the filing tools of different models includes a plurality of second markers. The filing rod and the filing ball are both embedded in the registration board; as Figure 6 shown, the device includes:

[0188] A coordinate system creation module 601, configured to create a coordinate system of the filing tool according to a plurality of the first markers and create a coordinate system of the registration board according to a plurality of the second markers under the optical positioning system;

[0189] A first conversion relationship establishment module 602, configured to establish a first conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the filing tool according to a plurality of the first markers;

[0190] A second conversion relationship establishment module 603, configured to establish a second conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the registration board according to a plurality of the second markers;

[0191] A third conversion relationship fusion module 604, configured to fuse the first conversion relationship and the second conversion relationship into a third conversion relationship between the coordinate system of the registration board and the coordinate system of the filing tool;

[0192] A registration information generation module 605, configured to generate registration information for the filing rod and the filing ball according to the third conversion relationship to register the filing tools of different models.

[0193] In an embodiment of the present invention, the first conversion relationship establishment module 602 includes:

[0194] The first center point calculation module is used to calculate the average value of multiple first marker coordinates of the multiple first markers in the coordinate system of the burring tool to obtain a first center point;

[0195] The second center point calculation module is used to calculate the average value of multiple second marker coordinates of the multiple first markers in the coordinate system of the optical positioning system to obtain a second center point;

[0196] The first covariance matrix calculation module is used to calculate a first covariance matrix using the multiple first marker coordinates and the first center point;

[0197] The second covariance matrix calculation module is used to calculate a second covariance matrix using the multiple second marker coordinates and the second center point;

[0198] The first rotation relationship creation module is used to create a first conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the burring tool using the first covariance matrix, the second covariance matrix, the first center point, and the second center point.

[0199] In an embodiment of the present invention, the first rotation relationship creation module includes:

[0200] The first singular value decomposition module is used to perform singular value decomposition on the first covariance matrix to obtain a first left singular vector;

[0201] The second singular value decomposition module is used to perform singular value decomposition on the second covariance matrix to obtain a second left singular vector;

[0202] The first rotation matrix calculation module is used to calculate the product of the first left singular vector and the inverse matrix of the second left singular vector to obtain a first rotation matrix;

[0203] The first translation matrix calculation module is used to subtract the product of the first rotation matrix and the first center point from the second center point to obtain a first translation matrix;

[0204] The first rotation and translation fusion module is used to fuse the first rotation matrix and the first translation matrix into a first conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the burring tool.

[0205] In an embodiment of the present invention, the second conversion relationship establishment module 603 includes:

[0206] The third center point calculation module is used to calculate the average value of multiple third marker coordinates of the multiple second markers in the coordinate system of the registration plate to obtain a third center point;

[0207] The fourth center point calculation module is configured to calculate the average value of a plurality of fourth marker coordinates of the plurality of second markers in the coordinate system of the optical positioning system to obtain a fourth center point;

[0208] The third covariance matrix calculation module is configured to calculate a third covariance matrix by using the plurality of third marker coordinates and the third center point;

[0209] The fourth covariance matrix calculation module is configured to calculate a fourth covariance matrix by using the plurality of fourth marker coordinates and the fourth center point;

[0210] The second rotation relationship creation module is configured to create a second conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the registration plate by using the third covariance matrix, the fourth covariance matrix, the third center point and the fourth center point.

[0211] In an embodiment of the present invention, the second rotation relationship creation module includes:

[0212] The third singular value decomposition module is configured to perform singular value decomposition on the third covariance matrix to obtain a third left singular vector;

[0213] The fourth singular value decomposition module is configured to perform singular value decomposition on the fourth covariance matrix to obtain a fourth left singular vector;

[0214] The second rotation matrix calculation module is configured to calculate the product of the third left singular vector and the inverse matrix of the fourth left singular vector to obtain a second rotation matrix;

[0215] The second translation matrix calculation module is configured to subtract the product of the second rotation matrix and the third center point from the fourth center point to obtain a second translation matrix;

[0216] The second rotation and translation fusion module is configured to fuse the second rotation matrix and the second translation matrix into a second conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the registration plate.

[0217] In an embodiment of the present invention, the registration plate has a first groove point and a second groove point, the positioning point on the grinding rod is embedded in the first groove point, and the center of the grinding ball is embedded in the second groove point;

[0218] The registration information generation module 605 includes:

[0219] The groove coordinate query module is configured to query a first groove coordinate of the first groove point and a second groove coordinate of the second groove point in the coordinate system of the registration plate;

[0220] A direction vector calculation module, configured to subtract the board coordinates of the second groove point from the board coordinates of the first groove point to obtain a first direction vector of the grinding file rod;

[0221] A coordinate direction conversion module, configured to use the third conversion relationship to convert the first groove coordinates into the positioning coordinates of the center of the grinding ball and convert the first direction vector into a second direction vector of the grinding file rod in the coordinate system of the grinding operation, so as to register grinding file tools of different models.

[0222] The registration device for the grinding file tool provided by the embodiment of the present invention can execute the registration method for the grinding file tool provided by any embodiment of the present invention, and has function modules and beneficial effects corresponding to the execution of the registration method for the grinding file tool.

[0223] Embodiment 4

[0224] See Figure 7 , which shows a schematic structural diagram of a positioning device for a grinding file tool provided by Embodiment 4 of the present invention. Different models of grinding file tools include a grinding file rod and a grinding ball. As Figure 7 shown, the device includes:

[0225] A registration information query module 701, configured to query the registration information generated for the grinding file rod and the grinding ball according to the method described in Embodiment 1;

[0226] A specification information query module 702, configured to query the specification information of the grinding ball according to the model of the grinding file tool;

[0227] A grinding ball positioning module 703, configured to position the grinding ball according to the registration information and the specification information under the optical positioning system.

[0228] In an embodiment of the present invention, the registration information includes the positioning coordinates of the center of the grinding ball and the second direction vector of the grinding file rod, and the specification information includes the radius of the grinding ball;

[0229] The grinding ball positioning module 703 includes:

[0230] A coordinate direction projection module, configured to project the positioning coordinates of the center of the grinding ball and the second direction vector of the grinding file rod into the coordinate system of the optical positioning system;

[0231] A top point positioning module, configured to add the radius of the grinding ball along the second direction vector of the grinding file rod on the basis of the positioning coordinates of the center of the grinding ball in the coordinate system of the optical positioning system to obtain the top point of the grinding ball.

[0232] The positioning device of the grinding and filing tool provided by the embodiment of the present invention can execute the positioning method of the grinding and filing tool provided by any embodiment of the present invention, and has a corresponding functional module and beneficial effect for executing the positioning method of the grinding and filing tool.

[0233] Embodiment 4

[0234] See Figure 8 , which shows a schematic structural diagram of an electronic device provided by an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as, for example, laptop computers, desktop computers, workstations, personal digital assistants, blade servers, mainframe computers, and other suitable computers. The components shown herein, their connections and relationships, and their functions are merely exemplary and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0235] As Figure 8 shown, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. Among them, the memory stores a computer program executable by the at least one processor, and the processor 11 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0236] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0237] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the registration method of the grinding and filing tool or the positioning method of the registration of the grinding and filing tool.

[0238] In some embodiments, the method for registering a filing tool or the positioning method for registering a filing tool may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for registering a filing tool or the positioning method for registering a filing tool described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the method for registering a filing tool or the positioning method for registering a filing tool by any other suitable means (e.g., by means of firmware).

[0239] The various embodiments of the systems and techniques described above in this document may be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs that may be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that receives data and instructions from a storage system, at least one input device, and at least one output device, and transmits the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0240] The computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs may be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine, or entirely on the remote machine or server.

[0241] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0242] In order to provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0243] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0244] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The relationship between the client and the server is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0245] Embodiment Six

[0246] The embodiment of the present invention also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the registration method of the grinding tool or the positioning method of the registration of the grinding tool provided in any embodiment of the present invention.

[0247] In the process of implementing the computer program product, the computer program code for performing the operations of the present invention can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network - including a local area network (LAN) or a wide area network (WAN) - or can be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0248] It should be understood that the various forms of the flow shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0249] The above specific embodiments do not constitute a limitation to the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A registration method for a grinding and filing tool, characterized in that, Among the filing tools of different models, there are multiple first markers, a filing rod and a filing ball. In the registration plate configured for the filing tools of different models, there are multiple second markers. Both the filing rod and the filing ball are embedded in the registration plate. The method includes: Under the optical positioning system, create the coordinate system of the filing tool according to multiple first markers, and create the coordinate system of the registration plate according to multiple second markers; Establish a first conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the filing tool according to multiple first markers; Establish a second conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the registration plate according to multiple second markers; Fuse the first conversion relationship and the second conversion relationship into a third conversion relationship between the coordinate system of the registration plate and the coordinate system of the filing tool; Generate registration information for the filing rod and the filing ball according to the third conversion relationship to register the filing tools of different models.

2. The method according to claim 1, wherein The establishing of the first conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the filing tool according to multiple first markers includes: Calculate the average value of multiple first marker coordinates of multiple first markers in the coordinate system of the filing tool to obtain a first center point; Calculate the average value of multiple second marker coordinates of multiple first markers in the coordinate system of the optical positioning system to obtain a second center point; Calculate a first covariance matrix using multiple first marker coordinates and the first center point; Calculate a second covariance matrix using multiple second marker coordinates and the second center point; Create a first conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the filing tool using the first covariance matrix, the second covariance matrix, the first center point and the second center point.

3. The method according to claim 2, wherein The creating of the first conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the filing tool using the first covariance matrix, the second covariance matrix, the first center point and the second center point includes: Perform singular value decomposition on the first covariance matrix to obtain a first left singular vector; Perform singular value decomposition on the second covariance matrix to obtain a second left singular vector; Calculate the product of the first left singular vector and the inverse matrix of the second left singular vector to obtain a first rotation matrix; Subtract the product of the first rotation matrix and the first center point from the second center point to obtain a first translation matrix; Fuse the first rotation matrix and the first translation matrix into a first conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the filing tool.

4. The method according to claim 1, wherein The establishing of the second conversion relationship between the coordinate system of the optical positioning system and the coordinate system of the registration plate according to multiple second markers includes: Calculate the average value of multiple third marker coordinates of multiple second markers in the coordinate system of the registration plate to obtain a third center point; Calculate the average value of the multiple fourth marker coordinates of the multiple second markers in the coordinate system of the optical positioning system to obtain a fourth center point; Calculate a third covariance matrix using the multiple third marker coordinates and the third center point; Calculate a fourth covariance matrix using the multiple fourth marker coordinates and the fourth center point; Create a second transformation relationship between the coordinate system of the optical positioning system and the coordinate system of the registration plate using the third covariance matrix, the fourth covariance matrix, the third center point, and the fourth center point.

5. The method according to claim 4, wherein The step of creating a second transformation relationship between the coordinate system of the optical positioning system and the coordinate system of the registration plate using the third covariance matrix, the fourth covariance matrix, the third center point, and the fourth center point includes: Perform singular value decomposition on the third covariance matrix to obtain a third left singular vector; Perform singular value decomposition on the fourth covariance matrix to obtain a fourth left singular vector; Calculate the product between the third left singular vector and the inverse matrix of the fourth left singular vector to obtain a second rotation matrix; Subtract the product of the second rotation matrix and the third center point from the fourth center point to obtain a second translation matrix; Fuse the second rotation matrix and the second translation matrix into the second transformation relationship between the coordinate system of the optical positioning system and the coordinate system of the registration plate.

6. The method according to any one of claims 1-5, characterized in that, The registration plate has a first groove point and a second groove point. The positioning point on the filing rod is embedded in the first groove point, and the center of the filing ball is embedded in the second groove point; The step of generating registration information for the filing rod and the filing ball according to the third transformation relationship to register different models of the filing tools includes: In the coordinate system of the registration plate, query the first groove coordinate of the first groove point and the second groove coordinate of the second groove point; Subtract the plate coordinate of the first groove point from the plate coordinate of the second groove point to obtain the first direction vector of the filing rod; In the coordinate system of the filing work, use the third transformation relationship to convert the first groove coordinate into the positioning coordinate of the center of the filing ball and convert the first direction vector into the second direction vector of the filing rod respectively to register different models of the filing tools.

7. A positioning method for a grinding and filing tool, characterized in that, Different models of filing tools all include a filing rod and a filing ball. The method includes: Query the registration information generated for the filing rod and the filing ball according to the method described in any one of claims 1-6; Query the specification information of the filing ball according to the model of the filing tool; Under the optical positioning system, position the filing ball according to the registration information and the specification information.

8. The method according to claim 7, characterized in that, The registration information includes the positioning coordinate of the center of the filing ball and the second direction vector of the filing rod, and the specification information includes the radius of the filing ball; The step of positioning the filing ball under the optical positioning system according to the registration information and the specification information includes: Project the positioning coordinate of the center of the filing ball and the second direction vector of the filing rod into the coordinate system of the optical positioning system; In the coordinate system of the optical positioning system, based on the positioning coordinates of the center of the grinding ball, the radius of the grinding ball is added along the second direction vector of the grinding rod to obtain the top point of the grinding ball.

9. An electronic device, characterized in that, The electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor is enabled to execute the registration method of the grinding tool according to any one of claims 1-6 or the positioning method of the grinding tool according to any one of claims 7-8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the registration method of the grinding tool according to any one of claims 1-6 or the positioning method of the grinding tool according to any one of claims 7-8.

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