Tracking and early warning method and system applied to medical diagnosis and treatment optical navigation platform
By using a combination of cameras and optical calibrators in a medical diagnosis and treatment optical navigation platform, the problem of high cost has been solved, enabling low-cost diagnosis and treatment reference and early warning in physiotherapy, dentistry, and dermatology, thus improving the pertinence and safety of diagnosis and treatment.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- THE NAVAL MEDICAL UNIV OF PLA
- Filing Date
- 2026-03-16
- Publication Date
- 2026-06-12
AI Technical Summary
Existing optical navigation platforms for medical diagnosis and treatment are costly in physiotherapy, dental, and dermatology, making it difficult for most medical staff to receive assistance, and current technologies cannot effectively reduce costs.
By combining cameras and optical calibrators, imaging data and medical record data are acquired through data connection to perform initial position calibration and position updates, providing intuitive diagnostic and treatment references and early warning prompts, and reducing the need for modification of medical devices.
It reduces costs in physiotherapy, dental, and dermatology treatments while providing intuitive diagnostic and treatment references and early warning prompts, thereby improving the pertinence and safety of diagnosis and treatment.
Smart Images
Figure CN122182190A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of intelligent medical technology, and in particular to a tracking and early warning method and system for use in optical navigation platforms for medical diagnosis and treatment. Background Technology
[0002] With the development of science and technology, especially AI and big data technologies, some medical activities no longer rely solely on the doctor's professionalism and experience. Various intelligent medical devices can provide doctors with operational guidance and convenience during diagnosis and treatment. For example, a medical diagnosis and treatment optical navigation platform.
[0003] An existing medical diagnosis and treatment optical navigation platform can use 3D modeling technology to perform sub-millimeter-level three-dimensional reconstruction of medical test results such as CT and color ultrasound, realize three-dimensional visualization of the human body, and during surgery, optical positioning tracks the movement of surgical instruments, and then displays the surgical points on the screen throughout the process, providing guidance, planning and early warning, so as to help medical staff avoid nerves, blood vessels and other human tissues and improve surgical safety.
[0004] The aforementioned platform is highly specialized, but its performance is excessive when applied to physiotherapy, dentistry, and dermatology, and its cost is extremely high, typically ranging from millions to tens of millions of yuan. This makes it difficult for most medical staff to obtain assistance. Therefore, this application proposes a new technical solution. Summary of the Invention
[0005] In order to reduce the cost of machine-assisted medical diagnosis and treatment, enable more medical staff to receive assistance, and meet more needs for human diagnosis and treatment guidance, this application provides a tracking and early warning method and system for medical diagnosis and treatment optical navigation platforms.
[0006] Firstly, this application provides a tracking and early warning method for an optical navigation platform used in medical diagnosis and treatment, employing the following technical solution: A tracking and early warning method for use in an optical navigation platform for medical diagnosis and treatment includes: S1. Environment setup, which includes: Data connections are established with cameras deployed in the diagnosis and treatment work area and with pre-set optical calibrators for installation on medical devices; wherein, the optical calibrator has at least two ranging units with an angle α between the detection directions and an attitude sensor, and one ranging unit rotates around the other ranging unit, where α is a preset value; S2. Implementation and application, which includes: Acquire imaging data and medical record data from the patient's medical imaging and store them in the database; If a preset diagnostic and treatment assistance trigger signal is received, the patient's identity information is obtained, the database is searched based on the identity information, the corresponding imaging data and medical record data are retrieved, and the diagnostic and treatment tracking process is executed; the diagnostic and treatment tracking process includes: S21. Based on one or more of the imaging data, medical record data, and data uploaded by medical staff, locate the current treatment site, enable the camera to track and collect video data of the treatment site, and output the imaging data and medical record data for display. S22. Obtain the distance measurement and attitude detection values fed back by the optical calibrator, and perform initial position calibration based on video data and imaging data, and initiate an initial position verification inquiry to medical staff; S23. If the initial position verification query is successful, the position of the medical device is updated based on the distance detection value and the attitude detection value, and the position relative to the patient's treatment site is analyzed and calculated, and at least the corresponding imaging data is called for display.
[0007] Optionally, if the medical record data contains the patient's facial data, then obtaining the patient's identity information in S2 includes: performing facial recognition based on video data collected by a camera, and obtaining the patient's identity information by calling data from the database.
[0008] Optional, also includes: S31. Obtain functional information of medical devices equipped with optical calibrators; S32. Determine the scope of diagnosis and treatment in the imaging data based on one or more of the medical record data and the data uploaded by medical staff. S33. Based on the real-time location and functional information of the medical device and the patient's treatment range, determine whether the device meets the boundary crossing warning conditions. If so, output the warning message.
[0009] Secondly, this application provides a tracking and early warning system for use in a medical diagnostic optical navigation platform, employing the following technical solution: A tracking and early warning system for use in optical navigation platforms for medical diagnosis and treatment includes: The vision module includes multiple cameras deployed in the treatment work area, with at least one camera capturing the treatment work area from a top-down angle and at least one camera capturing from the side of the treatment work area. An optical calibrator is used to be installed in a medical device and includes at least two ranging units with an angle α between two detection directions and an attitude sensor, wherein one ranging unit rotates around the other ranging unit, and α is a preset value. The control center, connected to the vision module and the optical calibrator, is used to load and execute computer programs for tracking and early warning methods applied to medical diagnostic optical navigation platforms as described in any of the above.
[0010] Optionally, the optical calibrator includes a ring body and a calibration mechanism mounted on the ring body, and a drive mechanism for driving the calibration mechanism to move. The calibration mechanism includes the ranging unit and an attitude sensor. The ring body is divided into two halves, which are magnetically fixed together. An elastic composite block is fixed to the inner wall of each half. The calibration mechanism is detachably connected to the ring body.
[0011] Optionally, the ring body has an annular groove around its outer wall, and a rack is provided in the annular groove. The annular groove is open to the outside, and the annular groove and the rack are divided into two along with the ring body. A slider is slidably connected within the annular groove, and the slider is fixed to the rack. The drive mechanism includes a motor and multiple gears. The gears are rotatably connected to a semi-ring and mesh with a rack. The motor is mounted on a semi-ring and its output shaft is fixed to a gear. One of the ranging units is detachably connected to the slider, and one ranging unit and attitude sensor are detachably connected to a half-ring.
[0012] Optionally, at least two gears are rotatably connected on each of the semi-rings.
[0013] Optionally, a mounting groove with an external opening is provided in one of the semi-rings, and a mounting base is inserted into the mounting groove. One of the ranging units is vertically arranged and embedded and fixed to the mounting base along with the attitude sensor. The slider has a second mounting groove, which opens towards the opening of the annular groove; a ranging unit is inserted into the second mounting groove. A conductive sheet is embedded in the inner wall of the annular groove, and a conductive post is embedded in the slider. One end of the conductive post abuts against the conductive sheet, and the other end extends into the second mounting groove. A conductive sleeve is fixed to the wiring terminal of the ranging unit inserted into the second mounting groove, and the sleeve covers the conductive post extending into the second mounting groove. Another set of conductive posts is embedded in the semi-ring of the first mounting groove, with one end of the conductive post electrically connected to a conductive sheet and the other end extending into the first mounting groove; the circuit arranged on the mounting base has an interface fixed on the mounting base to match the conductive posts.
[0014] In summary, this application offers the following beneficial technical effects: Relevant institutions only need to install a relatively clear camera in the medical treatment area, and medical staff can attach an optical calibrator to the medical device during treatment to calibrate and update its position. This allows images from CT scans or other examinations of the corresponding treatment area to be displayed wherever the device moves during treatment, providing medical staff with intuitive reference and guidance, making their treatment more targeted and effective. Simultaneously, because it requires minimal modification to the device and has a simpler structure, it can reduce the cost of machine-assisted medical treatment, enabling more medical staff to receive assistance and meeting a wider range of human diagnostic and treatment guidance needs. Attached Figure Description
[0015] Figure 1 This is a schematic diagram of the main process of the method described in this application. Figure 1 ; Figure 2 This is a flowchart illustrating the diagnosis and treatment tracking process of this application; Figure 3 This is a schematic diagram of the main process of the method described in this application. Figure 2 ; Figure 4 This is a schematic diagram of the system architecture of this application; Figure 5 This is a schematic diagram of the overall structure of the optical calibrator of this application; Figure 6 yes Figure 5 A partial structural diagram.
[0016] Explanation of reference numerals in the attached diagram: 1. Vision module; 2. Distance measuring unit; 3. Control center; 4. Ring body; 41. Semi-ring; 42. Composite block; 43. Rack; 44. Slider; 45. Mounting base; 5. Drive mechanism; 51. Motor; 52. Gear. Detailed Implementation
[0017] The following is in conjunction with the appendix Figures 1-6 This application will be described in further detail.
[0018] This application discloses a tracking and early warning method for use in an optical navigation platform for medical diagnosis and treatment.
[0019] Reference Figure 1 Tracking and early warning methods applied to optical navigation platforms for medical diagnosis and treatment include: S1. Environment setup, which includes: establishing data connections with cameras deployed in the diagnosis and treatment work area and pre-set optical calibrators for installation on medical devices.
[0020] This method is not limited to any particular medical treatment; it can be used to assist in the treatment of many non-core human body areas in physiotherapy, dentistry, and dermatology, as well as during surgical procedures. Therefore, the treatment area and medical devices are determined based on the specific choices of the medical personnel. This embodiment uses back physiotherapy as an example: the treatment area is the treatment bed and a surrounding range of 0.5-2 meters, and the medical devices can be ultrasonic / infrared massage heads, etc. The camera and optical calibrator are specifically described in another embodiment of this application, and therefore will not be repeated here.
[0021] The optical calibrator includes at least two ranging units 2 with an angle α between their detection directions and an attitude sensor. One of the ranging units 2 rotates around the other ranging unit 2, and α is a preset value, such as 90°.
[0022] S2. Implementation and application, which includes: 1) Obtain the imaging data and medical record data obtained from the patient's medical imaging and store them in the database.
[0023] The aforementioned data can be actively uploaded by medical staff or retrieved by the system implementing this method after it is connected to the hospital or institution's platform according to the instructions of the medical staff. In this embodiment, medical imaging refers to CT, that is, the imaging data is the data obtained from CT. Medical record data refers to the collection of patient identity, symptoms, and diagnostic information. It should be noted that this application preferably records the patient's facial data to provide support for subsequent steps.
[0024] 2) If a preset diagnosis and treatment assistance trigger signal is received, for example, when a medical staff clicks a designated function button on the device implementing this method, the patient's identity information is obtained, the database is searched based on the identity information, the corresponding imaging data and medical record data are retrieved, and the diagnosis and treatment tracking process is executed.
[0025] Reference Figure 2 The above-mentioned diagnosis and treatment tracking process includes: S21. Locate the current treatment site based on one or more of the imaging data, medical record data, and data uploaded by medical staff; Example: If the hospital's CT report shows the following findings and opinions: trapezius muscle injury and external oblique muscle injury, then the diagnosis and treatment sites are located as trapezius muscle injury and external oblique muscle injury.
[0026] The camera tracks (i.e., maintains shooting at the corresponding position; if there are multiple camera positions, the unobstructed camera is used) to collect video data of the treatment area, and outputs imaging data and medical record data for display.
[0027] S22. Obtain the distance measurement and attitude detection values fed back by the optical calibrator, and perform initial position calibration based on video data and imaging data, and initiate an initial position verification inquiry to medical staff; Because the optical calibrator is installed on the medical device, the initial position of the device relative to the patient's back is calibrated as described above, and the accuracy is ensured by querying and confirming through pop-up information, audio, and other means.
[0028] S23. If the initial position verification query is successful, the position of the medical device is updated based on the distance detection value and the attitude detection value, and the position relative to the patient's treatment site is analyzed and calculated, and at least the corresponding imaging data is called for display.
[0029] Based on the above, relevant institutions only need to install relatively clear cameras in the medical treatment area, and medical staff need to install an optical calibrator on the medical devices during treatment to calibrate and update their positions. This will allow images from CT scans or other examinations of the corresponding treatment area to follow and display wherever the device moves during the treatment process, providing medical staff with intuitive reference and guidance, making their treatment more targeted and effective. At the same time, because the changes to the devices are minimal and the structure is simpler, the cost of machine-assisted medical treatment can be reduced, allowing more medical staff to receive assistance and meeting more needs for human diagnosis and treatment guidance.
[0030] In one embodiment of this method, regarding the acquisition of the patient's identity information in S2, this application includes at least the following two methods: The first method involves medical staff uploading the system for implementing this method to a computer.
[0031] The second method involves recording the patient's facial data in the medical records. This method uses video data captured by a camera to perform facial recognition and retrieves the patient's identity information from the database. Facial recognition is an existing technology, so it will not be elaborated further.
[0032] Compared to the first method, the second method is more convenient, as the patient only needs to pose for a photo in front of the camera to complete the step quickly.
[0033] Reference Figure 3 In one embodiment of this method, the method further includes: S31. Obtain the functional information of the medical device with the optical calibrator installed; Example: Extract images from the video, perform image recognition on the medical device to obtain its recognition information (such as name), and then call the corresponding functional information from the pre-stored data sets of various device information in the database.
[0034] S32. Determine the scope of diagnosis and treatment in the imaging data based on one or more of the medical record data and the data uploaded by medical staff; Example: Identify each feature in the imaging image. After the medical record and medical staff provide the location, locate it in the imaging image and highlight the outline of the feature with a distinguishing color to facilitate intuitive observation by medical staff.
[0035] S33. Based on the real-time location and functional information of the medical device and the patient's treatment range, determine whether the device meets the boundary crossing warning conditions. If so, output the warning message.
[0036] Among them, the boundary crossing warning conditions are as follows: the real-time position moves towards the above-mentioned contour boundary, and the distance between the two is less than 1 / 5; the warning prompt information can be the flashing of the above-mentioned feature contour, or a prompt sound from a computer, etc.
[0037] Based on the above settings, this method can not only provide CT images of the medical device's position for intuitive reference and guidance during medical staff's diagnosis and treatment, but also provide early warnings during the movement of the medical device, reminding it when it is about to approach the boundary, thus reducing the probability of misoperation and ineffective operation.
[0038] This application also discloses a tracking and early warning system for use in a medical diagnostic optical navigation platform.
[0039] Reference Figure 4 Tracking and early warning systems applied to optical navigation platforms for medical diagnosis and treatment include: The vision module 1 includes multiple cameras deployed in the treatment work area, with at least one camera capturing the treatment work area from a top-down angle and at least one camera capturing from the side of the treatment work area. An optical calibrator is used to be installed in a medical device and includes at least two ranging units 2 with an angle α between two detection directions and an attitude sensor, wherein one ranging unit 2 rotates around the other ranging unit 2, and α is a preset value. Control center 3, which is connected to vision module 1 and optical calibrator, and is used to load and execute computer programs for tracking and early warning methods applied to medical diagnosis and treatment optical navigation platforms as described above; The control center 3 includes a host, a PLC controller connected to the host, a monitor, a keyboard, and a mouse. The host is installed in a box-type structure as a base. It is connected to the camera via a WIFI / USB cable and to the optical calibrator via the PLC controller.
[0040] Based on the above setup, medical staff can install the optical calibrator onto the medical devices required for subsequent diagnosis and treatment. Then, by operating the keyboard and mouse in control center 3, they can implement the above method to achieve the corresponding effect. The effect has already been described, so it will not be repeated here. The following mainly explains the parts of the above method that have not been described: The installation method for the overhead camera is as follows: a hanging rod is fixed to the indoor ceiling corresponding to the diagnosis and treatment work area, a base is fixed to the bottom of the hanging rod, and a downward-facing camera is installed on the base by bolts.
[0041] Side-facing camera installation method: In this embodiment, the main purpose of the camera in this direction is not to photograph the treatment work area, but to facilitate the collection of facial data. Therefore, it can be integrated into the monitor or installed separately on the upper part of a mobile tripod to facilitate the movement of the camera by medical staff.
[0042] Reference Figure 5 and Figure 6In one embodiment of this system, the optical calibrator includes a ring 4 and a calibration mechanism mounted on the ring 4, and a drive mechanism 5 for driving the calibration mechanism to move. The calibration mechanism includes the aforementioned ranging unit 2 and an attitude sensor. The ranging unit 2 can be a miniature laser ranging sensor, and the attitude sensor can be an IMU unit. The installation and operation are explained in detail below: The ring body 4 is divided into two halves of the ring 41 along the radial direction. The two halves of the ring 41 are respectively provided with grooves and fixed protrusions on their opposite end faces. The protrusions and grooves are magnetic structures with opposite magnetic poles. The two halves of the ring 41 can also be connected by clamping and bolting. In this embodiment, magnetic attraction is preferred.
[0043] When the cursor needs to be installed on a medical device, the two semi-rings 41 are first placed facing each other on the side of the grip handle of the medical device, and then closed together, interlocked and magnetically attracted to each other to complete the installation. Therefore, it is relatively easy to install and remove.
[0044] In order to be applicable to more types of medical devices, the inner wall of the semi-ring 41 is magnetically fixed to the composite block 42, which includes rubber and a magnetic sheet fixed to the rubber; at the same time, the calibration mechanism is set to be detachably connected to the ring body 4, so medical staff only need to purchase a variety of different sizes and types of ring bodies 4, and can install this optical calibrator on different medical devices by replacing the ring body 4.
[0045] In one embodiment of this system, the detachable connection method of the calibration mechanism is specifically as follows: A groove is formed around the central axis on the ring body 4, and a rack 43 is arranged around the groove. The groove is open to the outside and the groove and rack 43 are divided into two parts along with the ring body 4. A slider 44 is slidably connected within the annular groove and fixed to the rack 43; the drive mechanism 5 includes a motor 51 and multiple gears 52, the gears 52 are rotatably connected to the semi-ring 41 and mesh with the inner side of the rack 43, the motor 51 is mounted on one of the semi-rings 41 and the output shaft is fixed to one of the gears 52; a ranging unit 2 is detachably connected to the slider 44, and a ranging unit and an attitude sensor are detachably connected to one of the semi-rings 41.
[0046] In use, first install the ranging unit 2 and the attitude sensor, then turn on the motor. After the motor is turned on, it drives the gear 52 to rotate, which in turn drives the rack 43 to rotate, which in turn drives the slider 44 to rotate, thus causing one ranging unit 2 to start rotating around the other ranging unit 2.
[0047] Furthermore, at least two gears 52 are rotatably connected on each half-ring 41. This is because the drive mechanism 5 is specially designed to adapt to the installation method of the ring body 4. It uses a rack 43 that is split into two for linkage. If each half-ring 41 has only one gear 52, then a single section of the rack 43 is prone to imbalance. Moreover, if the spacing between the gears 52 is not right, a section of the rack 43 may fall off directly, which will affect the performance of the drive mechanism 5.
[0048] It should be noted that the reason why this application requires one ranging unit 2 to be arranged around another ranging unit 2 is for the following reasons: Taking two ranging units 2 with a 90° interval between their detection axes as an example, the initial calibration is preferably performed in the positive orientation. That is, during the initial calibration, the output of the IMU unit is required to indicate that the optical calibrator is upright. At this time, one ranging unit 2 detects vertically upward and measures the Z-axis detection value (in the three-dimensional coordinate system), while the other ranging unit 2 detects horizontally and measures the X-axis or Y-axis detection value. Then, by using the image obtained from the top-view camera to locate the target along the X and Y axes based on the position of feature pixels, the three-dimensional position of the optical calibrator can be determined. Since the optical calibrator is located on the medical device, the three-dimensional position of the optical calibrator is roughly the same as the three-dimensional position of the medical device. For finer calibration, by inputting the three-dimensional dimensions of the medical device and the height of the optical calibrator relative to its installation into the system, the three-dimensional position of the lower end of the medical device can be accurately calculated. Afterward, the position of the lower end of the medical device relative to the imaging data is manually selected, or the medical device is actively moved to the default starting point in the imaging data to update the three-dimensional position, thus completing the initial position calibration. --- The above describes the process of obtaining the distance and attitude detection values fed back by the optical calibrator and performing initial position calibration based on video data and imaging data. After the initial position is calibrated, medical staff can operate the medical device. However, once the device is in use, its posture will change in various ways, and medical staff, other equipment, etc. may block the way. In this case, if the horizontal ranging unit 2 cannot rotate, there is a high probability of losing its position, which will affect the effectiveness of use. If other methods are used, such as installing more ranging units 2, the cost will be higher, the size will be larger, and the risk of omission will still exist. Therefore, this application allows one ranging unit 2 to be around another ranging unit 2, which is cheaper and simpler to implement.
[0049] In one embodiment of this system, a mounting groove with an external opening is provided in a semi-ring 41, and a mounting base 45 is inserted into the mounting groove. A ranging unit 2 (the one that detects upwards) and an attitude sensor are embedded and fixed in the mounting base 45.
[0050] A second mounting groove is provided on the aforementioned slider 44, and the second mounting groove opens towards the opening of the annular groove; a ranging unit 2 is inserted into the second mounting groove. To prevent the ranging unit 2 from winding up the wires and causing malfunctions when it rotates, this embodiment is configured as follows: A conductive sheet is embedded in the inner wall of the surrounding groove, and a conductive post is embedded in the slider 44. One end of the conductive post abuts against the conductive sheet, and the other end extends into the mounting groove 2. The wiring terminal of the ranging unit 2 inserted into the mounting groove 2 is fixed with a conductive sleeve as an interface. Thus, after the ranging unit 2 is inserted, it can be electrically connected to the conductive sheet.
[0051] The semi-ring 41 of the mounting slot 1 is embedded with another set of conductive posts, and one end of the conductive post is electrically connected to the conductive sheet, while the other end extends into the mounting slot 1. The circuit arranged on the mounting base 45 has an interface fixed on the mounting base 45 to match the conductive posts, so that after the mounting base 45 is plugged in, the circuit structure on it can realize power supply, signal feedback, etc.
[0052] Based on the above settings, on the one hand, the rotating ranging unit 2 does not require a complex moving wiring design, making the structure more streamlined; on the other hand, it makes it easier to replace the optical calibrator ring 4, because the power line and signal line are only connected to the mounting base 45, so there is no need to repeatedly rewire.
[0053] Understandably, the number of conductive posts is determined according to wiring requirements. The motor wiring can also be connected to the outside through the conductive posts on the semi-ring 41, in conjunction with the circuit structure on the mounting base, to improve the convenience of power supply and control of the (micro) motor.
[0054] In one embodiment of this system, regarding the updating of the medical device's position after initial position calibration, an example is given: Assuming the room's dimensions are 5m x 10m x 5m (X-axis, Y-axis, Z-axis), and the initial calibration position is (2.5, 4, 1.2); at a certain moment, relative to the initial position, the IMU unit's feedback detection value shows a 30° tilt towards the X-axis without lateral displacement, and the optical calibrator's height relative to the medical device is 0.3m. The first type: Based on trigonometric calculations, the change in the X-axis direction is 0.15m, and 0.3m is taken as the c of the trigonometric function. The change in the Y-axis is 0.3 - 0.3 * cos30°. Therefore, the new position is calculated to be (2.35, 4, 1.16).
[0055] The second method uses the bottom left corner of the room as the origin: If the original detection value of the vertical ranging unit 2 was 3m, then the current Z-axis position = 5 - 5 * cos30°; If the original horizontal distance measuring unit 2's detection value was 4m, then the current X-axis position = 4 - 4 * cos30°.
[0056] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.
Claims
1. A tracking and early warning method for use in optical navigation platforms for medical diagnosis and treatment, characterized in that, include: S1. Environment setup, which includes: Data connections are established with the camera deployed in the diagnosis and treatment work area and the optical calibrator pre-set for installation on medical devices; wherein the optical calibrator has at least two ranging units (2) with an angle of α between the two detection directions and an attitude sensor, and one ranging unit (2) rotates around the other ranging unit (2), and α is a preset value; S2. Implementation and application, which includes: Acquire imaging data and medical record data from the patient's medical imaging and store them in the database; If a preset diagnostic and treatment assistance trigger signal is received, the patient's identity information is obtained, the database is searched based on the identity information, the corresponding imaging data and medical record data are retrieved, and the diagnostic and treatment tracking process is executed; the diagnostic and treatment tracking process includes: S21. Based on one or more of the imaging data, medical record data, and data uploaded by medical staff, locate the current treatment site, enable the camera to track and collect video data of the treatment site, and output the imaging data and medical record data for display. S22. Obtain the distance measurement and attitude detection values fed back by the optical calibrator, and perform initial position calibration based on video data and imaging data, and initiate an initial position verification inquiry to medical staff; S23. If the initial position verification query is successful, the position of the medical device is updated based on the distance detection value and the attitude detection value, and the position relative to the patient's treatment site is analyzed and calculated, and at least the corresponding imaging data is called for display.
2. The tracking and early warning method for a medical diagnosis and treatment optical navigation platform according to claim 1, characterized in that: If the medical record data contains the patient's facial data, then obtaining the patient's identity information in S2 includes: performing facial recognition based on video data collected by a camera, and obtaining the patient's identity information by calling data from the database.
3. The tracking and early warning method for a medical diagnosis and treatment optical navigation platform according to claim 1, characterized in that, Also includes: S31. Obtain functional information of medical devices equipped with optical calibrators; S32. Determine the scope of diagnosis and treatment in the imaging data based on one or more of the medical record data and the data uploaded by medical staff. S33. Based on the real-time location and functional information of the medical device and the patient's treatment range, determine whether the device meets the boundary crossing warning conditions. If so, output the warning message.
4. A tracking and early warning system for use in an optical navigation platform for medical diagnosis and treatment, characterized in that, include: The vision module (1) includes multiple cameras deployed in the treatment work area, and at least one camera captures the treatment work area from a top-down angle, and at least one camera captures from the side of the treatment work area. An optical calibrator is used to be installed on a medical device and includes at least two ranging units (2) with an angle of α between two detection directions and an attitude sensor, wherein one ranging unit (2) rotates around the other ranging unit (2) and α is a preset value. The control center (3) is connected to the vision module (1) and the optical calibrator, and is used to load and execute the computer program of the tracking and early warning method for the medical diagnosis and treatment optical navigation platform as described in any one of claims 1-3.
5. The tracking and early warning system for a medical diagnosis and treatment optical navigation platform according to claim 4, characterized in that: The optical calibrator includes a ring (4) and a calibration mechanism mounted on the ring (4), and a drive mechanism (5) for driving the calibration mechanism to move. The calibration mechanism includes the ranging unit (2) and an attitude sensor. The ring body (4) is divided into two halves (41) and the two halves (41) are magnetically fixed. An elastic composite block (42) is fixed to the inner wall of the half-ring (41). The calibration mechanism is detachably connected to the ring body (4).
6. The tracking and early warning system for a medical diagnosis and treatment optical navigation platform according to claim 5, characterized in that: The ring body (4) has an annular groove around its outer wall, and a rack (43) is provided in the annular groove. The annular groove is open to the outside, and the annular groove and the rack (43) are divided into two along with the ring body (4). A slider (44) is slidably connected in the annular groove, and the slider (44) is fixed to the rack (43). The drive mechanism (5) includes a motor (51) and multiple gears (52). The gears (52) are rotatably connected to a semi-ring (41) and mesh with a rack (43). The motor (51) is mounted on a semi-ring (41) and its output shaft is fixed to a gear (52). One of the ranging units (2) is detachably connected to the slider (44), and one ranging unit (2) and attitude sensor are detachably connected to a half ring (41).
7. The tracking and early warning system for a medical diagnosis and treatment optical navigation platform according to claim 6, characterized in that: At least two gears (52) are rotatably connected to each of the semi-rings (41).
8. The tracking and early warning system for a medical diagnosis and treatment optical navigation platform according to claim 6, characterized in that: A mounting groove with an external opening is provided in one of the semi-rings (41), and a mounting base (45) is inserted into the mounting groove. A ranging unit (2) is vertically arranged and embedded and fixed to the mounting base (45) along with the attitude sensor. The slider (44) has a second mounting groove, which opens in the direction of the annular groove opening; a ranging unit (2) is inserted into the second mounting groove. A conductive sheet is embedded in the inner wall of the annular groove, and a conductive post is embedded in the slider (44). One end of the conductive post abuts against the conductive sheet, and the other end extends into the second mounting groove. A conductive sleeve is fixed to the wiring terminal of the ranging unit (2) inserted into the second mounting groove, and the sleeve covers the conductive post extending into the second mounting groove. The semi-ring (41) of the mounting groove is provided with another set of conductive posts, and one end of the conductive post is electrically connected to the conductive sheet, and the other end extends into the mounting groove. The circuit arranged on the mounting base (45) is fixed on the mounting base (45) with an interface for matching the conductive posts.