A double-tracking accurate and stable positioning method and system for a surgical naked-eye 3D screen

Abstract

The present application relates to the field of intelligent medical equipment, in particular to a double-tracking accurate and stable positioning method and system of a naked-eye 3D screen for surgery, which is applied to a surgical robot system, the system comprising a medical surgical cap with an infrared reflection sticker, a multi-degree-of-freedom mechanical arm and a naked-eye 3D surgical screen; the present application constructs a closed-loop motion control logic by presetting an optimal viewing range and a screen-end centered stability determination threshold. Only when the target exceeds the optimal viewing range, the motion planning is triggered, effectively filtering the meaningless frequent adjustment caused by the slight shaking of the doctor's head, and ensuring the stability of the surgical field of view. In the motion planning, by calculating the three-dimensional deviations of front and back, left and right, and up and down, a smooth path containing straight trajectories and arc-shaped smooth trajectories is planned, and the multi-degree-of-freedom mechanical arm is controlled to adjust at a constant speed, completely solving the problems of traditional mechanical arm start-stop lag, uneven speed and adjustment overshoot, and realizing the fine control of "start stable, move flat and stop accurate".

Description

Technical Field

[0001] This invention belongs to the field of intelligent medical device technology, and in particular relates to a method and system for precise and stable positioning of a surgical naked-eye 3D screen with dual tracking. Background Technology

[0002] The naked-eye 3D surgical screen of a surgical robot is the core display terminal for the surgeon to obtain the surgical field of vision and perform precise minimally invasive surgical operations. The positioning accuracy, motion stability, and safety of its accompanying multi-degree-of-freedom robotic arm directly determine the smoothness of the surgical operation and the surgeon's viewing experience. With the rapid development of minimally invasive surgical techniques, clinical practice has placed higher demands on the real-time tracking and positioning capabilities of naked-eye 3D screens. However, existing technologies for positioning and adjusting the robotic arm for naked-eye 3D surgical screens still have several core deficiencies and cannot meet the needs of clinical surgery. (1) Single tracking mode and poor anti-interference ability: The current mainstream technology adopts a single face visual tracking scheme, which is easily affected by complex lighting environments such as operating room shadowless lamps and auxiliary lighting. When doctors wear surgical caps and masks, causing large areas of facial features to be obscured, the tracking accuracy drops sharply, the human eye positioning deviation is large, and the robotic arm adjustment is lagging, which cannot meet the needs of high-precision surgical operations.

[0003] (2) Functional modules are scattered and the system has low collaborative efficiency: core functional modules such as face tracking and positioning calculation are not integrated with naked-eye 3D screen. There is no unified standard for the deployment of infrared emitting components, which are easily blocked by surgical instruments and medical staff, resulting in signal transmission delay and low collaborative scheduling efficiency of each module.

[0004] (3) Lack of safe movement boundaries and collision risk: The robotic arm does not have a limited movement working area, and it is easy to collide with the operating table, surgical instruments and surrounding medical equipment due to movement beyond the range, which poses a serious clinical safety hazard.

[0005] (4) No centering and stability determination mechanism, unstable surgical field of view: The robotic arm will make meaningless and frequent adjustments due to the slight shaking of the doctor's head, which will disrupt the continuity and stability of the surgical field of view, increase the doctor's visual fatigue, and affect the accuracy of surgical operation.

[0006] (5) Insufficient coordination between positioning and motion control, resulting in unstable motion: There is a lack of customized linkage logic between human eye positioning data and robotic arm motion control. Smooth trajectory planning and uniform speed adjustment mechanisms are not designed. The robotic arm is prone to problems such as start-stop stuttering, uneven speed, and adjustment overshoot, which further affects the 3D display effect.

[0007] (6) Not adapted to naked-eye 3D display characteristics, resulting in poor viewing experience: The optimal viewing distance is not set specifically for the optical characteristics of naked-eye 3D screens. The robotic arm has insufficient adjustment dimensions and low precision. Doctors need to manually adjust the screen position or passively find the optimal viewing range, which reduces the efficiency of surgical operations.

[0008] The aforementioned issues prevent existing naked-eye 3D screen robotic arm positioning systems from achieving precise, stable, and safe real-time tracking and adjustment, which reduces the precision and smoothness of minimally invasive surgery and poses significant clinical safety risks. Summary of the Invention

[0009] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a dual-tracking precise and stable positioning method and system for surgical naked-eye 3D screens.

[0010] To achieve the above objectives, in a first aspect, the present invention provides the following technical solution: a dual-tracking precise and stable positioning method for a surgical naked-eye 3D screen, applied to a surgical robot system comprising a medical surgical cap with an infrared reflective patch, a multi-degree-of-freedom robotic arm, and a naked-eye 3D surgical screen, comprising the following steps: Calibrate the dual tracking parameters, and adjust the limited movement working area and screen-end centering stability judgment threshold of the multi-degree-of-freedom robotic arm; In response to a scene selection command, activate either infrared reflection tracking mode or face tracking mode; In the activated tracking mode, target positioning data is collected to determine whether the target is within the optimal viewing range relative to the naked-eye 3D screen. If it is within the optimal viewing range, the multi-degree-of-freedom robotic arm is controlled to remain stationary. If it exceeds the optimal viewing range, motion planning is initiated. Calculate the three-dimensional deviation between the target's current position and the optimal viewing range, plan a smooth motion trajectory and motion parameters, and generate motion commands; The multi-degree-of-freedom robotic arm is controlled to execute the motion commands within the defined mobile working area, driving the naked-eye 3D screen to perform three-dimensional adjustments. Collect the adjusted target positioning data and verify whether it is within the optimal viewing range. If it does not meet the standard, recalculate the deviation and motion parameters for minor correction until the target is within the optimal viewing range. When a surgical operation scene command is detected, the infrared reflection tracking mode is activated, the infrared emitting light board is turned on, the binocular camera is controlled to switch to the infrared light spot capture mode, and high-precision stable motion parameters are loaded; when an effect display scene command is detected, the face tracking mode is activated, the infrared emitting light board is turned off, the binocular camera is controlled to switch to the visible light face acquisition mode, and convenient motion parameters are loaded.

[0011] In one implementation, when calibrating the dual tracking parameters, a position association model between the infrared reflective patch and the human eye is established, and the recognition parameters of the facial feature points are calibrated; when calibrating the robotic arm parameters, the motion boundaries of the multi-degree-of-freedom robotic arm translation and tilting are set to constitute a limited mobile working area; when calibrating the viewing judgment parameters, the optimal viewing distance range of the naked-eye 3D screen is preset, and the screen-end centering stability judgment threshold is set.

[0012] In one implementation, when collecting target positioning data in infrared reflection tracking mode, the light spot formed by the infrared reflective patch at the center of the forehead of the medical surgical cap is captured by a binocular camera. Based on the binocular visual ranging principle and the position association model, the real-time three-dimensional spatial coordinates of the human eye are calculated.

[0013] In one implementation, during motion planning, the forward and backward distance deviation, the left and right horizontal deviation, and the up and down distance deviation are calculated; it is checked whether the motion trajectory exceeds the defined working area. If it does, it is truncated to the boundary of the area and a safety warning is triggered; the shortest smooth trajectory is planned, wherein the translation dimension adopts a straight trajectory and the tilt dimension adopts an arc-shaped gradually changing trajectory; based on the duration of the target exceeding the optimal viewing range, the effective adjustment requirement is determined, and the multi-degree-of-freedom robotic arm is set to make uniform adjustments at a constant speed.

[0014] In one implementation, the three-dimensional adjustment includes forward and backward translation, left and right translation, and up and down translation; during the movement, the current position and speed of the multi-degree-of-freedom robotic arm are fed back to the central control module in real time.

[0015] In one implementation, when the target leaves the field of view of the binocular camera, the multi-degree-of-freedom robotic arm is controlled to perform uniform tracking along the general direction of movement before the target was lost, until the target is recaptured.

[0016] Secondly, the present invention provides a dual-tracking precise and stable positioning system for a surgical naked-eye 3D screen, including a medical surgical cap, a multi-degree-of-freedom robotic arm, and a naked-eye 3D surgical screen; The surface of the medical surgical cap is provided with an infrared reflective sticker, which is used as an infrared tracking and positioning marker; The multi-degree-of-freedom robotic arm has a built-in drive module and a motion control module. The motion control module is electrically connected to the drive module and is used to output control signals to drive the movement of the robotic arm. The end of the multi-degree-of-freedom robotic arm is fixedly connected to the naked-eye 3D surgical screen and is used to drive the screen to adjust its spatial posture. The naked-eye 3D surgical screen integrates a central control module, a position and motion calculation module, a face tracking module, and an infrared reflection tracking module. A binocular camera is set on the front of the naked-eye 3D surgical screen, and an infrared emitting light panel is set on the top of the naked-eye 3D surgical screen. The binocular camera is connected to the face tracking module and the infrared reflection tracking module respectively, and is used to acquire images and transmit them to the corresponding tracking modules. The face tracking module and the infrared reflection tracking module are both signal-connected to the position and motion calculation module for outputting positioning feature data; The position and motion calculation module is signal-connected to the central control module and is used to calculate and upload the target coordinates and motion planning parameters. The central control module is communicatively connected to the motion control module and is used to issue motion commands and receive motion status feedback. The central control module is used to execute the positioning method as described in the first aspect.

[0017] In one embodiment, the multi-degree-of-freedom robotic arm is a six-degree-of-freedom robotic arm.

[0018] In one embodiment, the infrared reflective patch is a high-reflectivity circular patch with a diameter of 8mm-12mm; the infrared emitting light panel emits infrared light with a wavelength of 850nm; and the binocular camera has a frame rate of 120Hz.

[0019] Compared with the prior art, the beneficial effects of the present invention are: (1) This invention constructs a closed-loop motion control logic by presetting the optimal viewing range and the screen centering stability judgment threshold. Motion planning is only triggered when the target exceeds the optimal viewing range, effectively filtering out meaningless frequent adjustments caused by slight head movements of the doctor, and ensuring the stability of the surgical field of view. In motion planning, by calculating the three-dimensional deviations in front-back, left-right, and up-down directions, a smooth path including straight-line trajectory and arc-shaped gradual change trajectory is planned, and the multi-degree-of-freedom robotic arm is controlled to make uniform adjustments at a constant speed, which completely solves the problems of start-stop lag, uneven speed, and adjustment overshoot of traditional robotic arms, and realizes the fine control of "starting stably, moving horizontally, and stopping accurately", which significantly reduces the doctor's visual fatigue.

[0020] (2) This invention completes multi-dimensional parameter calibration before surgery. By establishing a positional correlation model between the infrared reflective patch and the human eye, a high-precision mapping from the coordinates of the marker point to the coordinates of the human eye is ensured; by setting the motion boundaries of the robotic arm's translation and tilt, a clearly defined working area for movement is established; by preset the optimal viewing distance and the centering deviation threshold, a data foundation is provided for subsequent accurate judgment. This standardized calibration process significantly improves the repeatability and reliability of the system.

[0021] (3) This invention achieves intelligent switching between infrared reflection tracking and face tracking modes, perfectly adapting to different clinical scenarios. In surgical operation scenarios, the infrared reflection tracking mode is activated, using the infrared spot at the center of the forehead for positioning, avoiding interference from the operating room's shadowless lamps and the obstruction from masks and surgical caps at the hardware level, ensuring sub-centimeter-level tracking accuracy; in effect demonstration scenarios, the face tracking mode is switched, eliminating the need for doctors to wear special equipment, making operation convenient. Both modes share the same set of binocular camera hardware, reducing system cost and complexity by switching between visible light and infrared light acquisition modes.

[0022] (4) This invention adds a tracking mechanism after the target is lost. When the target leaves the camera's field of view, the system no longer blindly stops working or moves randomly, but controls the robotic arm to track the target at a constant speed along the general direction of movement before the target was lost, until the target is recaptured. This mechanism greatly improves the robustness and fault tolerance of the system in complex dynamic surgical environments and avoids tracking failure caused by temporary occlusion.

[0023] (5) This invention highly integrates the central control module, position and motion calculation module, and dual tracking module within the naked-eye 3D surgical screen, and places the infrared emitting light board on the top of the screen, shortening the signal transmission path and improving the efficiency of module collaborative scheduling. A six-degree-of-freedom robotic arm, combined with a specific working area setting, ensures a wide range of adjustment capabilities while eliminating the risk of collisions with the operating table and surrounding equipment. The use of 850nm wavelength infrared light and a 120Hz high frame rate binocular camera balances human eye safety with the real-time performance of dynamic tracking. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the dual-tracking precise and stable positioning system for the surgical naked-eye 3D screen of the present invention. Figure 2 This is a flowchart of the dual-tracking precise and stable positioning method for surgical naked-eye 3D screens according to the present invention. Figure 3 This is a flowchart of step S1 of the surgical naked-eye 3D screen dual-tracking precise and stable positioning method of the present invention; Figure 4 This is a flowchart of step S2 of the surgical naked-eye 3D screen dual-tracking precise and stable positioning method of the present invention; Figure 5 This is a flowchart of step S3 of the surgical naked-eye 3D screen dual-tracking precise and stable positioning method of the present invention; Figure 6 This is a flowchart of step S4 of the surgical naked-eye 3D screen dual-tracking precise and stable positioning method of the present invention; Detailed Implementation To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0025] Please see Figure 1-6 This embodiment provides a dual-tracking precise and stable positioning system for a surgical naked-eye 3D screen, including a medical surgical cap, a multi-degree-of-freedom robotic arm, and a naked-eye 3D surgical screen.

[0026] The surface of the medical surgical cap is equipped with an infrared reflective patch, which serves as an infrared tracking and positioning marker. In practice, a standard clinical sterile surgical cap is used, and the infrared reflective patch is smoothly affixed to the center of the cap, ensuring that it does not peel off or fall off, thus guaranteeing a stable infrared reflection direction.

[0027] The multi-degree-of-freedom robotic arm has a built-in drive module and motion control module. The motion control module is electrically connected to the drive module and is used to output control signals to drive the movement of the robotic arm. The end effector of the multi-degree-of-freedom robotic arm is fixedly connected to the naked-eye 3D surgical screen and is used to adjust the spatial posture of the screen. In actual implementation, the end effector of the robotic arm is rigidly connected to the back of the naked-eye 3D surgical screen to ensure that there is no relative wobbling when the screen moves with the robotic arm.

[0028] The naked-eye 3D surgical screen integrates a central control module, a position and motion calculation module, a face tracking module, and an infrared reflection tracking module. A binocular camera is set on the front of the naked-eye 3D surgical screen, and an infrared emitting light panel is set on the top of the naked-eye 3D surgical screen.

[0029] The binocular camera is connected to the face tracking module and the infrared reflection tracking module respectively, and is used to acquire images and transmit them to the corresponding tracking modules; Both the face tracking module and the infrared reflection tracking module are connected to the position and motion calculation module to output positioning feature data; The position and motion calculation module is signal-connected to the central control module and is used to calculate and upload the target coordinates and motion planning parameters. The central control module is connected to the motion control module for issuing motion commands and receiving motion status feedback; The central control module is used to execute the following positioning method.

[0030] In a preferred embodiment, the multi-degree-of-freedom robotic arm is a six-degree-of-freedom robotic arm. The area is marked based on the conventional layout of the operating table, surrounding surgical instruments, and medical equipment. All motion commands are executed within the boundary of this area. When the planned trajectory exceeds the boundary of the area, the system automatically cuts off the endpoint of the motion to the boundary position of the area and triggers a safety warning.

[0031] In a preferred embodiment, the infrared reflective patch is a high-reflectivity circular patch with a diameter of 8mm-12mm; the infrared emitting light board emits infrared light with a wavelength of 850nm; and the binocular camera has a frame rate of 120Hz. The surface of the infrared reflective patch is covered with a reflective material with a high infrared reflectivity, which can form a bright, low-diffuse-reflection reflective spot for 850nm wavelength infrared light; the 120Hz high frame rate acquisition can output high-frequency positioning raw data, ensuring real-time positioning.

[0032] This embodiment provides a dual-tracking precise and stable positioning method for a surgical naked-eye 3D screen, applied to the aforementioned surgical robot system comprising a medical surgical cap with an infrared reflective patch, a multi-degree-of-freedom robotic arm, and a naked-eye 3D surgical screen, including the following steps: S1. Calibrate dual tracking parameters, adjust the limited movement working area of ​​the multi-degree-of-freedom robotic arm, and determine the stability threshold for screen centering. This step is completed before the surgery and consists of three calibration items: Calibrate dual-tracking parameters: Establish a correlation model between the infrared reflective patch and the human eye, and calibrate the recognition parameters of facial feature points. In actual implementation, activate the binocular camera, and for the infrared reflective tracking mode, collect light spot images of the infrared reflective patch at different distances and angles to establish a positional correlation model between the infrared reflective patch and the human eye, clarifying the mapping relationship from the reflective patch coordinates to the three-dimensional coordinates of the human eye; for the face tracking mode, calibrate the recognition weights and matching parameters of the core feature points of the eyes and brow bones among the 68 facial feature points, improving the feature recognition accuracy in scenarios where surgical caps and masks obscure the view.

[0033] Calibrate the robotic arm parameters: Set the motion boundaries for the multi-degree-of-freedom robotic arm's forward and backward translation, left and right translation, and slight up and down tilting, thus defining the limited working area. In actual implementation, control the six-degree-of-freedom robotic arm to complete the full-stroke idle motion debugging. Based on the actual equipment deployment position in the surgical scenario, calibrate the forward, backward, left and right, and up and down motion boundaries; at the same time, preset the core parameters for smooth movement of the robotic arm, including the basic movement speed and start-stop acceleration and deceleration curves, to ensure that the movement process is smooth and without overshoot.

[0034] Calibrating viewing parameters: The optimal viewing distance for the naked-eye 3D screen is preset to be 1.8 to 2 meters, and the screen-end centering stability judgment threshold is set to a centering deviation of ≤ ±5cm for the target within the screen's visual range. In actual implementation, using the screen's center normal as a reference, if the centering deviation of the face target or infrared marker is within ±5cm, it is determined to be within the optimal viewing range; if it exceeds this threshold, it is determined to be outside the optimal viewing range, and the robotic arm needs to be activated for adjustment.

[0035] After the parameters are calibrated, the central control module completes the communication debugging with each integrated module and the robotic arm motion control module, confirming that the positioning data and motion commands can be transmitted in real time without delay.

[0036] S2. In response to the scene selection command, activate either the infrared reflection tracking mode or the face tracking mode. When a surgical operation scenario is detected, activate the infrared reflection tracking mode, turn on the infrared emitting light panel at the top of the naked-eye 3D screen, control the binocular cameras to switch to infrared spot capture mode, and load high-precision stable motion parameters. In surgical operation scenarios, the high-precision stable motion parameters meet the requirements of high anti-interference and high-precision positioning, ensuring the stability and accuracy of screen adjustments during surgery.

[0037] When a demonstration scene is detected, the face tracking mode is activated, the infrared emitting light panel is turned off, the binocular camera switches to visible light face capture mode, and convenient motion parameters are loaded. In demonstration scenes, these convenient motion parameters allow for quick and flexible adjustments, eliminating the need for a surgical cap with reflective pads, thus improving usability in non-surgical scenarios.

[0038] S3. In any activated mode, collect target positioning data and determine whether the target is within the optimal viewing range relative to the naked-eye 3D screen; if within the optimal viewing range, control the multi-degree-of-freedom robotic arm to remain stationary; if outside the optimal viewing range, proceed with motion planning: In infrared reflection tracking mode: The infrared reflective patch formed by the medical surgical cap at the brow is captured by a binocular camera at a frame rate of 120Hz; the real-time three-dimensional spatial coordinates of the doctor's eyes are calculated based on the binocular vision ranging principle and correlation model.

[0039] In face tracking mode: the binocular camera captures visible light images of the doctor's face in real time at a frame rate of 120Hz. The face tracking module identifies core feature points such as eyes and brow bones through a 68-feature point matching algorithm. The position and motion calculation module calculates the real-time viewing reference position of the doctor's face based on the three-dimensional coordinates of the core feature points.

[0040] The central control module determines whether the target is within the optimal viewing range based on the preset optimal viewing range and centering threshold: if it is within the range, the robotic arm is kept stationary; otherwise, motion planning is initiated.

[0041] S4. Within the motion planning, calculate the three-dimensional deviation between the target's current position and the optimal viewing range, calculate the smooth motion trajectory and motion parameters, and generate motion commands: Calculate the front-to-back distance deviation, left-to-right horizontal deviation, and up-to-down distance deviation to determine the adjustment amount for each dimension of the robotic arm; Check whether the movement trajectory exceeds the limited working area. If it does, cut it off at the boundary of the area and trigger a safety warning to avoid the risk of collision beyond the range from the motion control level. The shortest smooth trajectory is calculated, where forward / backward / left / right translation uses a straight trajectory, and slight vertical tilting uses a gradually changing arc trajectory to avoid screen shaking caused by unnecessary movement and ensure the continuity of the surgical field of vision. The system calculates the result of the target being outside the optimal viewing range for 3 seconds, sets the multi-degree-of-freedom robotic arm to adjust at a constant speed, filters out false triggers caused by slight head swaying, and ensures stable movement.

[0042] After completing the above calculations, the central control module integrates the planned motion trajectory and motion speed parameters to generate standardized smooth motion commands for the robotic arm.

[0043] S5 controls the multi-degree-of-freedom robotic arm to execute motion commands within a defined working area, driving the naked-eye 3D screen to perform three-dimensional adjustments, including forward / backward translation, left / right translation, and up / down translation. During the movement, the current position and speed of the multi-degree-of-freedom robotic arm are fed back to the central control module in real time. In actual implementation, the central control module sends motion commands to the robotic arm's drive module and motion control module via Ethernet or RS485 interface. The motion control module parses the commands and executes them precisely. The robotic arm drives the naked-eye 3D surgical screen to complete single-dimensional or multi-dimensional fine adjustments, maintaining a stable state throughout the movement without start / stop stuttering, uneven speed, adjustment overshoot, or screen shaking.

[0044] S6. Collect the adjusted target positioning data and verify whether it is within the optimal viewing range. If not, return to step S4 for minor correction until the target position meets the criteria. After the robotic arm completes the initial motion adjustment, the binocular camera and the corresponding tracking module immediately re-collect the target positioning data. The central control module calculates whether the current target position is within the optimal viewing range. If the target is determined to be within the optimal viewing range, the positioning adjustment is completed, and the robotic arm is kept stationary at its current position. If the target is determined to be outside the optimal viewing range, return to step S4, recalculate the deviation and motion parameters based on the latest positioning data, and control the robotic arm to make minor corrections until the target position meets the criteria for the optimal viewing range, thus completing the closed-loop positioning process.

[0045] In addition, this method includes an anti-loss step control step: when the target moves and causes it to leave the field of view of the binocular camera, the multi-degree-of-freedom robotic arm is controlled to track at a constant speed along the last determined general direction of movement until the target is recaptured. In actual implementation, if the target leaves the field of view of the binocular camera and causes continuous loss of positioning data, the central control module retrieves the trajectory data of the target within 3 seconds before it is lost, and determines the last general direction of movement of the target by the difference between adjacent coordinates; then the multi-degree-of-freedom robotic arm is controlled to track at a constant speed along this direction. During the tracking process, the binocular camera continuously acquires images until the target light spot or facial features are recaptured, and then the normal positioning-adjustment closed-loop process is restored.

[0046] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A dual-tracking precise and stable positioning method for a surgical naked-eye 3D screen, applied to a surgical robot system comprising a medical surgical cap with an infrared reflective patch, a multi-degree-of-freedom robotic arm, and a naked-eye 3D surgical screen, characterized in that... Includes the following steps: Calibrate the dual tracking parameters, and adjust the limited movement working area and screen-end centering stability judgment threshold of the multi-degree-of-freedom robotic arm; In response to a scene selection command, activate either infrared reflection tracking mode or face tracking mode; In the activated tracking mode, target positioning data is collected to determine whether the target is within the optimal viewing range relative to the naked-eye 3D screen. If it is within the optimal viewing range, the multi-degree-of-freedom robotic arm is controlled to remain stationary. If it exceeds the optimal viewing range, motion planning is initiated. Calculate the three-dimensional deviation between the target's current position and the optimal viewing range, plan a smooth motion trajectory and motion parameters, and generate motion commands; The multi-degree-of-freedom robotic arm is controlled to execute the motion commands within the defined mobile working area, driving the naked-eye 3D screen to perform three-dimensional adjustments; Collect the adjusted target positioning data and verify whether it is within the optimal viewing range. If it does not meet the standard, recalculate the deviation and motion parameters for minor correction until the target is within the optimal viewing range. When a surgical operation scene command is detected, the infrared reflection tracking mode is activated, the infrared emitting light board is turned on, the binocular camera is controlled to switch to the infrared light spot capture mode, and high-precision stable motion parameters are loaded; when an effect display scene command is detected, the face tracking mode is activated, the infrared emitting light board is turned off, the binocular camera is controlled to switch to the visible light face acquisition mode, and convenient motion parameters are loaded.

2. The method for precise and stable dual-tracking positioning of surgical naked-eye 3D screens according to claim 1, characterized in that, When calibrating dual tracking parameters, a position association model between the infrared reflective patch and the human eye is established, and the recognition parameters of facial feature points are calibrated; when calibrating robotic arm parameters, the motion boundaries of the multi-degree-of-freedom robotic arm translation and tilting are set to form a limited mobile working area; when calibrating viewing judgment parameters, the optimal viewing distance range of the naked-eye 3D screen is preset, and the screen-end centering stability judgment threshold is set.

3. The dual-tracking precise and stable positioning method for surgical naked-eye 3D screens according to claim 2, characterized in that, When collecting target positioning data in infrared reflection tracking mode, the light spot formed by the infrared reflective patch at the center of the forehead of the medical surgical cap is captured by the binocular camera. Based on the binocular vision ranging principle and the position association model, the real-time three-dimensional spatial coordinates of the human eye are calculated.

4. The method for precise and stable dual-tracking positioning of surgical naked-eye 3D screens according to claim 1, characterized in that, During motion planning, the forward and backward distance deviation, the left and right horizontal deviation, and the up and down distance deviation are calculated; it is checked whether the motion trajectory exceeds the limited working area. If it does, it is truncated to the boundary of the area and a safety warning is triggered. Plan the shortest smooth trajectory, where the translation dimension uses a straight trajectory and the tilt dimension uses an arc-shaped gradually changing trajectory; determine the effective adjustment needs based on the duration for which the target exceeds the optimal viewing range, and set the multi-degree-of-freedom robotic arm to make uniform adjustments at a constant speed.

5. The method for precise and stable dual-tracking positioning of surgical naked-eye 3D screens according to claim 1, characterized in that, The three-dimensional adjustment includes forward and backward translation, left and right translation, and up and down translation; during the movement, the current position and speed of the multi-degree-of-freedom robotic arm are fed back to the central control module in real time.

6. The dual-tracking precise and stable positioning method for surgical naked-eye 3D screens according to claim 1, characterized in that, When the target leaves the field of view of the binocular camera, the multi-degree-of-freedom robotic arm is controlled to track the target at a constant speed along the general direction of movement before the target was lost, until the target is recaptured.

7. A dual-tracking precise and stable positioning system for surgical naked-eye 3D screens, characterized in that, This includes medical surgical caps, multi-degree-of-freedom robotic arms, and glasses-free 3D surgical screens; The surface of the medical surgical cap is provided with an infrared reflective sticker, which is used as an infrared tracking and positioning marker; The multi-degree-of-freedom robotic arm has a built-in drive module and a motion control module. The motion control module is electrically connected to the drive module and is used to output control signals to drive the movement of the robotic arm. The end of the multi-degree-of-freedom robotic arm is fixedly connected to the naked-eye 3D surgical screen and is used to drive the screen to adjust its spatial posture. The naked-eye 3D surgical screen integrates a central control module, a position and motion calculation module, a face tracking module, and an infrared reflection tracking module. A binocular camera is set on the front of the naked-eye 3D surgical screen, and an infrared emitting light panel is set on the top of the naked-eye 3D surgical screen. The binocular camera is connected to the face tracking module and the infrared reflection tracking module respectively, and is used to acquire images and transmit them to the corresponding tracking modules. The face tracking module and the infrared reflection tracking module are both signal-connected to the position and motion calculation module and are used to output positioning feature data; The position and motion calculation module is signal-connected to the central control module and is used to calculate the target coordinates and motion planning parameters and upload them. The central control module is communicatively connected to the motion control module and is used to issue motion commands and receive motion status feedback. The central control module is used to execute the positioning method as described in any one of claims 1 to 6.

8. The dual-tracking precise and stable positioning system for surgical naked-eye 3D screens according to claim 7, characterized in that, The multi-degree-of-freedom robotic arm is a six-degree-of-freedom robotic arm.

9. The dual-tracking precise and stable positioning system for surgical naked-eye 3D screens according to claim 7, characterized in that, The infrared reflective patch is a high-reflectivity circular patch with a diameter of 8mm-12mm; the infrared emitting light board emits infrared light with a wavelength of 850nm; the binocular camera has a frame rate of 120Hz.

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