Multi-faceted positioning tracker calibration method and apparatus

Abstract

The application relates to the technical field of puncture positioning, and discloses a multi-surface positioning tracker calibration method and equipment, a multi-surface positioning tracker and a calibration component are rigidly connected, the multi-surface positioning tracker is provided with at least two identification surfaces, the identification surfaces are provided with a first group of positioning mark points, the calibration component is provided with a second group of positioning mark points; wherein the method comprises the following steps: when each identification surface is forwardly oriented, the first coordinates of the first group of positioning mark points and the second coordinates of the second group of positioning mark points are respectively acquired; based on the first coordinates and the second coordinates, the three-dimensional relative position relationship among the identification surfaces is determined; based on the second group of positioning mark points of the calibration component, the puncture path corresponding to the second group of positioning mark points is determined; and based on the puncture path and the three-dimensional relative position relationship, the three-dimensional space corresponding relationship of the first group of positioning mark points relative to the puncture path is calibrated. The application can improve the calibration accuracy of the multi-surface positioning tracker.

Description

Technical Field

[0001] This application relates to the field of puncture positioning technology, and more specifically, to a multi-faceted positioning tracker calibration method and device. Background Technology

[0002] In related technologies, two reflective spheres are arranged on the calibration component, and the directional reference of the puncture path is constructed by connecting the two reflective spheres. During actual calibration, the calibration component and the multi-faceted positioning tracker, which are assembled as one unit, are placed within the field of view of the navigation and positioning device. The navigation and positioning device collects the coordinates of the positioning mark points on one side of the multi-faceted positioning tracker and the positioning coordinates of the two reflective spheres on the calibration component. Then, the relative positional relationship between the positioning point on one side of the tracker and the puncture path is calculated, thereby achieving single-faceted pose calibration.

[0003] However, the relevant technology can only calibrate multi-faceted positioning trackers on a single recognition surface of the tracker, and cannot calibrate multiple recognition surfaces, resulting in inaccurate calibration of multi-faceted positioning trackers. Summary of the Invention

[0004] In view of this, this application provides a multi-faceted positioning tracker calibration method and device to solve the problem that the calibration of multi-faceted positioning trackers can only be performed on a single recognition face of the tracker, and the calibration of multiple recognition faces cannot be achieved, resulting in inaccurate calibration of multi-faceted positioning trackers.

[0005] In a first aspect, this application provides a calibration method for a multi-faceted positioning tracker, wherein the multi-faceted positioning tracker and a calibration component are rigidly connected, the multi-faceted positioning tracker is provided with at least two recognition surfaces, a first set of positioning markers is provided on the recognition surfaces, and the calibration component is provided with a second set of positioning markers; wherein the method includes: when facing each recognition surface in the forward direction, obtaining the first coordinates of the first set of positioning markers and the second coordinates of the second set of positioning markers respectively; determining the three-dimensional relative positional relationship between each recognition surface based on each first coordinate and each second coordinate; determining the puncture path corresponding to the second set of positioning markers based on the second set of positioning markers of the calibration component; and calibrating the three-dimensional spatial correspondence of the first set of positioning markers relative to the puncture path based on the puncture path and the three-dimensional relative positional relationship.

[0006] In one possible implementation, the three-dimensional relative positional relationship between each recognition surface is determined based on each first coordinate and each second coordinate, including: constructing an end coordinate system based on the target second coordinate; wherein the target second coordinate is a set of second coordinates obtained by acquiring any recognition surface; based on the end coordinate system, using inverse rigid body coordinate transformation, transforming each first coordinate of the recognition surface to the unified coordinate of a single surface corresponding to the end coordinate system; based on the unified coordinate of a single surface, determining the unified coordinate dataset of the recognition surface in the end coordinate system; based on the unified coordinate dataset, determining the spatial reference corresponding to each recognition surface; and based on the spatial reference corresponding to each recognition surface, determining the three-dimensional relative positional relationship between the recognition surfaces.

[0007] In one possible implementation, the spatial reference corresponding to each recognition surface is determined based on a unified coordinate dataset, including: determining the average three-dimensional coordinates of the recognition surface based on the unified coordinate data of the recognition surface in the end coordinate system; wherein the average three-dimensional coordinates indicate the reference center point of the recognition surface; generating a fitting plane corresponding to the recognition surface based on the unified coordinate data of the recognition surface in the end coordinate system; determining the normal vector corresponding to the fitting plane based on the fitting plane; and determining the spatial reference corresponding to the recognition surface based on the normal vector and the average three-dimensional coordinates.

[0008] In one possible implementation, the second set of positioning markers includes positioning marker 1, positioning marker 2, and positioning marker 3. Based on the target's second coordinates, an end-effector coordinate system is constructed, including: extracting the first three-dimensional coordinates of positioning marker 1, the second three-dimensional coordinates of positioning marker 2, and the third three-dimensional coordinates of positioning marker 3 from the target's second coordinates; using the first three-dimensional coordinates of positioning marker 1 as the origin of the end-effector coordinate system, and determining the unit vector of the X-axis based on the second three-dimensional coordinates of positioning marker 2; wherein the unit vector of the X-axis coincides with the puncture path; determining an auxiliary unit vector based on the first three-dimensional coordinates and the third three-dimensional coordinates of positioning marker 3; determining the unit vector of the Z-axis based on the unit vector of the X-axis and the auxiliary unit vector; determining the unit vector of the Y-axis based on the unit vector of the Z-axis and the unit vector of the X-axis; constructing a rotation matrix based on the unit vectors of the X-axis, Y-axis, and Z-axis; and constructing the end-effector coordinate system based on the rotation matrix and the first three-dimensional coordinates.

[0009] In one possible implementation, the second set of positioning markers includes positioning marker 1, positioning marker 2, and positioning marker 3. Determining the puncture path corresponding to the second set of positioning markers based on the calibration component includes: determining a first processing positioning marker from positioning marker 1, positioning marker 2, and positioning marker 3; wherein the first processing positioning marker indicates the starting point of the puncture path; determining a second processing positioning marker from positioning marker 1, positioning marker 2, and positioning marker 3; wherein the second processing positioning marker indicates a reference point on the puncture path; and defining the line connecting the first and second processing positioning markers as the puncture path.

[0010] In one possible implementation, based on the puncture path and the three-dimensional relative positional relationship, the three-dimensional spatial correspondence of the first set of positioning markers relative to the puncture path is determined, including: using the puncture path as a reference, determining the axial distance offset and vertical lateral offset of each first coordinate of the identification surface relative to the puncture path; based on the three-dimensional relative positional relationship, performing translation and rotation processing on the axial distance offset and vertical lateral offset to obtain the target offset; wherein, the target offset includes the processed axial distance offset and the processed vertical lateral offset; based on the target offset, the three-dimensional spatial correspondence of the first set of positioning markers relative to the puncture path is determined.

[0011] In one possible implementation, based on the target offset, the three-dimensional spatial correspondence of the first set of positioning markers relative to the puncture path is determined, including: based on the rotation matrix, mapping the target offset to the end coordinate system to obtain the first spatial position of the first positioning marker, the second spatial position of the second positioning marker, and the third spatial position of the third positioning marker; based on the first spatial position, the second spatial position, and the third spatial position, the three-dimensional spatial correspondence of the first set of positioning markers relative to the puncture path is determined.

[0012] In one possible implementation, the multi-faceted positioning tracker has three recognition faces, and the projection areas of the first set of positioning markers of the multi-faceted positioning tracker and the second set of positioning markers of the calibration component do not overlap.

[0013] In one possible implementation, constructing an end-point coordinate system based on the second coordinate of the target includes: obtaining the number of the first set of positioning markers; detecting whether the number of the first set of positioning markers meets a preset threshold; if the number of the first set of positioning markers meets the preset threshold, constructing an end-point coordinate system based on the second coordinate of the target; if the number of the first set of positioning markers does not meet the preset threshold, performing multi-frame detection processing on the target recognition surface to obtain the acquisition results corresponding to the first set of positioning markers; for each round of multi-frame acquisition results, matching the same first set of positioning markers in different frames until the number of the first set of positioning markers meets the preset threshold, and constructing an end-point coordinate system based on the second coordinate of the target.

[0014] Secondly, this application provides a calibration device for a multi-faceted positioning tracker. The multi-faceted positioning tracker and the calibration component are rigidly connected. The multi-faceted positioning tracker has at least two recognition surfaces, and a first set of positioning markers is provided on the recognition surfaces. The calibration component has a second set of positioning markers. The device includes: an acquisition module, used to acquire the first coordinates of the first set of positioning markers and the second coordinates of the second set of positioning markers when facing each recognition surface in the forward direction; a first determination module, used to determine the three-dimensional relative positional relationship between each recognition surface based on each first coordinate and each second coordinate; a second determination module, used to determine the puncture path corresponding to the second set of positioning markers based on the second set of positioning markers of the calibration component; and a calibration module, used to calibrate the three-dimensional spatial correspondence of the first set of positioning markers relative to the puncture path based on the puncture path and the three-dimensional relative positional relationship.

[0015] Thirdly, this application provides a computer device, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the multi-faceted positioning tracker calibration method described in the first aspect or any corresponding embodiment.

[0016] Fourthly, this application provides a computer-readable storage medium storing computer instructions for causing a computer to execute the multi-faceted positioning tracker calibration method described in the first aspect or any corresponding embodiment thereof.

[0017] Fifthly, this application provides a computer program product, including computer instructions for causing a computer to execute the multi-faceted positioning tracker calibration method described in the first aspect or any corresponding embodiment thereof.

[0018] The multi-faceted positioning tracker calibration method provided in this application provides a method for calibrating a multi-faceted positioning tracker by rigidly connecting the multi-faceted positioning tracker to a calibration component and obtaining the first coordinates corresponding to the first set of positioning markers on each identification surface and the second coordinates corresponding to the second set of positioning markers on the calibration component. Based on the first and second coordinates of each identification surface, the three-dimensional relative positional relationship between each identification surface is determined. Then, based on the second set of positioning markers on the calibration component, the puncture path is determined. Combining the puncture path and the three-dimensional relative positional relationship between each identification surface, the three-dimensional spatial correspondence between the first set of positioning markers and the puncture path is calibrated. In other words, by obtaining the coordinate data of each identification surface and establishing a unified three-dimensional relative positional association for each identification surface, multi-identification surface calibration can be completed simultaneously, solving the problem of inaccurate multi-faceted positioning tracker calibration caused by calibrating only a single identification surface and lacking the positional association of multiple identification surfaces. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a flowchart illustrating the calibration method for a multi-faceted positioning tracker according to an embodiment of this application; Figure 2 This is a schematic diagram of the architecture of a multi-faceted positioning tracker calibration system provided according to an embodiment of this application.

[0021] Figure 3 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of this application. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] According to an embodiment of this application, a multi-faceted positioning tracker calibration method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0024] This embodiment provides a multi-faceted positioning tracker calibration method, which can be used in computer devices such as computers and servers. Figure 1 This is a flowchart of a multi-faceted positioning tracker calibration method according to an embodiment of this application, such as... Figure 1 As shown, the process includes the following steps: Step S101: When facing each identification surface in the forward direction, obtain the first coordinates of the first group of positioning marker points and the second coordinates of the second group of positioning marker points respectively.

[0025] The first coordinate of the identification surface and the second coordinate of the second set of positioning markers can both be acquired by the same acquisition device or by different acquisition devices. No specific limitation is made here; the specific implementation can be determined by those skilled in the art. The acquisition device can be a navigation and positioning device or other devices used for acquiring coordinates; no specific limitation is made here.

[0026] The calibration component can be understood as the component that calibrates the multi-faceted positioning tracker. This calibration component can be a calibration finger or any other specific component capable of calibration; no specific limitation is made here.

[0027] The identification surface can be understood as a flat calibration working surface evenly arranged around the circumference of the multi-faceted positioning tracker. The number of identification surfaces is at least two, and preferably three.

[0028] The first set of positioning markers can indicate the optical recognition points arranged on the recognition surface, which are used to be recognized by the navigation and positioning device and to provide feedback on the three-dimensional spatial coordinates and attitude information of the recognition surface.

[0029] The second set of positioning markers indicates the highly reflective identification points arranged on the calibration component's rod, used to provide feedback on the spatial position of the calibration component. These second set of positioning markers can be understood as calibration balls.

[0030] Specifically, any one of the recognition faces of the multi-faceted positioning tracker can be directly facing the acquisition device; wherein, the acquisition device can acquire the first coordinates of the first set of positioning markers on the recognition face of the multi-faceted positioning tracker facing the acquisition device and the second coordinates of the second set of positioning markers on the calibration component.

[0031] As an example, after receiving a rotation command, the controller controls the multi-faceted positioning tracker to rotate, so that each identification face faces the acquisition device. When the identification face faces the acquisition device, the acquisition device acquires the first coordinates of the first set of positioning markers of that identification face and the second coordinates of the second set of positioning markers of the calibration component.

[0032] For example, with a preset rotation parameter of 120° equal division, after the controller receives the rotation command, the multi-faceted positioning tracker rotates 120° each time, so that each identification surface faces the acquisition device. The acquisition device automatically delays and stabilizes the voltage for 0.5 seconds, and then acquires the first coordinates of the first set of positioning markers on the identification surface and the second coordinates of the second set of positioning markers on the calibration component.

[0033] In one possible implementation example, when there are multiple acquisition devices, each acquisition device faces the multi-faceted positioning tracker. The multiple acquisition devices perform acquisition operations on the corresponding recognition face to obtain the first coordinates of the corresponding recognition face and the second coordinates of the second set of positioning marker points.

[0034] Please refer to Figure 2 As shown, Figure 2 This is a schematic diagram of the structure of a multi-faceted positioning tracker calibration system provided according to an embodiment of this application.

[0035] A multi-faceted positioning tracker calibration system may include a multi-faceted positioning tracker A and a calibration finger B.

[0036] The multi-faceted positioning tracker A can include three marker point acquisition surfaces. For each marker point acquisition surface, when acquiring any marker point acquisition surface of the multi-faceted positioning tracker A, it can simultaneously acquire the second set of positioning marker points on the calibrated finger B, that is, all positioning marker points on the calibrated balls B1, B2, and B3 on the calibrated finger.

[0037] Step S102: Determine the three-dimensional relative positional relationship between each recognition surface based on each first coordinate and each second coordinate.

[0038] The three-dimensional relative positional relationship can be understood as the relationship between the recognition surfaces obtained by solving the first coordinate and the second coordinate; among them, the three-dimensional relative positional relationship can include spatial angles, plane normal vectors, relative translation deviations, rotation deviations, and three-dimensional pose matrices, etc.

[0039] Specifically, after determining each first coordinate and each second coordinate, the three-dimensional relative positional relationship between each recognition surface can be further determined.

[0040] As an example, based on each first coordinate, the optimal standard planes of the three recognition surfaces are fitted respectively, and the unit normal vector of each optimal standard plane is solved. The spatial angle between any two recognition surfaces is solved by performing vector dot product and cross product operations on the unit normal vectors. At the same time, the three-dimensional offset of the center point of each recognition surface is calculated to determine the three-dimensional relative positional relationship between the recognition surfaces.

[0041] As an example, taking one of the recognition surfaces as the reference surface, and using the temporal correspondence between the first and second coordinates, the three-dimensional position deviation and attitude deviation of the other two recognition surfaces relative to the reference surface are calculated through a data difference algorithm to determine the three-dimensional relative positional relationship between the recognition surfaces.

[0042] Step S103: Based on the second set of positioning markers of the calibration component, determine the puncture path corresponding to the second set of positioning markers.

[0043] The puncture path can indicate the three-dimensional spatial trajectory of the surgical puncture instrument in actual operation.

[0044] Specifically, after determining the second set of positioning markers for the calibration component, the puncture path corresponding to the second set of positioning markers can be further determined.

[0045] As an example, three second-set positioning markers are selected at the end of the calibration component and on the rod. Using the three-point spatial positioning principle, one of the second-set positioning markers is taken as the starting point of the path, and the spatial axis fitted by the three second-set positioning markers is taken as the path extension direction to obtain the puncture path.

[0046] For example, the spatial coordinates of the three second set of positioning markers on the calibration component are obtained by the navigation and positioning device as follows: end starting point P1 (0, 0, 0), middle section point P2 (0, 0, 10), and rear section point P3 (0, 2, 20). In this example, the end reflective point P1 (0, 0, 0) closest to the puncture operation end is selected as the starting point of the puncture path. Then, the spatial center axis of the three points is solved by fitting the three sets of measured coordinates P1, P2, and P3 together. This spatial axis is used as the extension direction of the puncture path to obtain the puncture path.

[0047] As an example, a multi-point curve smoothing fitting algorithm is used to fit the coordinates of the second set of positioning markers to generate a smooth and continuous puncture path.

[0048] Step S104: Based on the puncture path and the three-dimensional relative position relationship, determine the three-dimensional spatial correspondence of the first set of positioning markers relative to the puncture path.

[0049] The three-dimensional spatial correspondence can indicate the offset distance, attitude angle, and corresponding pose matrix of the first set of positioning markers relative to the puncture path in three-dimensional space.

[0050] Specifically, after determining the puncture path and the three-dimensional relative positional relationship, the three-dimensional spatial correspondence of the first set of positioning markers relative to the puncture path can be further defined.

[0051] As an example, the fitted puncture path is defined as the spatial reference coordinate axis, and a three-dimensional coordinate system for the puncture path is constructed with the puncture path travel direction as the X-axis. Then, the three-dimensional relative positional parameters of each recognition surface are obtained, and structural error data such as the plane normal vector deviation, inter-surface angle error, and center point translation error of each of the three recognition surfaces are extracted. The three-dimensional coordinates of the first set of positioning markers are traversed, and coordinate rotation transformation and translation compensation are performed based on the relative pose parameters of the multiple surfaces. The optical point coordinates of each recognition surface are uniformly transformed and mapped to the coordinate system of the puncture path. After the transformation, the axial offset distance, radial offset distance, and spatial pose angle of each of the first set of positioning markers relative to the puncture coordinate axis are calculated point by point to form a three-dimensional spatial correspondence.

[0052] The multi-faceted positioning tracker calibration method provided in this application provides a method for calibrating a multi-faceted positioning tracker by rigidly connecting the multi-faceted positioning tracker to a calibration component and obtaining the first coordinates corresponding to the first set of positioning markers on each identification surface and the second coordinates corresponding to the second set of positioning markers on the calibration component. Based on the first and second coordinates of each identification surface, the three-dimensional relative positional relationship between each identification surface is determined. Then, based on the second set of positioning markers on the calibration component, the puncture path is determined. Combining the puncture path and the three-dimensional relative positional relationship between each identification surface, the three-dimensional spatial correspondence between the first set of positioning markers and the puncture path is calibrated. In other words, by obtaining the coordinate data of each identification surface and establishing a unified three-dimensional relative positional association for each identification surface, multi-identification surface calibration can be completed simultaneously, solving the problem of inaccurate multi-faceted positioning tracker calibration caused by calibrating only a single identification surface and lacking the positional association of multiple identification surfaces.

[0053] In one possible implementation, determining the three-dimensional relative positional relationship between each identification surface based on each first coordinate and each second coordinate in step S102 above may include the following steps: Step a1: Construct the end coordinate system based on the second coordinates of the target; wherein, the second coordinates of the target are a set of second coordinates obtained by acquiring any recognition surface; The target's second coordinates are a set of second coordinates obtained by acquiring any recognition surface.

[0054] Specifically, after determining each second coordinate, an end coordinate system can be constructed based on the target second coordinate among the second coordinates. The specific construction method is described in detail below.

[0055] Specifically, the second set of positioning markers includes positioning marker 1, positioning marker 2, and positioning marker 3; step a1 above may include the following steps: Step a11: Extract the first three-dimensional coordinates of the first positioning marker, the second three-dimensional coordinates of the second positioning marker, and the third three-dimensional coordinates of the third positioning marker from the second coordinates of the target.

[0056] Positioning markers No. 1, No. 2, and No. 3 are all the second set of positioning markers preset on the calibration component.

[0057] Specifically, the data is split according to the preset point layout sequence in the drawing, and the fixed matching points are M1 front-end positioning marker point, M2 middle section positioning marker point, and M3 rear side positioning marker point.

[0058] As an example, the point with the smallest Z-axis value and closest to the puncture tip is identified as the first positioning marker point; the midpoint between the first positioning marker point and the first distance threshold along the Z-axis is identified as the second positioning marker point; and the point laterally offset from the second distance threshold is identified as the third positioning marker point.

[0059] For example, the point with the smallest Z-axis value and closest to the puncture tip is identified as the first positioning marker; the midpoint about 35mm away from the first point along the Z-axis is identified as the second positioning marker; and the point offset laterally by 6mm is identified as the third positioning marker. The corresponding three-dimensional coordinates are then extracted.

[0060] Step a12: Using the first three-dimensional coordinates of the first positioning marker as the origin of the end coordinate system, and based on the second three-dimensional coordinates of the second positioning marker, determine the unit vector of the X-axis; wherein the unit vector of the X-axis coincides with the puncture path.

[0061] Specifically, after determining the first, second, and third positioning markers, the first three-dimensional coordinates of the first positioning marker can be used as the origin of the end coordinate system, and the unit vector of the X-axis can be determined based on the second three-dimensional coordinates of the second positioning marker.

[0062] As an example, the first positioning marker represents the needle insertion point at the tip of the puncture instrument, and the second positioning marker indicates the point along the puncture path. After determining the first and second positioning markers, a unit vector of the X-axis can be generated by connecting the first and second positioning markers so that the unit vector of the X-axis coincides with the puncture path.

[0063] Step a13: Determine the auxiliary unit vector based on the first three-dimensional coordinates and the third three-dimensional coordinates of the third positioning marker.

[0064] An auxiliary unit vector can be understood as a unit vector that forms an angle with the unit vector along the X-axis.

[0065] Specifically, after determining the first three-dimensional coordinates, the auxiliary unit vector can be determined by combining the third three-dimensional coordinates of the third positioning marker point.

[0066] As an example, the first three-dimensional coordinates representing the puncture tip are used as the starting point for vector calculation, and the third three-dimensional coordinates are used as the ending point for vector calculation. The difference operation is performed on each dimension component of the two sets of coordinates to generate an auxiliary unit vector.

[0067] Step a14: Determine the unit vector of the Z-axis based on the unit vector of the X-axis and the auxiliary unit vector.

[0068] After determining the unit vector and auxiliary unit vector of the X-axis, the unit vector of the Z-axis can be further determined.

[0069] As an example, the cross product operation is performed on the unit vector and auxiliary unit vector of the X-axis to generate a vertical space vector that is perpendicular to both the unit vector and the auxiliary unit vector of the X-axis. The vertical space vector is then scaled to obtain the vector dimension components. Finally, the vector dimension components are divided by their magnitudes to output the Z-axis unit vector.

[0070] Step a15: Determine the unit vector of the Y-axis based on the unit vectors of the Z-axis and X-axis.

[0071] Specifically, after determining the unit vectors for the Z-axis and X-axis, the unit vector for the Y-axis can be further determined.

[0072] As an example, according to the right-hand coordinate system determination rule, the three-dimensional vector cross product operation of the unit vector of the Z-axis and the unit vector of the X-axis is performed to obtain the horizontal spatial vector perpendicular to the plane formed by the X-axis and Z-axis, and this horizontal spatial vector is determined as the unit vector of the Y-axis.

[0073] Step a16: Construct a rotation matrix based on the unit vectors of the X-axis, Y-axis, and Z-axis.

[0074] Specifically, after determining the unit vectors of the X-axis, Y-axis, and Z-axis, the unit vectors of the X-axis, Y-axis, and Z-axis can be arranged in rows to obtain a rotation matrix.

[0075] Step a17: Construct the end coordinate system based on the rotation matrix and the first three-dimensional coordinates.

[0076] Specifically, the first three-dimensional coordinates are obtained and directly defined as the origin of the end coordinate system. Then, the rotation matrix is ​​read and the spatial landing point of the coordinate system is determined by the first three-dimensional coordinates according to the translation parameters of the origin and the attitude parameters of the rotation matrix. The rotation matrix is ​​used to constrain the three-axis deflection angle and spatial orientation. The end coordinate system is generated by fusion according to the combination rules of the standard three-dimensional rectangular coordinate system.

[0077] In one possible implementation, let the coordinates of the three marker points on the three-point calibration component in the world coordinate system be A, B, C, D, E, F, G, M ...W B W C W Points A and B are located on the puncture path, while point C is not collinear with A or B. The method for establishing the end coordinate system {E} is as follows: (1) Determine the origin of the coordinate system. Point A is taken as the origin of the final coordinate system, i.e.: O E = A W Among them, O E Let A be the origin of the final coordinate system. W The first three-dimensional coordinate.

[0078] Determine the X-axis direction. Take the direction from A to B as the positive X-axis direction, and its unit vector is: x E ;where x E B is the unit vector along the X-axis. W Let be the second three-dimensional coordinate, and ‖·‖ represent the magnitude of the vector.

[0079] (2) Determine the Z-axis direction. The positive Z-axis direction is defined by the cross product of vectors AB and AC, with the unit vector being: Z E ; Among them, z E C is the unit vector along the Z-axis. W This represents the third three-dimensional coordinate system.

[0080] (3) Determine the Y-axis direction. According to the right-hand coordinate system rule, the unit vector of the Y-axis is: y E =z E ×x E ; where y E It is the unit vector along the Y-axis.

[0081] Therefore, the rotation matrix R of the end coordinate system {E} relative to the world coordinate system {W} is... E W It can be represented as: R E W =[x E y E z E ].

[0082] For any point P in space, its coordinates in the world coordinate system {W} are P W The coordinates P in the terminal coordinate system {E} E The following rigid body transformation relationship is satisfied between them: P W =R EW ·P E +t E W Among them, R E W The rotation matrix is ​​3×3, representing the rotation transformation from the end coordinate system to the world coordinate system; t E W It is a 3×1 translation vector, representing the position of the origin of the final coordinate system in the world coordinate system.

[0083] Accordingly, the inverse transformation from the world coordinate system to the terminal coordinate system is: P E = (R) E W ) T ×(P W -t E W ).

[0084] Step a2: Based on the end coordinate system, use the inverse transformation of rigid body coordinates to transform the first coordinates of each recognition surface to the unified coordinates of the single surface corresponding to the end coordinate system.

[0085] A single-face unified coordinate system can be understood as the coordinates of the identification surface in the end coordinate system.

[0086] Specifically, after determining the end coordinate system, the first coordinate of the identification surface can be transformed to the unified coordinate of the single surface corresponding to the end coordinate system under the end coordinate system.

[0087] As an example, the process reads the end-effector coordinate system, determines the translation vector and rotation matrix parameters between the global coordinate system and the end-effector coordinate system, constructs the rigid body forward transformation matrix, and then inverses the rigid body forward transformation matrix to obtain the rigid body inverse transformation matrix. For the first coordinate of the recognition surface, inverse translation compensation is performed first, followed by inverse attitude rotation correction, mapping and transforming all coordinate points to the end-effector coordinate system to generate the unified coordinates of the single surface corresponding to the recognition surface.

[0088] Step a3: Based on the unified coordinates of a single surface, determine the unified coordinate dataset of the target recognition surface in the end coordinate system.

[0089] A unified coordinate dataset can indicate the set of coordinates obtained by inverse transformation of the first coordinate of the identification surface.

[0090] Specifically, after determining the unified coordinates of a single face, the unified coordinate dataset of the recognition face in the end coordinate system can be further determined.

[0091] As an example, multiple single-face unified coordinates are screened to remove abnormal noise points that exceed reasonable spatial ranges or exhibit abrupt shifts, retaining only the valid first set of positioning marker coordinates. These valid first set of positioning marker coordinates are then sorted and grouped according to the arrangement pattern of the first set of positioning markers on the identified face, forming a unified coordinate dataset.

[0092] As an example, a pre-trained mathematical model can be used to substitute the unified coordinates of a single face into the mathematical model to obtain a unified coordinate dataset of the recognition face in the end coordinate system.

[0093] Step a4: Based on the unified coordinate dataset, determine the spatial reference corresponding to each recognition surface.

[0094] Spatial references can be used to measure angular deviations and positional offsets between different identification surfaces.

[0095] Specifically, after determining a unified coordinate dataset, spatial references corresponding to multiple recognition surfaces can be further determined.

[0096] As an example, the least squares fitting algorithm is used to perform optimal plane fitting on the discrete points of each recognition surface, and the plane equation of each recognition surface is obtained by solving for each plane equation. Based on the plane equation of each recognition surface, the unit normal vector, the coordinates of the plane center point, and the plane tilt angle parameter of each plane are solved. The unit normal vector, the coordinates of the plane center point, and the plane tilt angle parameter of each plane are integrated and encapsulated to form the spatial reference corresponding to each recognition surface.

[0097] Specifically, step a4 above may include the following steps: Step a41: Based on the unified coordinate data of the recognition surface in the end coordinate system, determine the average three-dimensional coordinates of the recognition surface; wherein, the average three-dimensional coordinates indicate the reference center point of the recognition surface.

[0098] The average value of the three-dimensional coordinates indicates the reference center point of the identification surface.

[0099] Specifically, after determining the unified coordinate data, the average three-dimensional coordinates of the recognition surface can be determined based on the unified coordinate data of the recognition surface in the end coordinate system.

[0100] As an example, outlier coordinates that are blocked or too far from the point group are filtered out from the unified coordinate data corresponding to the recognition surface, and the unified coordinate data corresponding to the first group of valid positioning markers are retained. The X-axis, Y-axis and Z-axis components of the valid points are accumulated respectively, and the arithmetic mean of the X-axis, the arithmetic mean of the Y-axis and the arithmetic mean of the Z-axis are calculated according to the number of valid points to obtain the three-dimensional coordinate average. The three-dimensional coordinate average is set as the reference center point of the recognition surface.

[0101] Step a42: Based on the unified coordinate data of the recognition surface in the end coordinate system, generate the fitting plane corresponding to the recognition surface.

[0102] The fitted plane can be an indication of the plane generated by fitting the discrete first set of positioning markers.

[0103] Specifically, invalid point coordinates caused by data occlusion and distortion are removed from the unified coordinate data of the recognition surface in the end coordinate system. The least squares plane fitting algorithm is used to solve the remaining valid discrete points globally to obtain the plane equation with the minimum global residual. A continuous and regular fitting plane is generated based on the plane equation.

[0104] Step a43: Based on the fitted plane, determine the normal vector corresponding to the fitted plane.

[0105] Specifically, after determining the fitting plane, the normal vector corresponding to the fitting plane can be determined.

[0106] Step a44: Based on the normal vector and the average value of the three-dimensional coordinates, determine the spatial reference corresponding to the recognition surface.

[0107] Specifically, a binding mapping relationship is established between the average value of three-dimensional coordinates and the normalized normal vector to generate a spatial reference for the matching recognition surface; wherein, the spatial reference corresponding to the recognition surface may include the unit normal vector of each plane, the coordinates of the center point of the plane, and the plane tilt angle parameter.

[0108] Step a5: Determine the three-dimensional relative positional relationship between the recognition surfaces based on the spatial reference corresponding to each recognition surface.

[0109] Specifically, after determining multiple spatial references, the three-dimensional relative positional relationship between target recognition surfaces can be further determined.

[0110] As an example, the unit normal vector and plane center coordinates of each recognition surface are extracted. The spatial angle between any two recognition surfaces is calculated using the vector dot product method. The plane orientation and attitude deviation of the recognition surfaces are determined by the vector cross product. The 3D translational offset between each recognition surface is determined by the difference in the center coordinates of the recognition surfaces, thus establishing the 3D relative positional relationship between them.

[0111] As an example, one of the recognition surfaces is selected as the zero-deviation reference surface. The other two recognition surfaces are compared with the zero-deviation reference surface by differential comparison. The translation deviation and three-axis rotation tilt deviation of the X-axis, Y-axis and Z-axis are decomposed dimension by dimension to determine the three-dimensional relative positional relationship between the recognition surfaces.

[0112] The multi-faceted positioning tracker calibration method provided in this application constructs an end coordinate system by using a set of second coordinates acquired from any one of the recognition surfaces as the target second coordinates. Based on this end coordinate system, an inverse rigid body coordinate transformation is used to convert all the first coordinates of the recognition surfaces into unified coordinates of a single surface corresponding to the end coordinate system. Then, a unified coordinate dataset of the recognition surfaces in the end coordinate system is generated based on the unified coordinates of the single surface. The spatial reference corresponding to each recognition surface is determined through the unified coordinate dataset. Finally, the three-dimensional relative positional relationship between the recognition surfaces is solved based on the spatial reference corresponding to the recognition surfaces. The entire process uses the same end coordinate system as a unified calculation reference to complete the coordinate transformation and reference solution of all recognition surfaces. The coordinate data of all recognition surfaces are mapped to the same coordinate system for calculation, avoiding data deviation caused by using independent reference references for different recognition surfaces. This method can accurately calculate the three-dimensional relative positional relationship between each recognition surface.

[0113] In one possible implementation, the second set of positioning markers includes positioning marker 1, positioning marker 2, and positioning marker 3; wherein, step S103 above may include the following steps: Step b1: Determine the first processing positioning point from positioning point 1, positioning point 2, and positioning point 3; wherein the first processing positioning point indicates the starting point of the puncture path.

[0114] The first treatment positioning marker indicates the starting point of the puncture path.

[0115] Specifically, after determining the first, second, and third positioning markers, the relative positions of the three second-group positioning markers can be distinguished according to the hardware installation rules. The first positioning marker, whose physical location is closest to the instrument puncture tip, can be directly identified as the first processing positioning marker. Alternatively, the spatial distance between each second-group positioning marker and the preset surgical operation area of ​​the navigation system can be calculated from the three-dimensional coordinates of the three second-group positioning markers acquired from multiple time-series data. The second-group positioning marker that is farthest from the operation area and whose spatial position matches the instrument needle insertion tip can be selected as the first processing positioning marker. No specific limitations are made here, and this can be implemented by those skilled in the art.

[0116] Step b2: Determine the second processing positioning point from positioning point 1, positioning point 2, and positioning point 3; wherein the second processing positioning point indicates a reference point on the puncture path.

[0117] The second step involves locating reference points along the puncture path using positioning markers.

[0118] Specifically, based on the first processing positioning mark point, spatial vectors are constructed for the first processing positioning mark point and the remaining two second set of positioning mark points. The degree of overlap between the two sets of vectors and the preset theoretical puncture axis is compared, and the second positioning mark point that overlaps with the preset theoretical puncture axis is determined as the second processing positioning mark point.

[0119] Step b3: The line connecting the first processing positioning mark point and the second processing positioning mark point is determined as the puncture path.

[0120] Specifically, after determining the first and second processing positioning marks, the spatial straight line formed by the first and second processing positioning marks can be used as the puncture path.

[0121] The multi-faceted positioning tracker calibration method provided in this application selects a first processing positioning mark indicating the starting point of the puncture path and a second processing positioning mark on the puncture path from the first, second, and third positioning mark points, respectively. Then, the puncture path corresponding to the second set of positioning mark points is determined based on the first and second processing positioning mark points. This method can complete the construction of the puncture path based on the real physical second set of positioning mark points fixedly arranged by the calibration component, avoiding the working condition adaptation deviation caused by using a virtual reference to construct the puncture path, and ensuring that the puncture path completely conforms to the real layout structure of the instrument and the actual puncture travel direction.

[0122] In one possible implementation, step S104 above, which involves determining the three-dimensional spatial correspondence of the first set of positioning markers relative to the puncture path based on the puncture path and the three-dimensional relative positional relationship, may include the following steps: Step c1: Using the puncture path as a reference, determine the axial distance offset and vertical lateral offset of each first coordinate of the identification surface relative to the puncture path.

[0123] The axial distance offset indicates the distance difference between each of the first set of positioning markers and the puncture path along the main axis.

[0124] The vertical lateral offset can indicate the spatial distance component between the first set of positioning markers in the identification plane, perpendicular to the main axis plane of the puncture path, and the puncture path.

[0125] Specifically, after determining the puncture path, the axial distance offset and vertical lateral offset of each first coordinate of the identification surface relative to the puncture path can be further determined.

[0126] As an example, for each of the first group of positioning markers, the difference in the axial distance generated after the point of each of the first group of positioning markers is projected onto the main axis of the puncture path is calculated. This difference in the axial distance is used as the axial distance offset. The vertical spatial distance from the point of each of the first group of positioning markers to the straight line of the puncture path is calculated, and this vertical spatial distance is decomposed into lateral components to obtain the vertical lateral offset.

[0127] As an example, the geometric range of the recognition surface is predefined, and the spatial distance between each first group of positioning markers and the center point of the fitted plane is used. Specifically, based on the spatial distance, the first group of positioning markers closer to the center point and with a higher signal-to-noise ratio are assigned to the center point region, while those farther from the center point and more susceptible to occlusion or light interference are assigned to the edge point region. A high computational weight coefficient is assigned to the first group of positioning markers in the center point region, while a low computational weight coefficient is assigned to the first group of positioning markers in the edge point region. For the first group of positioning markers in both the center and edge point regions, a weighted calculation is performed using their respective weight coefficients to solve for the axial distance offset and the vertical lateral offset.

[0128] Step c2: Based on the three-dimensional relative position relationship, the axial distance offset and the vertical lateral offset are translated and rotated to obtain the target offset; wherein, the target offset includes the processed axial distance offset and the processed vertical lateral offset.

[0129] The target offset can indicate the deviation dataset obtained after translation compensation and rotation transformation correction of the vertical lateral offset and axial distance offset. Specifically, it can include the processed axial distance offset and the processed vertical lateral offset.

[0130] Specifically, after determining the axial distance offset and the vertical lateral offset, the axial distance offset and the vertical lateral offset can be translated and rotated based on the three-dimensional relative position relationship to obtain the target offset.

[0131] As an example, the three-dimensional relative positional relationship between the recognition surfaces is obtained by pre-solving, and the translation deviation vector and rotation attitude matrix are used as correction operation parameters. Based on the correction operation parameters, the offset error is offset by translation compensation, and the lateral deviation caused by the tilt angle of the multi-faceted surface is corrected by rotation transformation to obtain the target offset.

[0132] For example, the calculated result for the first group of positioning markers on the identification surface is set to an axial distance offset of 12 and a vertical lateral offset of 4. The translation compensation indicates the axial component -2 and the lateral component -1, and the lateral component is corrected by a rotational transformation with a correction factor of 0.98. That is, the axial distance offset 12 plus the translation axial component -2 equals 10; the vertical lateral offset 4 plus the translation lateral component -1 equals 3; the translation-compensated vertical lateral offset 3 multiplied by the rotational correction factor 0.98 equals 2.94; the axial component remains unchanged at 10, unaffected by rotation, to obtain the processed axial distance offset 10 and the processed vertical lateral offset 2.94.

[0133] Step c3: Based on the target offset, determine the three-dimensional spatial correspondence between the first set of positioning markers and the puncture path.

[0134] Specifically, using the puncture path as a unified reference carrier, the axial distance offset and the vertical lateral offset after correction within the target offset are used as mapping parameters. The positions of the first set of positioning markers are traversed to bind the three-dimensional deviation mapping rules between the first set of positioning markers and the puncture path, so as to obtain the three-dimensional spatial correspondence.

[0135] Specifically, step c3 above may include the following steps: Step c31: Based on the rotation matrix, map the target offset to the end coordinate system to obtain the first spatial position of the first positioning marker, the second spatial position of the second positioning marker, and the third spatial position of the third positioning marker.

[0136] The first spatial position can indicate the three-dimensional coordinates of the reflective identification point at the foremost end of the calibration component, which serves as the starting point of the puncture path, after the second coordinates are mapped and converted using a rotation matrix and target offset.

[0137] The second spatial position can be the three-dimensional coordinate position in the end coordinate system obtained by mapping and converting the second coordinates of the reflective identification points distributed on the extension axis of the puncture path in the middle section of the calibration component rod through a rotation matrix and target offset.

[0138] The third spatial position can indicate the three-dimensional coordinate position of the reflective recognition point on the side and rear of the calibration component, which is used for three-dimensional spatial constraints. The second coordinate is obtained by mapping and converting the second coordinate of the point into the three-dimensional coordinate position in the end coordinate system after the rotation matrix and target offset are used.

[0139] Specifically, after mapping the target offset to the end coordinate system, the first spatial position, the second spatial position, and the third spatial position can be obtained.

[0140] As an example, using the origin of the end coordinate system and the orthogonal vectors of the three axes as mapping constraints, the three-dimensional coordinates of the first, second, and third positioning markers in the end coordinate system are solved in reverse according to the rotation matrix, the processed axial distance offset, and the processed vertical lateral offset, respectively, to generate the first spatial position, the second spatial position, and the third spatial position.

[0141] For example, the origin of the end coordinate system is O, and the three-axis unit orthogonal vectors are the X-axis unit vector, Y-axis unit vector, and Z-axis unit vector, respectively. A rotation matrix R adapted to the end coordinate system is pre-constructed; after correction of a certain set of target offset components: axial distance offset = 30, vertical lateral offset = 8.

[0142] Using the origin of the end coordinate system and the rotation matrix as the constraint starting point, and combining the axial distance offset along the X-axis superimposed component and the vertical lateral offset along the Y-axis superimposed component, the three-dimensional coordinates (0, 0, 0) of the first positioning marker point are calculated after the coordinate rotation transformation is completed by the rotation matrix.

[0143] With the three-axis orthogonal vectors of the end coordinate system and the rotation matrix as constraints, the axial distance offset is superimposed on the X-axis component, with no additional lateral offset. After the coordinate rotation transformation is completed by the rotation matrix, the three-dimensional coordinates of the second positioning marker point are obtained as (30, 0, 0).

[0144] With the three-axis orthogonal vectors of the end coordinate system and the rotation matrix as constraints, the axial distance offset is superimposed on the X-axis and the vertical lateral offset is superimposed on the Y-axis. After the coordinate rotation transformation is completed by the rotation matrix, the three-dimensional coordinates of the third positioning mark point (30, 8, 0) are obtained.

[0145] Step c32: Based on the first spatial position, the second spatial position, and the third spatial position, determine the three-dimensional spatial correspondence of the first set of positioning markers relative to the puncture path.

[0146] Specifically, after determining the first, second, and third spatial positions, the three-dimensional spatial correspondence of the first set of positioning markers relative to the puncture path can be established.

[0147] As an example, the puncture path is determined based on the first and second spatial positions. The target offset is then mapped according to the three sets of spatial positions. Each first set of positioning markers is matched along the puncture axis and perpendicular to the puncture axis to mark the three-dimensional spatial correspondence of all first set of positioning markers relative to the puncture path.

[0148] The multi-faceted positioning tracker calibration method provided in this application maps the target offset to the end coordinate system, converts it to obtain the first spatial position corresponding to the first positioning marker point, the second spatial position corresponding to the second positioning marker point, and the third spatial position corresponding to the third positioning marker point. Then, based on the first spatial position, the second spatial position, and the third spatial position obtained under the spatial reference, the three-dimensional spatial correspondence of the first set of positioning marker points relative to the puncture path is calibrated. This can eliminate the conversion deviation caused by switching between different coordinate references. The three-dimensional spatial correspondence of the first set of positioning marker points relative to the puncture path obtained by this calibration can uniformly bear the deviation characteristics after multi-faceted correction.

[0149] In one possible implementation, step a1 above may also include the following steps: Step a111: Obtain the number of the first set of positioning markers.

[0150] Specifically, after the acquisition device completes one round of coordinate acquisition, it can traverse the set of coordinate data of the first set of identified positioning markers and count the number of validly identified first set of positioning markers.

[0151] Step a112: Detect whether the number of the first group of positioning markers meets the preset threshold.

[0152] The preset threshold can be understood as a threshold that is set in advance.

[0153] Specifically, after determining the number of the first set of positioning markers, it is possible to further detect whether the number of the first set of positioning markers meets the preset threshold.

[0154] Specifically, this can include two scenarios.

[0155] Scenario 1: The number of positioning markers in the first group does not meet the preset threshold. Scenario 2: The number of positioning markers in the first group meets the preset threshold. For Scenario 1, step a113 can be executed; for Scenario 2, step a114 can be executed.

[0156] Step a113: If the number of the first set of positioning markers meets the preset threshold, construct the end coordinate system based on the second coordinate of the target.

[0157] If the number of the first set of positioning markers meets the preset threshold, then retrieve a set of target second coordinates obtained synchronously during this acquisition, extract the three-dimensional coordinates of the three second set of positioning markers from the target second coordinates, solve the X-axis, auxiliary vector, Z-axis, and Y-axis unit vectors in sequence, generate a rotation matrix, and construct the end coordinate system by combining the origin coordinates.

[0158] Step a114: If the number of the first set of positioning markers does not meet the preset threshold, perform multi-frame detection processing on the target recognition surface to obtain the acquisition results corresponding to the first set of positioning markers.

[0159] If the number of the first set of positioning markers does not meet the preset threshold, an attitude adjustment pop-up window will prompt the operator to fine-tune the position of the multi-faceted positioning tracker to keep the target recognition surface perpendicular to the lens of the navigation and positioning device. The acquisition device will continuously capture N frames of images and output the point coordinate dataset of each frame to obtain the acquisition results corresponding to the first set of positioning markers.

[0160] Step a115: For each round of multi-frame acquisition results, match the same first group of positioning markers in different frames until the number of the first group of positioning markers meets the preset threshold, and construct the end coordinate system based on the target second coordinate.

[0161] For the multi-frame acquisition results of a single round of acquisition, extract the clear and valid 3D coordinates of each first group of positioning markers in all frames, and integrate and update the global coordinate set; recount the total number of first group positioning markers in the fused coordinate set, and compare it with the preset threshold again; if it still does not meet the standard, automatically start a new round of multi-frame detection and processing loop matching, and continue to repeat the process; when the number of valid points after fusion reaches the preset threshold, stop the loop acquisition and matching, and retrieve the target second coordinate of this acquisition to construct the end coordinate system.

[0162] The multi-faceted positioning tracker calibration method provided in this application verifies the validity of point acquisition on the target recognition surface in advance by detecting whether the number of the first set of positioning markers meets a preset threshold. When the number of the first set of positioning markers meets the preset threshold, the end coordinate system is directly constructed based on the second coordinate of the target. When the number of the first set of positioning markers does not meet the preset threshold, multi-frame detection processing is performed on the target recognition surface to obtain the acquisition results corresponding to the first set of positioning markers. The same first set of positioning markers in different frames is matched with the multi-frame acquisition results in each round until the number of the first set of positioning markers meets the preset threshold. Then, the end coordinate system is constructed based on the second coordinate of the target. The missing first set of positioning markers can be supplemented by multi-frame acquisition and cross-frame point matching, avoiding the problems of insufficient number of first set of positioning markers and invalid data caused by single-frame acquisition.

[0163] This embodiment also provides a multi-faceted positioning tracker calibration device, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0164] This embodiment provides a multi-faceted positioning tracker calibration device, which can implement the above-described multi-faceted positioning tracker calibration method.

[0165] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0166] In this embodiment, the multi-faceted positioning tracker calibration device is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0167] This application also provides a computer device having the above-described multi-faceted positioning tracker calibration device.

[0168] Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of this application, such as... Figure 3 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 3 Take a processor 10 as an example.

[0169] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0170] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0171] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0172] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0173] The computer device also includes an input device 30 and an output device 40. The processor 10, memory 20, input device 30, and output device 40 can be connected via a bus or other means. Figure 3 Taking the example of a connection between China and Israel via a bus.

[0174] Input device 30 can receive input numerical or character information, and generate key signal inputs related to user settings and function control of the computer device, such as a touchscreen, keypad, mouse, trackpad, touchpad, joystick, one or more mouse buttons, trackball, joystick, etc. Output device 40 may include display devices, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibration motors). The aforementioned display devices include, but are not limited to, liquid crystal displays, light-emitting diodes, displays, and plasma displays. In some alternative embodiments, the display device may be a touchscreen.

[0175] The computer device also includes a communication interface for communicating with other devices or communication networks.

[0176] This application also provides a computer-readable storage medium. The methods described in this application can be implemented in hardware or firmware, or implemented as recordable on a storage medium, or implemented as computer code downloaded over a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and subsequently stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the methods shown in the above embodiments are implemented.

[0177] A portion of this application can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to this application through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0178] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A calibration method for a multi-faceted positioning tracker, characterized in that, The multi-faceted positioning tracker and the calibration component are rigidly connected. The multi-faceted positioning tracker has at least two recognition surfaces, each with a first set of positioning markers. The calibration component has a second set of positioning markers, which are non-obstructive. The method includes: When facing each of the identification surfaces in the forward direction, the first coordinates of the first group of positioning marker points and the second coordinates of the second group of positioning marker points are obtained respectively; Based on each of the first coordinates and each of the second coordinates, the three-dimensional relative positional relationship between each of the recognition surfaces is determined; Based on the second set of positioning markers of the calibration component, the puncture path corresponding to the second set of positioning markers is determined; Based on the puncture path and the three-dimensional relative positional relationship, the three-dimensional spatial correspondence of the first set of positioning markers relative to the puncture path is determined.

2. The calibration method for a multi-faceted positioning tracker according to claim 1, characterized in that, Determining the three-dimensional relative positional relationship between each of the recognition surfaces based on each of the first coordinates and each of the second coordinates includes: Based on the target's second coordinates, an end coordinate system is constructed; wherein, the target's second coordinates are a set of second coordinates obtained by acquiring any recognition surface; Based on the end coordinate system, the first coordinates of each of the recognition surfaces are transformed to the unified coordinates of a single surface corresponding to the end coordinate system using the inverse rigid body coordinate transformation. Based on the unified coordinates of the single surface, determine the unified coordinate dataset of the recognition surface in the end coordinate system; Based on the unified coordinate dataset, determine the spatial reference corresponding to each of the recognition surfaces; Based on the spatial reference corresponding to each of the recognition surfaces, the three-dimensional relative positional relationship between the recognition surfaces is determined.

3. The calibration method for a multi-faceted positioning tracker according to claim 2, characterized in that, The step of determining the spatial reference corresponding to each recognition surface based on the unified coordinate dataset includes: Based on the unified coordinate data of the recognition surface in the end coordinate system, the average three-dimensional coordinates corresponding to the recognition surface are determined; wherein, the average three-dimensional coordinates indicate the reference center point of the recognition surface; Based on the unified coordinate data of the recognition surface in the end coordinate system, a fitting plane corresponding to the recognition surface is generated; Based on the fitted plane, determine the normal vector corresponding to the fitted plane; Based on the normal vector and the average value of the three-dimensional coordinates, the spatial reference corresponding to the recognition surface is determined.

4. The calibration method for a multi-faceted positioning tracker according to claim 2, characterized in that, The second set of positioning markers includes positioning marker 1, positioning marker 2, and positioning marker 3; the construction of the end coordinate system based on the second target coordinates includes: From the target's second coordinates, extract the first three-dimensional coordinates of the first positioning marker, the second three-dimensional coordinates of the second positioning marker, and the third three-dimensional coordinates of the third positioning marker. Using the first three-dimensional coordinates of the first positioning marker as the origin of the end coordinate system, and based on the second three-dimensional coordinates of the second positioning marker, the unit vector of the X-axis is determined; wherein, the unit vector of the X-axis coincides with the puncture path; Based on the first three-dimensional coordinates and the third three-dimensional coordinates of the third positioning marker, determine the auxiliary unit vector; The unit vector of the Z-axis is determined based on the unit vector of the X-axis and the auxiliary unit vector. The unit vector of the Y-axis is determined based on the unit vector of the Z-axis and the unit vector of the X-axis. Construct a rotation matrix based on the unit vectors of the X-axis, Y-axis, and Z-axis; Based on the rotation matrix and the first three-dimensional coordinates, the end coordinate system is constructed.

5. The calibration method for a multi-faceted positioning tracker according to claim 1, characterized in that, The second set of positioning markers includes positioning marker 1, positioning marker 2, and positioning marker 3; wherein, determining the puncture path corresponding to the second set of positioning markers based on the calibration component includes: A first processing positioning mark is determined from the first positioning mark, the second positioning mark, and the third positioning mark; wherein the first processing positioning mark indicates the starting point of the puncture path; A second processing positioning mark is determined from the first positioning mark, the second positioning mark, and the third positioning mark; wherein the second processing positioning mark indicates a reference point on the puncture path; The line connecting the first processing positioning mark point and the second processing positioning mark point is determined as the puncture path.

6. The calibration method for a multi-faceted positioning tracker according to claim 1, characterized in that, The step of determining the three-dimensional spatial correspondence of the first set of positioning markers relative to the puncture path based on the puncture path and the three-dimensional relative positional relationship includes: Based on the puncture path, the axial distance offset and vertical lateral offset of each of the first coordinates of the identification surface relative to the puncture path are determined. Based on the three-dimensional relative position relationship, the axial distance offset and the vertical lateral offset are translated and rotated to obtain the target offset; wherein, the target offset includes the processed axial distance offset and the processed vertical lateral offset; Based on the target offset, the three-dimensional spatial correspondence of the first set of positioning markers relative to the puncture path is determined.

7. The calibration method for a multi-faceted positioning tracker according to claim 6, characterized in that, The step of determining the three-dimensional spatial correspondence of the first set of positioning markers relative to the puncture path based on the target offset includes: Based on the rotation matrix, the target offset is mapped to the end coordinate system to obtain the first spatial position of the first positioning marker, the second spatial position of the second positioning marker, and the third spatial position of the third positioning marker. Based on the first spatial position, the second spatial position, and the third spatial position, the three-dimensional spatial correspondence of the first set of positioning markers relative to the puncture path is determined.

8. The calibration method for a multi-faceted positioning tracker according to any one of claims 1-7, characterized in that, The multi-faceted positioning tracker has three recognition faces, and the projection areas of the first set of positioning markers of the multi-faceted positioning tracker and the second set of positioning markers of the calibration component do not overlap.

9. The calibration method for a multi-faceted positioning tracker according to claim 2, characterized in that, The construction of the final coordinate system based on the second coordinate of the target includes: Obtain the number of the first set of positioning markers; Detect whether the number of the first group of positioning markers meets a preset threshold; If the number of the first set of positioning markers meets the preset threshold, an end coordinate system is constructed based on the second target coordinate. If the number of the first group of positioning markers does not meet the preset threshold, multi-frame detection processing is performed on the target recognition surface to obtain the acquisition results corresponding to the first group of positioning markers. For each round of multi-frame acquisition results, the same first group of positioning markers in different frames is matched until the number of the first group of positioning markers meets the preset threshold. Based on the target second coordinate, the end coordinate system is constructed.

10. A computer device, characterized in that, include Memory and processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions, which, when executed by the processor, implement the multi-faceted positioning tracker calibration method as described in any one of claims 1-9.

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