The specification discloses an
obstacle avoidance prompt method, device, medium and equipment. According to the
pose of a human optical
beacon collected by a tracker and the
pose of a
surgical equipment optical
beacon, the actual position of the working end of the
surgical equipment and the actual position of the human optical
beacon are determined. A CT image containing the working end and the human optical beacon collected during
surgery is obtained, and a nuclear
magnetic image collected before
surgery is obtained. The working end and the human optical beacon in the CT image are identified, and according to the actual position of the working end and the actual position of the human optical beacon, a first
transpose matrix of the CT image and the tracker is determined. A second
transpose matrix of the CT image and the nuclear
magnetic image is determined, and according to the first
transpose matrix and the second transpose matrix, the position of the working end in the nuclear
magnetic image is determined. The target object in the nuclear magnetic image is identified, and the position of the target object in the nuclear magnetic image is determined. According to the position of the working end and the position of the target object,
obstacle avoidance prompt information is determined and displayed.