128 results about "Optical tracking" patented technology

A method for quality inspection of an etching paste material based on a spectral response difference, including: identifying a position of density mutation boundary through spectral collection and density gradient analysis. Applying a specific frequency beam to obtain the resonance response parameter, generating stress field reconstruction data. Performing a reverse optical tracking to obtain a defect formation path, generating degradation prediction data. Establishing a self-organizing optical monitoring grid, to form a hierarchical spectral fingerprint library. Constructing a multi-point linked defect blocking network, to form an interconnected optical energy field. Monitoring a cooperative response to obtain network stability data, Identifying abnormal position coordinates based on a material quality grade and the network stability data, obtaining the abnormal position coordinates. Performing a phase adjustment to obtain a phase difference spectral set, conducting a phase comparison marking on the abnormal position coordinates, completing the quality inspection of the etching paste material.

The invention provides a river flow velocity intelligent monitoring method and system based on multi-scale optical tracking velocity measurement. A plurality of detectors with different characteristics are organically combined, and dynamic grid density adjustment based on flow velocity gradient is realized through adaptive grid adjustment; establishing a multi-dimensional track quality evaluation system through intelligent track evaluation; the real-time performance optimization realizes the performance optimization of multi-thread parallel processing, integrates an intelligent grid optical flow detection and dynamic density adjustment mechanism, and optimizes the detection precision and performance in real time according to the flow velocity gradient and the flow field complexity; a multi-track quality evaluation system is utilized, tracks are screened and fused from three dimensions of motion consistency, physical constraint and time stability, and the accuracy and reliability of data are remarkably improved. The method overcomes the problems that a traditional speed measurement method is complex in operation, limited in environment, insufficient in precision and the like, supports real-time processing, can be widely applied to the fields of water conservancy projects, environment monitoring, flood prevention early warning, scientific research and education and the like, and has remarkable advancement and practical value.

The invention relates to the technical field of neuroendoscopy, in particular to a neuroendoscopy under-endoscope guiding method based on multiple intraoperative scenes, which comprises the following steps: performing three-dimensional graph reconstruction based on a plurality of three-dimensional medical images shot by medical imaging equipment, and establishing a three-dimensional reconstruction scene; determining a space conversion matrix of the tail end of the neuroendoscope and the three-dimensional reconstruction scene according to a shooting result of the optical tracking locator and the three-dimensional medical image, and determining a virtual camera according to the space conversion matrix; adjusting the virtual camera according to the moving mode of the neuroendoscope, and obtaining a corresponding virtual endoscope picture after the neuroendoscope is moved; determining the axial direction of the endoscope according to the spatial transformation matrix, and determining a virtual section image along the axial direction of the endoscope according to the axial direction of the endoscope and the three-dimensional reconstruction scene; according to the invention, dynamic and high-precision three-dimensional guidance and augmented reality display of the neuroendoscope can be realized.

The invention discloses an intraspinal anesthesia puncture guide system with an optical visualization function. The intraspinal anesthesia puncture guide system comprises an epidural needle body module, an optical tracking and positioning module and an image processing and displaying module. The epidural needle body module comprises a needle body and an optical probe, and the optical probe is fixed to the needle body and used for collecting images of the environment in front of the needle body. The optical tracking and positioning module comprises a positioning marker and an optical positioning camera, the positioning marker is fixed to the needle body, and the optical positioning camera is used for determining space pose information of the positioning marker. And the image processing and displaying module is connected with the optical probe and the optical positioning camera, and is used for generating an intra-spinal anesthesia puncture auxiliary image according to the image of the environment in front of the needle body and the spatial pose information of the positioning marker, and displaying the intra-spinal anesthesia puncture auxiliary image. According to the application, convenience is provided for epidural puncture through an optical visualization function, so that the success rate of epidural puncture is improved, and the operation difficulty and risk are reduced.

The application provides a kind of optical tracking and depth camera coordinate calibration method based on new type calibration model, the method includes providing a chessboard with optical positioning mark, the chessboard is placed in the effective range of optical tracking device, and the front of the chessboard is towards depth camera;The spatial position and posture of optical mark point are obtained, and the position of each corner point in the optical tracking coordinate system is calculated according to the position offset of each corner point on the chessboard to the optical mark point;Image information of the chessboard is obtained, corner point coordinates of the chessboard are extracted, and the corner point coordinates are converted to depth camera coordinate system;When more than three groups of corresponding corner point coordinates are obtained, the spatial transformation matrix of depth camera coordinate system to optical tracking coordinate system is calculated, and the calibration process is completed.The application can solve the problems of traditional calibration method, such as the need for multiple manual movement of optical positioning mark and the difficulty of automatic extraction of mark point position for depth camera, and can automatically and quickly realize accurate calibration.

The application relates to the technical field of medical devices, and discloses a positioning and tracking device, an optical positioning system and a surgical mechanical arm. The positioning and tracking device comprises a base and multiple groups of tracking arrays, the multiple groups of tracking arrays are arranged around the inside of the base, each group of tracking arrays comprises at least three tracking elements, and all the tracking elements in the same group of tracking arrays define a plane corresponding to a current tracking array. Alternatively, all the tracking elements in the same group of tracking arrays define a curved surface corresponding to the current tracking array. The positioning and tracking device, the optical positioning system and the surgical mechanical arm provided by the application can improve the problem in the related art that when the included angle between a tracking element and an optical tracking sensor changes greatly in the process of movement of an end instrument, the optical tracking sensor cannot acquire the position of the tracking element, so that the pose of the end instrument cannot be recognized.

This invention discloses a bioactive glass and its preparation method, belonging to the field of bioactive glass technology. It aims to solve the problems of insufficient synergistic effect between antibacterial efficacy and bone-promoting activity in existing materials, as well as the inability to monitor in vivo degradation processes in real time. The bioactive glass comprises 44-48 parts silica; 22-27 parts calcium oxide; 22-27 parts sodium oxide; 5-7 parts phosphorus pentoxide; 2-4 parts europium zinc complex; 10-20 parts chitosan; 1-5 parts lidocaine; and 2-5 parts dilute acetic acid solution. The addition of the europium zinc complex promotes bone formation and enhances antibacterial activity, achieving a highly efficient synergy between anti-infection and tissue regeneration. Simultaneously, it provides optical tracking capabilities, allowing for non-destructive real-time monitoring of the material's degradation behavior and tissue integration in vivo via fluorescence imaging. This invention offers superior material performance and a simple preparation process, providing an innovative solution for the repair of infected bone defects.

The invention discloses an intelligent joint replacement revision operation system and method based on CBCT and optical navigation, and the system comprises an imaging device which is used for collecting the positive and lateral two-dimensional images of a femur region and an ankle joint region of an affected limb and the three-dimensional image of a knee joint region, and reconstructing the three-dimensional models of the femur and the tibia; the optical tracking equipment is used for acquiring poses of the first tracing equipment and the second tracing equipment in real time; the key point acquisition module is used for acquiring three-dimensional positions of a femoral head central point and an ankle joint central point in the positive and lateral two-dimensional image and acquiring femoral inner and outer upper condyle points and a tibia marrow cavity point in the three-dimensional model; the affected limb section extraction module is used for obtaining the far-end section, the anterior section and the posterior section of the femur in the knee joint area and the plateau section of the tibia in the knee joint area; and the planning execution module is used for determining the target pose of the new implant according to the corresponding section, and performing planning execution according to the target pose. According to the invention, the accuracy and safety of the joint replacement revision operation can be improved.

The invention belongs to the field of vascular intervention simulation training, and particularly relates to an optical tracking type medical intervention instrument operation data acquisition device which comprises a device body and a virtual simulation system, a base of the device body is provided with a plurality of monitoring positions and a force feedback device, and each monitoring position is provided with an intervention limiting channel of a medical intervention instrument. The force feedback device is located between the adjacent monitoring positions, an inlet and an outlet of the force feedback device are communicated with the intervention limiting channel of each monitoring position through connecting pieces, each monitoring position is further provided with a motion measuring module used for collecting real-time horizontal displacement data and rotation angle data of the medical intervention instrument in a non-contact mode, and the base is further provided with a data processing module. The data processing module is in communication connection with the motion measurement modules, the force feedback device and the virtual simulation system. According to the invention, the three-dimensional space position and the rotation angle of the medical interventional instrument can be measured, and the motion data of the medical interventional instrument can drive the corresponding model in the virtual environment in real time, so that high-precision operation training and evaluation are realized.

The invention relates to the technical field of surgical measurement, in particular to a real-time measurement method and system for the length and eccentric distance of lower limbs in hip replacement. According to the technical scheme, the method comprises the following steps that anatomical feature points on the two sides of a patient are obtained, wherein the anatomical feature points at least comprise the positions of anterior superior iliac spines on the two sides and the positions of high points on the inner side and the outer side of ankle joints on the two sides; and according to the obtained anatomical feature points, calculating and establishing a normal position reference plane of the patient. By means of the non-invasive body surface positioning and optical tracking technology, the length and the eccentric distance of the lower limb can be accurately measured in real time in the hip replacement. The method comprehensively considers the change of both sides of the acetabulum and the femur, avoids the trauma risk of traditional invasive navigation and the deviation of single measurement, and provides a quantitative basis for doctors through intraoperative dynamic data feedback and preoperative, intraoperative and postoperative whole-course evaluation, thereby improving the surgical precision and reducing the occurrence rate of complications with unequal lengths of lower limbs.

This application provides a method, device, electronic device, and storage medium for displaying a target plane. The method includes: acquiring a first coordinate group of P markers attached to the patient's body surface in a CT coordinate system based on CT images; tracking a second coordinate group of the P markers in an optical coordinate system using an optical tracking device; registering the first and second coordinate groups to obtain a first real-time transformation matrix from the CT coordinate system to the optical coordinate system; calculating second real-time coordinates of the needle tip and needle tail in the CT coordinate system based on the first real-time transformation matrix, the first real-time needle tip coordinates, and the first real-time needle tail coordinates in the optical coordinate system; and displaying the positions of the needle tip, needle tail, and target point in the target plane based on the coordinates projected onto the target plane from the second real-time needle tip coordinates, the coordinates projected onto the target plane from the second real-time needle tail coordinates, and the target point coordinates in the CT coordinate system. This method can avoid harm to the patient caused by puncture surgery.

The invention belongs to the technical field of computer vision and automatic control, and particularly relates to a two-degree-of-freedom optical tracking method and system based on monocular vision, a calibration plate is arranged on a scanner, and a single calibration image containing the calibration plate is shot through a monocular camera; calibration point coordinates of the calibration image are extracted, the calibration image is input based on an ideal camera imaging model, the physical spacing of each calibration point, the image resolution, the pixel size and the lens focal length are known parameters, and the principal point coordinates, the pixel size ratio, the principal distance and the z-direction translation amount of the camera are estimated; introducing a comprehensive lens distortion model containing radial distortion, eccentric distortion and thin prism distortion, and obtaining an accurate radial distortion coefficient, an eccentric distortion coefficient, a thin prism distortion coefficient and rotation and translation amounts of the camera through decoupling calculation; theoretical pixel coordinates of the calibration points are obtained through reverse re-projection, and calibration precision is evaluated and optimized; the camera visual angle is adjusted through the holder control system, so that the scanner is located in the center area of the camera visual field.

A system is disclosed that includes an optical tracking device and a surgical computing device. The optical tracking device includes a structured light module and an optical module that includes an image sensor and is spaced from the structured light module at a known distance. The surgical computing device includes a display device, a non-transitory computer readable medium including instructions, and processor(s) configured to execute the instructions to generate a depth map from a first image captured by the image sensor during projection of a pattern into a surgical environment by the structured light module. The pattern is projected in a near-infrared (NIR) spectrum. The processor(s) are further configured to execute the stored instructions to reconstruct a 3D surface of anatomical structure(s) based on the generated depth map. Additionally, the processor(s) are configured to execute the stored instructions to output the reconstructed 3D surface to the display device.

The present invention relates to a surgical 3D marker element (1) having a surface (2) on or within which a two-dimensional optical pattern (4) for spatial position detection of a medical product (100) is permanently incorporated or applied. The optical pattern (4) takes the form of an M-row and N-column matrix (6) having corresponding pattern elements (8) as pattern fields (8), and the optical pattern (4) has at least four pattern elements (10), of which at least two pattern elements (10) are designed to be different in order to provide an optical reference for position detection of the 3D marker element (1) via an optical tracking system (500). The present invention also relates to a medical product (100), a tracking system (500), a position detection method, a computer-readable storage medium, and a computer program according to the related claims.

This application relates to a radar-optical hybrid dual-arc correlation orbit determination method, comprising: acquiring radar tracking arc segments and optical tracking arc segments; calculating the initial radar orbital elements based on the radar tracking arc segments using a Lambert boundary value problem; calculating the initial optical orbital elements based on the optical tracking arc segments using a distance search method to obtain candidate solutions; determining whether the radar tracking arc segments and optical tracking arc segments could originate from the same space target; if not, the process terminates; if possible, it continues; using the radar initial orbital elements to determine the estimated semi-major axis, the candidate solutions are screened, and a position observation sequence arc segment is generated; based on the position observation sequence arc segment and the radar tracking arc segment, a Lambert boundary value problem is constructed to perform dual-arc correlation orbit determination, and the solution is obtained using the Gooding method. This invention provides a radar-optical hybrid dual-arc correlation orbit determination method that constructs a Lambert boundary value problem to solve dual-arc orbit determination, achieving excellent radar-optical hybrid dual-arc correlation accuracy and dual-arc orbit determination precision.

This invention relates to a virtual reality and real-world image fusion navigation method and system for temporal bone surgery. The method includes acquiring medical image data of the temporal bone region for three-dimensional reconstruction to obtain a dynamic virtual model of the temporal bone; acquiring optical tracking data and instrument spatial pose data, and dynamically registering and mapping the dynamic virtual model of the temporal bone to obtain a real-time spatial fusion relationship; constructing a navigation view based on the instrument spatial pose data and the real-time spatial fusion relationship to obtain an augmented reality navigation view; performing structural distance analysis on the augmented reality navigation view to obtain dynamic warning parameters; and adjusting the display based on the augmented reality navigation view and the dynamic warning parameters to obtain a real-time navigation strategy. This method effectively solves the problem of registration lag in traditional static images, ensuring that the virtual model and the actual anatomical structure maintain a high-precision match at all times.

The invention relates to a coaxial and non-coplanar magnetic resonance guided head gamma knife radiotherapy system and a guiding method thereof. The system comprises a magnetic resonance imaging unit, a gamma knife irradiation unit, a treatment bed unit, a coordinate registration unit, a body surface optical tracking unit and a control system. The gamma knife irradiation unit is rigidly connected to the end face of the magnetic resonance imaging unit through a positioning interface, a positioning bed board is arranged on the treatment bed unit, a space reference mark is arranged on the positioning bed board, and the coordinate registration unit is connected between the magnetic resonance imaging unit and the treatment bed unit. The body surface optical tracking unit is mounted at the tail end of a positioning bed plate of the treatment bed unit; the control system is connected with the treatment bed unit, the gamma knife irradiation unit and the body surface optical tracking unit. Clear imaging of cranial soft tissue in a high-field-intensity environment can be realized, damage of external components to magnetic field uniformity and interference of an electron reflux effect caused by a high-intensity magnetic field to dose distribution are reduced, and radiotherapy precision is improved.

The invention provides a drilling positioning device, and belongs to the technical field of orthopedic drilling. Comprising a positioning frame, a connecting mechanism facilitating drilling of a bone drill is arranged on the surface of a clamping mechanism, an infrared camera is rotated and subjected to angle adjustment through a rotating mechanism, an adjusting mechanism and the connecting mechanism by means of a first driving motor and a second driving motor, and real-time three-dimensional positioning is achieved through the infrared camera by means of optical tracking; in cooperation with preoperative CT data, the system can automatically calculate the optimal drilling path, laser on the infrared camera can assist in aiming at the drilling position, then according to the style of a bone drill, a corresponding guide sleeve is adopted, the guide sleeve is fixed through the clamping mechanism, the bone drill is inserted into the guide sleeve, and the drilling position is adjusted. And a spring is reset to push a limiting block and a sponge pad to clamp and fix the bone drill, so that the phenomenon that the drilling position deviates due to the fact that the bone drill shakes in the drilling process is avoided, and the bone drill can drill the fracture position more accurately.

The present application relates to the technical field of multiphase flow monitoring, and particularly relates to an aggregation-induced emission material, a preparation method and application thereof, the preparation method comprising the following steps: mixing a conjugate, an electron donor and an additive, and reacting to obtain an aggregation-induced emission molecule; mixing the aggregation-induced emission molecule with an organic solvent to obtain a molecular solution; mixing particulate matter containing an active group with a solvent to obtain a particulate matter solution; mixing the molecular solution with the particulate matter solution, and reacting to obtain the aggregation-induced emission material; the electron donor comprises an amino-containing electron donor, a carboxyl-containing electron donor or a hydroxyl-containing electron donor; the active group in the particulate matter containing the active group comprises an amino group, a carboxyl group or a hydroxyl group.The technical scheme of the present application realizes dynamic migration tracking and quantitative analysis of the aggregation-induced emission material in a non-transparent porous medium, and solves the problems of poor penetration and strong background interference of traditional optical tracking technology in the non-transparent porous medium.

The utility model provides a light-emitting control circuit and a beauty instrument, and relates to the technical field of beauty equipment, the light-emitting control circuit is applied to the beauty instrument, and the light-emitting control circuit comprises a light-emitting module used for generating light irradiating the skin; the optical tracking sensor is used for projecting the laser to the skin, collecting laser speckle images of the skin at multiple different moments and performing image processing on the multiple laser speckle images to obtain the relative displacement of the beauty instrument and the skin; the control module is electrically connected to the optical tracking sensor and the light emitting module, and the control module is used for driving the light emitting module according to the relative displacement response. According to the cosmetic instrument, the optical tracking sensor is additionally arranged on the cosmetic instrument, so that the relative displacement between the cosmetic instrument and the skin can be accurately and quickly detected through the optical tracking sensor, and the light emitting module is controlled to continuously emit light or stop emitting light according to the relative displacement; therefore, the risk of skin injury caused by repeated light emission due to the fact that the beauty instrument stays in the same area for a long time can be reduced, and the beauty effect is improved.

The present application relates to the technical field of image processing, in particular to a kind of real-time optical tracking method and system of moving target based on passive guidance.The approximate coordinates of moving target are obtained by passive direction finding station;And according to the approximate coordinates, control laser illumination unit to light moving target body, utilize binocular camera unit to carry out image acquisition and visual analysis to moving target, to obtain the position change of moving target;Combining the position change of moving target, determine the trajectory pose of moving target.Using call camera unit, the whole tracking of moving target is carried out, and the flight state of moving target collected is transmitted to host computer in real time for display.The present application realizes real-time positioning of moving target by the fusion mode of passive direction finding station and binocular optical system, realizes real-time accurate positioning of moving target in the case of building, vegetation dense and low visibility.

An optical tracking system comprising a main camera, an optical tracking camera, a light source, and one or more markers that are configured to engage an LED wall without impeding the light generated by the LED wall so that the optical tracking camera can identify its own location in three dimensional space, and by extrapolation, the location in three dimensional space of the main camera.

The invention belongs to the technical field of medical image processing and computer-aided surgical planning, and particularly relates to a scoliosis three-dimensional reconstruction system based on multi-modal image fusion and a surgical planning system.The scoliosis three-dimensional reconstruction system comprises a multi-modal data acquisition module, a space-time constraint registration module and a dynamic three-dimensional reconstruction module; the operation planning system comprises a model import module, an operation planning module, an effect simulation module and a scheme output module, space-time collaboration of static data and dynamic data is achieved, and the problem that in the prior art, static anatomical data cannot be associated with dynamic mechanical changes is effectively solved; a scoliosis dynamic three-dimensional model can not only retain dissection details of CT / MRI, but also integrate force line changes of load-bearing position X-rays and dynamic deformation of optical tracking, and scientific support is provided for surgical planning.

An optical tracking system is provided. The optical tracking system comprises an autoclavable fiducial marker assembly including an opaque housing, a light source, a window panel configured to refract light rays from the light source therethrough, and a metallized coating forming a hermetic seal at an interface of the window panel and the opaque housing. The fiducial marker assembly is configured to shield a peripheral edge of the window panel from the light rays. The system further comprises a tracking device comprising at least two optical sensors configured to detect a position of a light ray emitted by the light source. The system further comprises a processor configured to receive the position of the light rays from the optical sensors, shift the position of each light ray based on a calculated refraction deviation, and triangulate the location of the light source based on the shifted position of each light ray.

A head tracking system HTS, configured to determine a head position and a head orientation of a user to which display images are configured to align with the outside world scene and are configured to be presented, the HTS comprising: one or more optical sensors generating an optical measurement; and a number of inertial sensors generating an inertial measurement; a processor configured to determine the head position and the head orientation from one or both of the one or more optical sensors and the number of inertial sensors and configured to: determine an optical tracking state from the optical measurement and an inertial tracking state from the inertial measurement; when both the optical tracking state and the inertial tracking state are valid, flagging / asserting HTS operation as normal; when both the optical tracking state and the inertial tracking state are invalid, flagging / asserting HTS failure; when the optical tracking state and the inertial tracking state are valid comparing the optical measurement and the inertial measurement to determine if the HTS can operate safely based on a predetermined tracking performance required by the system.

This application relates to the field of scanning probe microscopy technology and discloses an optical tracking system, including: a scanner with a target position; and an optical path structure including a first reflecting mirror disposed at a preset position on the scanner. A first distance from the target position to a fixed end of the scanner and a second distance from the target position to the spot position of the first reflecting mirror satisfy a preset relationship, ensuring that the reflected light from the first reflecting mirror passes through the target position. When the scanner moves, the first reflecting mirror and the target position can move synchronously with the scanner. The change in the angle of the reflected light path, based on the preset relationship, precisely compensates for the displacement of the target position, thereby ensuring that the detection light emitted by the light source, after being reflected by the first reflecting mirror, always accurately passes through the moving target position. This eliminates the need for additional dynamic adjustment elements or closed-loop control systems, improving the reliability of the scanning probe microscopy optical tracking system. This application also discloses a scanning probe microscope.

This invention discloses a method and system for detecting the dielectric properties of cells in a coplanar waveguide based on Rayleigh acoustic flow manipulation and optical tracking. It employs a closed-loop detection scheme of identification-manipulation-detection-correction, specifically: a Rayleigh acoustic flow field is generated in a fixed microdroplet; the three-dimensional motion trajectory of the cell in the fixed microdroplet is obtained through optical measurement to identify the real-time height of the cell in the Rayleigh acoustic flow field; the acoustic flow excitation parameters are optimized based on the acoustic flow suppression coefficient, and the cell is stably manipulated to the electrode gap region of the coplanar waveguide sensor using acoustic flow; broadband scattering parameters are measured using the coplanar waveguide sensor, simultaneously obtaining the precise three-dimensional position of the cell within the electrode gap region; the precise three-dimensional position and broadband scattering parameters are input into a pre-constructed mapping model to obtain the cell dielectric parameters after position deviation correction. This invention has advantages such as good biocompatibility, high position manipulation accuracy, high detection accuracy, and the ability to be arrayed for high-throughput operation.

A registration fixture for use with a surgical navigation system for registration of medical images with a three-dimensional tracking space includes a base frame adapted to be mounted over a flat panel detector of an x-ray medical imaging device and a side frame having optical tracking markers and mounted to the base frame. The base frame includes a first set of radio-opaque markers embedded therein in a first predetermined pattern and arranged on a plane and a second set of radio-opaque markers embedded therein in a second predetermined pattern and likewise arranged on another plane, the second set of radio-opaque markers being spaced apart from the first set of radio-opaque markers. The side frame has a plurality of optical tracking markers and is configured to be detachably mounted to the base frame without piercing a sterile drape to be interposed between the base frame and the side frame.

The invention relates to the technical field of external surgical robot navigation, in particular to an augmented reality-based external surgical robot navigation method, which comprises the following steps of: shooting a calibration plate by a binocular camera of an optical tracking locator, and carrying out internal reference calibration and external reference calibration; based on a plurality of three-dimensional medical images shot by the medical imaging equipment, three-dimensional graph reconstruction is carried out on the navigation space outer edge, the operation area and the abnormal target of the surgical robot; when the surgical robot is navigated, an optical tracking locator and medical imaging equipment shoot markers to obtain marker positions of an optical image space and a three-dimensional image space respectively, and a rotation matrix and a translation vector for registration are determined; the three-dimensional graph is converted and displayed in images of a left camera and a right camera in an overlapped mode, and the images are displayed in augmented reality equipment; the navigation precision and efficiency of the surgical robot can be improved, and the cost is reduced.

The invention provides an intelligent control method, system and equipment for an oral cranio-maxillofacial osteotomy robot, a medium and the robot. The intelligent control method for the oral cranio-maxillofacial osteotomy robot comprises the steps that S1, a whole-head CT image of a surgical object is obtained and preprocessed; s2, performing instance segmentation cooperatively by using a pre-constructed cross-modal data conversion interface and a pre-constructed instance segmentation model; s3, image coding and text coding results are input into a Gaussian mixture model after being subjected to weighting processing, decoding is carried out in combination with site information, and osteotomy path trajectory points under an optical tracking system are generated; and S4, calculating through the coordinate transformation matrix to obtain an osteotomy path track under the robot coordinate system. The system has the advantages of being high in efficiency, high in safety, high in intelligent degree and convenient to operate.