197 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 discloses a tumor needle biopsy robot and an image real-time navigation system thereof, and relates to the technical field of medical instruments, and the method comprises the following steps: extracting historical data, and constructing a segmentation model according to the historical data; acquiring a plurality of medical images of the patient, and constructing a three-dimensional model of the patient according to the plurality of medical images; constructing a visual puncture path according to the three-dimensional model; the method comprises the following steps: acquiring optical tracking data, acquiring a needle point position according to the optical tracking data, correcting a puncture path according to the needle point position, acquiring a path point sequence according to a puncture starting point, a target point, a cost function and a graph structure when an optimal path is planned, and continuously adjusting the path through a path optimization algorithm. The path is far away from key tissues such as important blood vessels and nerves, the path is prevented from excessively approaching or directly penetrating through a dangerous area, so that the rationality of optimal path planning is ensured, the precision controllability of the puncture process is enhanced, the puncture path is corrected in real time through the position of the needle tip, and the possibility of the scheme is further improved.

The invention provides an oral implant operation registration method and system, and the method comprises the steps: obtaining first CBCT data and second CBCT data, a registration device is provided with a plurality of groove points, and the second CBCT data is provided with an image coordinate system; arranging an optical tracking array on the dental region, and determining a first transformation matrix between a binocular camera coordinate system and a dental jaw bone reference coordinate system through a binocular camera; determining a first pose matrix of the needle point of the drill needle in the planting mobile phone coordinate system; the tip of the optical probe and the binocular camera are utilized to perform sampling operation on each groove point on the registration device to obtain a plurality of registration points; determining a second transformation matrix according to the plurality of registration points and each groove point; and determining a second pose matrix according to the first transformation matrix, the second transformation matrix, the first pose matrix and a transformation matrix between the coordinate system of the binocular camera and the coordinate system of the implant mobile phone, and preparing a hole in the dental region through the tip of the drill point. By adopting the scheme, the planting precision of the implant can be improved.

The invention discloses lithotripsy equipment and a control method thereof. The lithotripsy equipment comprises a lithotripsy device, an optical tracking device, a display and control device and an ultrasonic imaging device, the lithotripsy device comprises a mechanical arm module, a shock wave module and a control module; the mechanical arm module and the shock wave module are both electrically connected with the control module, and the control module and the optical tracking device are both electrically connected with the display and control device. The ultrasonic imaging device comprises a handheld ultrasonic probe; the handheld ultrasonic probe is in communication connection with the display and control device; the mechanical arm module comprises a mechanical arm, the shock wave module comprises a shock wave generator, and the shock wave generator is arranged at the front end of the mechanical arm; and a plurality of optical reflection markers are arranged on the backs of the handheld ultrasonic probe and the shock wave generator. According to the lithotripsy equipment provided by the embodiment of the invention, the intelligent degree of the extracorporeal shock wave lithotripsy machine is improved, the extracorporeal shock wave lithotripsy treatment process is simplified, and the treatment positioning precision is improved.

The invention discloses a mining chain wheel repaired based on an intelligent optical tracking technology and a technology. The repairing technology comprises the following steps that S1, an optical scanning device is used for scanning a worn chain wheel, surface point cloud data of the chain wheel are obtained, and an actual three-dimensional model of the chain wheel to be repaired is generated according to the point cloud data; s2, Boolean operation is carried out on the actual three-dimensional model generated in the step S1 and a preset chain wheel standard digital model, so that a relative wear model only representing a chain nest wear area is extracted; s3, based on the relative wear model, automatically generating a robot welding path for filling a wear area, and generating a repair program; and S4, the welding robot is controlled to execute the repairing program generated in the step S3, and self-adaptive surfacing repairing is conducted on the abrasion area of the chain nest. According to the method, through a digital closed loop of accurate scanning, model comparison, automatic programming and robot repairing, accurate repairing of irregular abrasion of each chain nest is achieved, the repairing quality is improved, and the maintenance period is shortened.

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 discloses a transcranial stimulation magnetic therapy coil navigation method, a transcranial stimulation magnetic therapy coil navigation system, a storage medium and equipment. The method comprises the following steps: acquiring three-dimensional structure information of the head of a target object, magnetic resonance imaging (MRI) data of an individual target object, or three-dimensional model data obtained by matching from a general MRI template library; real-time surface geometric information of the head of the target object is collected through an infrared optical tracking system; performing registration fusion on the three-dimensional structure information and the real-time surface geometric information, and generating an individualized three-dimensional brain model synchronized with a real space coordinate system on a navigation interface; the spatial position and posture of the optical marker fixed on the magnetic therapy coil are tracked in real time through an infrared optical tracking system and correspondingly mapped to the individualized three-dimensional brain model, and visual navigation of the magnetic therapy coil relative to the brain anatomical structure is achieved. Through the individualized three-dimensional navigation and real-time visualization technology, the problems that a traditional TMS is low in positioning precision, invisible in operation and poor in treatment repeatability are solved.

The invention provides a multi-target adaptive optical tracking method and system for an unmanned intelligent turntable. The method comprises the following steps: acquiring a video stream and turntable attitude data on an unmanned intelligent turntable; carrying out scene understanding operation on the video stream, fusing the dynamic attention area and extracting spatial distribution information of a plurality of moving targets in a rotary table coordinate system; calculating an optical deformation parameter of the liquid lens, and driving the liquid lens to execute non-uniform optical curved surface adjustment, so that a focus area simultaneously covers a plurality of spatially dispersed moving targets; receiving distance data fed back by the distance measuring equipment, carrying out cross validation on the distance data and actual optical parameters of the adjusted liquid lens, and generating a cooperative calibration instruction when the deviation exceeds the tolerance; and synchronously updating the dynamic region of interest identification logic of scene understanding and an optical deformation parameter calculation strategy according to the instruction. According to the invention, the stability and spatial positioning precision of multi-moving-target tracking in a wide-area complex scene are improved.

The invention discloses a TMS robot navigation control method based on visual localization. The method comprises the following steps: acquiring visual detection data, magnetic resonance image data and localization tracking data of the head of a diagnosis and treatment object; establishing a head three-dimensional model of the diagnosis and treatment object according to the visual detection data and the magnetic resonance image data; performing pose correction on the head three-dimensional model according to the positioning and tracking data; and generating a motion track of the diagnosis and treatment coil according to the head three-dimensional model after pose correction and the target stimulation target. The head of the TMS diagnosis and treatment object is positioned and tracked through the visual positioning technology and the optical tracking technology, the motion path of the diagnosis and treatment coil is adaptively planned based on the real-time three-dimensional model of the head, the coil positioning precision and positioning efficiency can be improved, and the treatment effect, safety and patient comfort are improved.

The invention discloses a fire detection method, device and system, and belongs to the technical field of fire detection, and the method comprises the steps: carrying out the fire detection of a pan-tilt image based on a target model, and obtaining a first prediction box set; screening out a small target prediction frame from the first prediction frame set according to a preset condition, and performing optical tracking and amplification on the small target prediction frame to obtain an amplified prediction frame; performing secondary detection on the amplified prediction frame based on a target model to obtain a second prediction frame set; and combining the first prediction frame set and the second prediction frame set, and screening the combined sets according to the overlapping degree between the prediction frames and the confidence and area of the prediction frames to obtain a final fire detection result. According to the invention, after the small target prediction frame of the first fire detection is subjected to optical tracking and amplification, the second fire detection is carried out, and through the strategy of the second detection, the accuracy of identifying the small target flame or smoke can be improved.

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 invention relates to a virtual reality and reality image fusion navigation method and system for temporal bone surgery, and the method comprises the steps: obtaining medical image data of a temporal bone region, and carrying out the three-dimensional reconstruction, thereby obtaining a temporal bone dynamic virtual model; optical tracking data and instrument space pose data are obtained, dynamic registration mapping is conducted on the temporal bone dynamic virtual model, and a real-time space fusion relation is obtained; performing navigation view construction on the instrument space pose data and the real-time space fusion relationship to obtain an augmented reality navigation view; performing structural distance analysis on the augmented reality navigation view to obtain dynamic early warning parameters; and performing display regulation and control according to the augmented reality navigation view and the dynamic early warning parameters to obtain a real-time navigation strategy. The problem of traditional static image registration lag can be effectively solved, and it is ensured that the virtual model and the actual anatomical structure are always kept in high-precision matching.

The invention relates to computer-aided medical equipment, a method, a device and a medium. The computer-aided medical equipment comprises a human-computer interaction interface, at least one memory and a processor, the human-computer interaction interface comprises a working mode definition area; the working mode definition area is used for receiving a working mode selection instruction; the at least one memory is used for storing a control instruction; the processor is used for executing the control instruction to realize the computer-aided medical equipment control method, and comprises the following steps: determining a working mode according to a working mode selection instruction; configuring a corresponding functional component according to the working mode; the functional assembly comprises an optical tracking unit, an image acquisition lower computer and an operation execution arm lower computer; and according to the workflow configuration nodes corresponding to the working modes, at each workflow configuration node, controlling at least one of the configured optical tracking unit, the image acquisition lower computer and the operation execution arm lower computer to execute a corresponding control instruction. By adopting the method, the problem of system redundancy can be solved.

The invention belongs to the technical field of laser three-dimensional reconstruction, and discloses a multi-line laser three-dimensional reconstruction method based on optical tracking. A binocular tracking system is erected outside a traditional multi-line laser system, and a set of tracking reflective balls is installed on the multi-line laser system. Through the binocular tracking system, accurate three-dimensional reconstruction of the tracking reflective ball can be realized, and unification of a coordinate system is further realized. According to the method, the accuracy of three-dimensional reconstruction is remarkably improved, the application range of the three-dimensional reconstruction technology in the industrial field is greatly expanded due to high efficiency and accuracy, and new possibility is brought to the fields of industrial automation, quality detection and the like.

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.

To provide a throw-in type printer capable of detecting a residual amount of a recording paper sheet that is stored therein.SOLUTION: There is provided a printer comprising a medium storage part in which a roll body including a recording paper sheet wound in a roll shape is stored, a printing head for performing printing on the recording paper sheet pulled out from the roll body via rotation, and a residual amount detection circuit for detecting a residual amount of the recording paper sheet stored in the medium storage part. The medium storage part stores the roll body in such a manner that a center position of the roll body is varied in accordance with pulling-out of the recording paper sheet from the roll body. The residual amount detection circuit comprises: an optical type tracking sensor for irradiating a detection face of the roll body crossing a rotation axis of the roll body with light and detecting light reflected thereon; and a determination circuit for determining the residual amount of the recording paper sheet based on a detection result of the optical type tracking sensor.SELECTED DRAWING: Figure 5

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.

An optical tracking system is provided. The optical tracking system includes an autoclavable fiducial marker assembly comprising an opaque housing, a light source, a window panel configured to refract light from the light source passing therethrough, and a metallized coating that forms an airtight seal at the junction 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. The system also includes a tracking device comprising at least two optical sensors configured to detect positions of light rays emitted by the light source. The system also includes a processor configured to receive positions of the light rays from the optical sensors, shift the position of each light ray based on a calculated refractive deviation, and triangulate the positioning of the light source based on the shifted position of each light ray.

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.

The application discloses a pose updating method and device, an input device and a storage medium. The method is applied to an interaction process based on optical tracking and comprises the following steps: acquiring pixel coordinates and three-dimensional coordinates of an input device; when the pixel coordinates and the three-dimensional coordinates do not match, updating the pose of the input device in a current frame to obtain an updated pose, and displaying a virtual input device in a virtual reality picture based on the updated pose. When the shaking of the input device seriously affects the normal use of a user, the pose of the input device in the current frame is updated, and the virtual input device is displayed in the virtual reality based on the updated pose, so that the last input device stable effect is ensured to be presented according to the result of real-time data calculation. Therefore, the pose updating of the input device can be more smooth and stable in the scene, the interactive operation of the user in the virtual world is met, and the virtual reality experience of the user is improved.