CN111956230A - Attitude capturing method and system based on inertial measurement unit in endoscopic surgery - Google Patents
Attitude capturing method and system based on inertial measurement unit in endoscopic surgery Download PDFInfo
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Abstract
The invention discloses a posture capturing method and system based on an inertial measurement unit in endoscopic surgery, wherein the method comprises the following steps: setting a sensing node, utilizing the sensing node to acquire data, and preprocessing the acquired data; carrying out attitude fusion and calculation on the preprocessed acquired data and sending the fused and calculated data to a background processing unit; the background processing unit analyzes the received data, and fuses the data analyzed by different sensing nodes to reconstruct the human body posture. The invention discloses a posture capturing method and system based on an inertial measurement unit in endoscopic surgery.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a posture capturing method and system based on an inertial measurement unit in endoscopic surgery.
Background
With the development of economic society, the work pace is accelerated, the environment is polluted, gastrointestinal diseases become common diseases affecting human health, such as gastric cancer, intestinal cancer and the like, and are mostly common diseases and frequently encountered diseases, which have great threat to human health, and endoscope systems are widely applied as effective means for judging gastrointestinal diseases due to the advantages of high safety, high reliability and the like. In endoscope-based surgery, an assistant or nurse needs to adjust the position and/or angle of the endoscope according to the progress of the surgery performed by the doctor, so as to meet the requirements of the doctor for performing the surgery. If the assistant or nurse is a new hand, there is no experience associated with the doctor, so that the assistant or nurse cannot accurately and timely control the corresponding medical instrument to adjust to the position and/or angle required by the doctor during the operation, which affects the normal operation of the operation and increases the operation risk. Therefore, it is important to further control the medical device to accurately acquire or capture the posture of the doctor in the operation, and the current method for capturing the posture is low in accuracy and cannot accurately reconstruct the posture of the human body, so that a method and a system for capturing the posture based on the inertial measurement unit in the endoscopic operation are urgently needed.
Disclosure of Invention
In order to solve at least one technical problem, the invention provides a posture capturing method and system based on an inertial measurement unit in endoscopic surgery.
In order to solve the above technical problem, a first aspect of the present invention discloses a method for capturing an attitude based on an inertial measurement unit in an endoscopic surgery, including:
setting a sensing node, utilizing the sensing node to acquire data, and preprocessing the acquired data;
carrying out attitude fusion and calculation on the preprocessed acquired data and sending the fused and calculated data to a background processing unit;
the background processing unit analyzes the received data, and fuses the data analyzed by different sensing nodes to reconstruct the human body posture.
In this scheme, the sensing node is an inertial measurement unit or an optical motion capture unit.
In the scheme, the data preprocessing of the acquired data is to perform filtering and denoising processing on the acquired data by adopting low-pass filtering and recursive average filtering.
In the scheme, the specific steps of filtering and denoising the collected data by adopting low-pass filtering and recursive average filtering are as follows:
the first step is as follows: setting a window N of recursive average filtering, wherein N is a positive integer;
the second step is that: calculating the average value of the data acquired at the current moment and the data of the first N-1 sampling points as the sampling value at the current moment, wherein the expression formula is as follows:
the third step: and moving the window forward by a step length, putting the sampled new data into the tail of the queue, throwing away a sampling value of the original head of the queue, and repeating the second step.
In the scheme, a solution algorithm adopted for performing attitude fusion and solution on the preprocessed acquired data is a Kalman filtering algorithm or an extended Kalman filtering algorithm.
In the scheme, the human body posture is reconstructed by fusing the data analyzed by the different sensing nodes through a quaternion posture transformation algorithm.
In the scheme, before the sensing nodes are arranged, the person with the gesture to be captured is subjected to three-dimensional scanning, and the physiological structure information of the human body is acquired and used as basic data, wherein the physiological structure information comprises height, body width, arm length and leg length.
The invention provides a posture capture system based on an inertial measurement unit in endoscopic surgery, which comprises a memory and a processor, wherein the memory comprises a posture capture method program based on the inertial measurement unit in endoscopic surgery, and the posture capture method program based on the inertial measurement unit in endoscopic surgery realizes the following steps when being executed by the processor:
setting a sensing node, utilizing the sensing node to acquire data, and preprocessing the acquired data;
carrying out attitude fusion and calculation on the preprocessed acquired data and sending the fused and calculated data to a background processing unit;
the background processing unit analyzes the received data, and fuses the data analyzed by different sensing nodes to reconstruct the human body posture.
In this scheme, the sensing node is an inertial measurement unit or an optical motion capture unit.
In the scheme, the inertia measurement unit and the optical motion capture unit are both of a wearable or bonded structure.
The invention discloses a posture capturing method and system based on an inertial measurement unit in endoscopic surgery.
Drawings
FIG. 1 shows a flow chart of a method for capturing an attitude based on an inertial measurement unit in an endoscopic surgery according to the invention.
Fig. 2 shows a flow chart of the processing of low-pass filtering and recursive average filtering to filter and denoise the collected data in the present invention.
FIG. 3 shows a block diagram of an inertial measurement unit based pose capture system for endoscopic surgery.
Detailed description of the invention
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
The posture capturing method based on the inertial measurement unit in the endoscopic surgery is mainly suitable for capturing the posture of a surgical operator in the endoscopic surgery based on medical treatment, data are acquired by arranging the sensing nodes, and the human body posture is finally resolved and reconstructed through data preprocessing and fusion resolving, so that the posture capturing precision is improved. . Of course, the present invention is not limited to the kind of endoscope and surgical system, and any technical solution adopting the present invention will fall into the scope of the present invention.
FIG. 1 shows a flow chart of a method for capturing an attitude based on an inertial measurement unit in an endoscopic surgery according to the invention.
As shown in fig. 1, a first aspect of the invention discloses a method for capturing an attitude based on an inertial measurement unit in an endoscopic surgery, comprising:
s102: setting a sensing node, utilizing the sensing node to acquire data, and preprocessing the acquired data;
in a specific embodiment, the setting of the sensing nodes is a precondition for acquiring data, and specifically, the sensing nodes may be set at different joint nodes of the body of the person to be acquired, that is, the surgical operator, such as fingers, wrists, lower arms, upper arms, shoulders, waists, thighs, and shanks, the number of the sensing nodes may be determined according to the specific acquisition requirement, or may be set only at the upper limbs or only at the lower limbs according to the requirement for capturing different posture information. After the sensor node is set, fixed actions such as natural droop of two arms and natural flat lifting of two arms can be set to calibrate data acquired by the sensor node, and after the data of the sensor node is acquired, the data needs to be preprocessed and filtered.
It should be noted that when the random error of the accelerometer is mainly reflected in the acquisition of acceleration under a high dynamic condition, impulse noise occurs in the acquired data, and the occurrence of the noise is caused by uncertainty of data change due to motion acceleration induced by a gravity field when the accelerometer dynamically moves.
In a particular embodiment, the endoscope may be a rigid tube endoscope or a fiber optic endoscope or an electronic endoscope, the fiber optic endoscope: the endoscope consists of an endoscope body and a cold light source, wherein two optical fiber bundles are arranged in the endoscope body, one optical fiber bundle is called as a light beam, the other optical fiber bundle is called as an image bundle, one end of the optical fiber bundle is aligned to an ocular, the other end of the optical fiber bundle is aligned to the surface of an observed object through an objective lens, and a doctor can visually see the surface condition of the visceral organs through the ocular, so that the condition of the visceral organs can be diagnosed conveniently and accurately.
The electronic endoscope is characterized in that: the electronic endoscope is not used for image transmission any more, but is replaced by a photosensitive integrated circuit camera system, and not only has good image quality, strong brightness and large image, but also can detect finer pathological changes, and the electronic endoscope has thinner outer diameter, clearer and more visual image and convenient operation.
S104: carrying out attitude fusion and calculation on the preprocessed acquired data and sending the fused and calculated data to a background processing unit;
it should be noted that the attitude fusion and solution is to obtain attitude angle information through a solution algorithm according to data of the sensing nodes, the attitude is used to describe an angular position relationship between a self coordinate system of a rigid body and a reference coordinate system, and there are various mathematical expression methods, among which euler angles, quaternions, direction cosine matrices, and axis angles are common.
S106: the background processing unit analyzes the received data, and fuses the data analyzed by different sensing nodes to reconstruct the human body posture.
In a specific embodiment, the sensing node acquires data, then preprocesses and calculates the data, and sends the data to the background processing unit in a wireless transmission manner, the background processing unit may be a server, and the like, it should be noted that the sensing node may be a wireless sensing node or a wired sensing node, the sensing node may be provided with a storage module, a processing module, and a transmission module so as to process the acquired data and then send the processed data, the human posture is reconstructed by the background processing unit and then displayed on a display device, the display device may be a display or a projector, the reconstructed human posture information at each moment may be compared with the human posture information at the previous moment, and the offset is calculated as a control parameter of the medical device.
In this scheme, the sensing node is an inertial measurement unit or an optical motion capture unit.
In a specific embodiment, the inertial measurement unit may be: the accelerometer, the gyroscope and the magnetometer can form a combined measuring unit in a preferable scheme;
the accelerometer is mainly used for measuring the acceleration of the carrier in motion and the gravity acceleration of the carrier in rest. In the system, an accelerometer is mainly used for measuring acceleration in a vertical downward direction, namely gravity acceleration, and then a pitch angle and a yaw angle of the carrier at rest can be obtained through a mathematical calculation method for constructing a right triangle. The method has the disadvantages that the requirement on the measurement result of the gravity acceleration is high, if the state of the measurement node is not static, namely acceleration in a certain direction exists, the sum of the gravity acceleration and the motion acceleration in the gravity direction is measured by the accelerometer, obviously, the obtained result is far from the actual result, and the accelerometer has the disadvantages of poor dynamic performance and has the advantage that the attitude angle can be rapidly and accurately measured under the static condition.
The gyroscope can measure the angular velocity of the carrier in the process of rotating around the shaft, and the angular velocity is integrated to obtain the angle and the increment of the angle in a time interval. In the system, the gyroscope is mainly used for solving the problem that the acceleration sensor has poor performance under high dynamic conditions, all joints of a human body can basically be regarded as rotating around a shaft in the motion process, and the gyroscope can measure attitude information of the rotating motion. However, the low-cost MEMS (micro-electromechanical) gyroscope has some defects, such as severe null shift, random angular walk, etc., which need to be corrected by combining with other sensors to achieve the best performance of the system.
The magnetometer is a device for measuring the direction and the size of the earth magnetic field, and has the advantages that the measured value is stable, serious drift and random interference can not occur, but because ferromagnetic substances can generate interference on the magnetic field environment of an object to cause the object to generate magnetic field distortion, when the magnetometer is applied to the gyroscope, the attitude angle of a human body is measured after the magnetometer and the accelerometer are fused, and the gyroscope is corrected.
In the scheme, the data preprocessing of the acquired data is to perform filtering and denoising processing on the acquired data by adopting low-pass filtering and recursive average filtering.
As shown in fig. 2, in the present solution, the specific steps of filtering and denoising the acquired data by using low-pass filtering and recursive average filtering include:
s202: the first step is as follows: setting a window N of recursive average filtering;
it should be noted that the window size should be set to be not too large, and a larger window, although having a better noise suppression effect, may also cause a phenomenon of lagging the filtered data, which affects the sensitivity.
S204: the second step is that: calculating the average value of the data acquired at the current moment and the data of the first N-1 sampling points as the sampling value at the current moment, wherein the expression formula is as follows:
s206: the third step: and moving the window forward by a step length, putting the sampled new data into the tail of the queue, throwing away a sampling value of the original head of the queue, and repeating the second step.
In the scheme, a solution algorithm adopted for performing attitude fusion and solution on the preprocessed acquired data is a Kalman filtering algorithm or an extended Kalman filtering algorithm.
It should be noted that the kalman filter algorithm model sets the system model to be linear, the extended kalman filter algorithm sets the system to be nonlinear, and in specific implementation, a gradient descent algorithm may also be used as a solution algorithm.
In the scheme, the human body posture is reconstructed by fusing the data analyzed by the different sensing nodes through a quaternion posture transformation algorithm.
In the scheme, before the sensing nodes are arranged, the person with the gesture to be captured is subjected to three-dimensional scanning, and the physiological structure information of the human body is acquired and used as basic data, wherein the physiological structure information comprises height, body width, arm length and leg length.
By acquiring the basic data, when the human body posture is reconstructed, the posture data can be compared to acquire a reference deviation value, and the reference deviation value is taken as a reference value during reconstruction, so that the reconstruction speed is increased.
Fig. 3 shows an inertial measurement unit-based pose capture system for endoscopic surgery.
The second aspect of the present invention provides an attitude capture system based on an inertial measurement unit in endoscopic surgery, comprising a memory 31 and a processor 32, wherein the memory includes an attitude capture method program based on the inertial measurement unit in endoscopic surgery, and the attitude capture method program based on the inertial measurement unit in endoscopic surgery is executed by the processor to realize the following steps:
setting a sensing node, utilizing the sensing node to acquire data, and preprocessing the acquired data;
carrying out attitude fusion and calculation on the preprocessed acquired data and sending the fused and calculated data to a background processing unit;
the background processing unit analyzes the received data, and fuses the data analyzed by different sensing nodes to reconstruct the human body posture.
In a specific embodiment, the setting of the sensing nodes is a precondition for acquiring data, and specifically, the sensing nodes may be set at different joint nodes of the body of the person to be acquired, that is, the surgical operator, such as fingers, wrists, lower arms, upper arms, shoulders, waists, thighs, and shanks, the number of the sensing nodes may be determined according to the specific acquisition requirement, or may be set only at the upper limbs or only at the lower limbs according to the requirement for capturing different posture information. After the sensor node is set, fixed actions such as natural droop of two arms and natural flat lifting of two arms can be set to calibrate data acquired by the sensor node, and after the data of the sensor node is acquired, the data needs to be preprocessed and filtered.
It should be noted that when the random error of the accelerometer is mainly reflected in the acquisition of acceleration under a high dynamic condition, impulse noise occurs in the acquired data, and the occurrence of the noise is caused by uncertainty of data change due to motion acceleration induced by a gravity field when the accelerometer dynamically moves.
In a particular embodiment, the endoscope may be a rigid tube endoscope or a fiber optic endoscope or an electronic endoscope, the fiber optic endoscope: the endoscope consists of an endoscope body and a cold light source, wherein two optical fiber bundles are arranged in the endoscope body, one optical fiber bundle is called as a light beam, the other optical fiber bundle is called as an image bundle, one end of the optical fiber bundle is aligned to an ocular, the other end of the optical fiber bundle is aligned to the surface of an observed object through an objective lens, and a doctor can visually see the surface condition of the visceral organs through the ocular, so that the condition of the visceral organs can be diagnosed conveniently and accurately.
The electronic endoscope is characterized in that: the electronic endoscope is not used for image transmission any more, but is replaced by a photosensitive integrated circuit camera system, and not only has good image quality, strong brightness and large image, but also can detect finer pathological changes, and the electronic endoscope has thinner outer diameter, clearer and more visual image and convenient operation.
It should be noted that the attitude fusion and solution is to obtain attitude angle information through a solution algorithm according to data of the sensing nodes, the attitude is used to describe an angular position relationship between a self coordinate system of a rigid body and a reference coordinate system, and there are various mathematical expression methods, among which euler angles, quaternions, direction cosine matrices, and axis angles are common.
In a specific embodiment, the sensing node acquires data, then preprocesses and calculates the data, and sends the data to the background processing unit in a wireless transmission manner, the background processing unit may be a server, and the like, it should be noted that the sensing node may be a wireless sensing node or a wired sensing node, the sensing node may be provided with a storage module, a processing module, and a transmission module so as to process the acquired data and then send the processed data, the human posture is reconstructed by the background processing unit and then displayed on a display device, the display device may be a display or a projector, the reconstructed human posture information at each moment may be compared with the human posture information at the previous moment, and the offset is calculated as a control parameter of the medical device.
In this scheme, the sensing node is an inertial measurement unit or an optical motion capture unit.
In a specific embodiment, the inertial measurement unit may be: the accelerometer, the gyroscope and the magnetometer can form a combined measuring unit in a preferable scheme;
the accelerometer is mainly used for measuring the acceleration of the carrier in motion and the gravity acceleration of the carrier in rest. In the system, an accelerometer is mainly used for measuring acceleration in a vertical downward direction, namely gravity acceleration, and then a pitch angle and a yaw angle of the carrier at rest can be obtained through a mathematical calculation method for constructing a right triangle. The method has the disadvantages that the requirement on the measurement result of the gravity acceleration is high, if the state of the measurement node is not static, namely acceleration in a certain direction exists, the sum of the gravity acceleration and the motion acceleration in the gravity direction is measured by the accelerometer, obviously, the obtained result is far from the actual result, and the accelerometer has the disadvantages of poor dynamic performance and has the advantage that the attitude angle can be rapidly and accurately measured under the static condition.
The gyroscope can measure the angular velocity of the carrier in the process of rotating around the shaft, and the angular velocity is integrated to obtain the angle and the increment of the angle in a time interval. In the system, the gyroscope is mainly used for solving the problem that the acceleration sensor has poor performance under high dynamic conditions, all joints of a human body can basically be regarded as rotating around a shaft in the motion process, and the gyroscope can measure attitude information of the rotating motion. However, the low-cost MEMS (micro-electromechanical) gyroscope has some defects, such as severe null shift, random angular walk, etc., but can be corrected by combining with other sensors to achieve the best performance of the system.
The magnetometer is a device for measuring the direction and the size of the earth magnetic field, and has the advantages that the measured value is stable, serious drift and random interference can not occur, but because ferromagnetic substances can generate interference on the magnetic field environment of an object to cause the object to generate magnetic field distortion, when the magnetometer is applied to the gyroscope, the attitude angle of a human body is measured after the magnetometer and the accelerometer are fused, and the gyroscope is corrected.
In the scheme, the data preprocessing of the acquired data is to perform filtering and denoising processing on the acquired data by adopting low-pass filtering and recursive average filtering.
In the scheme, the specific steps of filtering and denoising the collected data by adopting low-pass filtering and recursive average filtering are as follows:
the first step is as follows: setting a window N of recursive average filtering;
it should be noted that the window size should be set to be not too large, and a larger window, although having a better noise suppression effect, may also cause a phenomenon of lagging the filtered data, which affects the sensitivity.
The second step is that: calculating the average value of the data acquired at the current moment and the data of the first N-1 sampling points as the sampling value at the current moment, wherein the expression formula is as follows:
the third step: and moving the window forward by a step length, putting the sampled new data into the tail of the queue, throwing away a sampling value of the original head of the queue, and repeating the second step.
In the scheme, a solution algorithm adopted for performing attitude fusion and solution on the preprocessed acquired data is a Kalman filtering algorithm or an extended Kalman filtering algorithm.
It should be noted that the kalman filter algorithm model sets the system model to be linear, the extended kalman filter algorithm sets the system to be nonlinear, and in specific implementation, a gradient descent algorithm may also be used as a solution algorithm.
In the scheme, the human body posture is reconstructed by fusing the data analyzed by the different sensing nodes through a quaternion posture transformation algorithm.
In the scheme, before the sensing nodes are arranged, the person with the gesture to be captured is subjected to three-dimensional scanning, and the physiological structure information of the human body is acquired and used as basic data, wherein the physiological structure information comprises height, body width, arm length and leg length.
By acquiring the basic data, when the human body posture is reconstructed, the posture data can be compared to acquire a reference deviation value, and the reference deviation value is taken as a reference value during reconstruction, so that the reconstruction speed is increased.
In the scheme, the inertia measurement unit and the optical motion capture unit are both of a wearable or bonded structure.
It should be noted that the inertial measurement unit can be in various structures, so that more sensing node arrangement modes are provided.
The invention discloses a posture capturing method and system based on an inertial measurement unit in endoscopic surgery.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units; can be located in one place or distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. An attitude capture method based on an inertial measurement unit in endoscopic surgery is characterized in that,
setting a sensing node, utilizing the sensing node to acquire data, and preprocessing the acquired data;
carrying out attitude fusion and calculation on the preprocessed acquired data and sending the fused and calculated data to a background processing unit;
the background processing unit analyzes the received data, and fuses the data analyzed by different sensing nodes to reconstruct the human body posture.
2. The method for capturing the attitude based on the inertial measurement unit in the endoscopic surgery according to claim 1, wherein the sensing node is an inertial measurement unit or an optical motion capture unit.
3. The method as claimed in claim 1, wherein the pre-processing of the collected data is a filtering and de-noising process using low-pass filtering and recursive average filtering.
4. The attitude capture method based on the inertial measurement unit in the endoscopic surgery as claimed in claim 3, wherein the filtering and denoising processing of the collected data by using the low-pass filtering and the recursive average filtering comprises the following specific steps:
the first step is as follows: setting a window N of recursive average filtering, wherein N is a positive integer;
the second step is that: calculating the average value of the data acquired at the current moment and the data of the first N-1 sampling points as the sampling value at the current moment, wherein the expression formula is as follows:
the third step: and moving the window forward by a step length, putting the sampled new data into the tail of the queue, throwing away a sampling value of the original head of the queue, and repeating the second step.
5. The method for capturing the attitude based on the inertial measurement unit in the endoscopic surgery according to claim 1, wherein the solution algorithm used for the attitude fusion and solution of the preprocessed acquired data is a kalman filter algorithm or an extended kalman filter algorithm.
6. The method for capturing the attitude based on the inertial measurement unit in the endoscopic surgery as claimed in claim 1, wherein the reconstruction of the human body attitude by fusing the data analyzed by the different sensing nodes is performed by a quaternion attitude transformation algorithm.
7. The method for capturing the posture based on the inertial measurement unit in the endoscopic surgery as claimed in claim 1, wherein before the sensing nodes are arranged, the person to be captured in the posture is scanned in three dimensions, and the physiological structure information of the human body is obtained as basic data, wherein the physiological structure information comprises height, body width, arm length and leg length.
8. An attitude capture system based on an inertial measurement unit in endoscopic surgery, which is characterized by comprising a memory and a processor, wherein the memory comprises an attitude capture method program based on the inertial measurement unit in endoscopic surgery, and the attitude capture method program based on the inertial measurement unit in endoscopic surgery is executed by the processor to realize the following steps:
setting a sensing node, utilizing the sensing node to acquire data, and preprocessing the acquired data;
carrying out attitude fusion and calculation on the preprocessed acquired data and sending the fused and calculated data to a background processing unit;
the background processing unit analyzes the received data, and fuses the data analyzed by different sensing nodes to reconstruct the human body posture.
9. The system of claim 8, wherein the sensing node is an inertial measurement unit or an optical motion capture unit.
10. The system of claim 9, wherein the inertial measurement unit and the optical motion capture unit are both wearable or adhesive.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112797954A (en) * | 2021-01-05 | 2021-05-14 | 北京诺亦腾科技有限公司 | Swing posture correction method, device, equipment and medium based on inertial kinetic capture |
| CN112971983A (en) * | 2021-02-03 | 2021-06-18 | 广州导远电子科技有限公司 | Attitude data measuring method and device, electronic equipment and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112797954A (en) * | 2021-01-05 | 2021-05-14 | 北京诺亦腾科技有限公司 | Swing posture correction method, device, equipment and medium based on inertial kinetic capture |
| CN112971983A (en) * | 2021-02-03 | 2021-06-18 | 广州导远电子科技有限公司 | Attitude data measuring method and device, electronic equipment and storage medium |
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