WO2022156569A1 - Surgical tracking system and control method thereof - Google Patents

Abstract

A surgical tracking system and a control method thereof. The surgical tracking system comprises: a tracking object (20), a controller, markers (21), and at least two camera devices (30). The at least two camera devices (30) and the tracking object (20) are communicatively connected to the controller. The camera devices (30) are fixed onto a fixing device in the surgical tracking system by means of a camera support (31), respectively. Each marker (21) is mounted on the tracking object (20), and is within the field of view of each camera device (30). The tracking object (20) is provided with a state adjustment device for adjusting the marking state of the marker (21). The controller is configured to control, on the basis of images of the markers (21) acquired by the at least two camera devices (30), respectively, the state adjustment device to adjust the marking state of the marker (21).

Description

Surgical tracking system and control method thereof

This application claims the priority of the Chinese Patent Application No. 202110098170.8 filed with the China Patent Office on January 25, 2021, the entire contents of which are incorporated herein by reference.

technical field

The present application relates to the technical field of surgical navigation, for example, to a surgical tracking system and a control method thereof.

Background technique

With the development of science and technology, minimally invasive and non-invasive surgery has become the trend of surgery. The gradual maturity of stereo tracking technology and imaging technology has made surgical navigation systems more widely used in neurosurgery, otolaryngology, and orthopedics. In general, optical tracking systems such as cameras and object recognition are used to assist surgery during surgery.

The infrared camera stereo tracking technology is a commonly used technical means. The infrared camera can accurately track the spatial position and angle of the surgical instrument by tracking at least three markers on the surgical instrument.

However, the optical tracking scheme requires that there must be no occlusion between the marker and the camera. If the distance between the camera and the marker is blocked by other objects, or when part of the marker on the surgical instrument is blocked due to rotation, the infrared camera stereo tracking system cannot accurately obtain the position information of the surgical instrument. Therefore, during the operation, the surgeon must always pay attention to the occlusion of the surgical instruments, which limits the flexibility of the operation and increases the risk of the operation.

SUMMARY OF THE INVENTION

The present application provides a surgical tracking system and a control method thereof, so as to solve the problem that markers are occluded during the surgical tracking process, enhance the tracking accuracy, improve the flexibility of the surgery and reduce the surgical risk.

The present application provides a surgical tracking system, the system includes: a tracking object, a controller, a marker and at least two camera devices, the at least two camera devices and the tracking object are both connected in communication with the controller; in,

The at least two camera devices are respectively fixed on the fixing device in the surgical tracking system through a camera bracket, the marker is mounted on the tracking object, and the marker is within the camera field of view of each camera device ;

The tracking object is provided with a state adjustment device configured to adjust the marking state of the marker;

The controller is configured to control the state adjustment device to adjust the marking state of the marker based on the marker images collected by the at least two camera devices respectively.

The present application also provides a control method for a surgical tracking system, the method comprising:

acquiring at least two marker images respectively collected by at least two camera devices in the surgical tracking system, and determining spatial position data of the markers in the surgical tracking system based on the at least two marker images;

Based on the local position data and the spatial position data of the marker, the conversion error data corresponding to the marker is determined, and based on the conversion error data, the state adjustment device in the surgical tracking system is controlled to adjust the marker The marking state of the object; wherein, the local position data and the spatial position data are used to represent the position data of the marker in the tracking object coordinate system and the position in the world coordinate system of the surgical tracking system, respectively. data;

Based on the adjusted marker image corresponding to the adjusted marker, the spatial pose of the tracking object is determined.

The present application also provides a control device for a surgical tracking system, the device comprising:

The spatial position data determination module is configured to acquire at least two marker images respectively collected by at least two camera devices in the surgery tracking system, and determine the marker image in the surgery tracking system based on the at least two marker images. Spatial location data of markers;

The marker state adjustment module is configured to determine the conversion error data corresponding to the marker based on the local position data and the spatial position data of the marker, and control the operation tracking system based on the conversion error data. The state adjusting device adjusts the marking state of the marker; wherein, the local position data and the spatial position data are respectively used to represent the position data and Position data in the world coordinate system;

The spatial pose determination module is configured to determine the spatial pose of the tracking object based on the adjusted marker image corresponding to the adjusted marker.

The present application also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to execute the above-mentioned control method of the surgical tracking system.

Description of drawings

1 is a schematic structural diagram of a surgical tracking system provided in Embodiment 1 of the present application;

2 is a schematic structural diagram of another surgical tracking system provided in Embodiment 1 of the present application;

3A is a schematic structural diagram of a surgical instrument provided with an active marker provided in Embodiment 2 of the present application;

3B is a schematic structural diagram of a surgical instrument equipped with a reflective marker according to Embodiment 2 of the present application;

4A is a schematic structural diagram of a surgical tracking system including a profiler according to Embodiment 2 of the present application;

4B is a schematic structural diagram of a profiler provided in Embodiment 2 of the present application;

5A is a schematic structural diagram of a remote controller equipped with an active marker according to Embodiment 3 of the present application;

5B is a schematic structural diagram of a remote controller provided with a reflective marker provided in Embodiment 3 of the present application;

6 is a flowchart of a control method of a surgical tracking system provided in Embodiment 4 of the present application;

7 is a schematic diagram of a tracking ray provided in Embodiment 4 of the present application;

8 is a flowchart of a control method of a surgical tracking system provided in Embodiment 5 of the present application;

9 is a schematic diagram of an angle between a tracking ray and a camera central axis provided by Embodiment 5 of the present application;

10 is a schematic diagram of an angle between a tracking ray and a central axis of a marker according to Embodiment 5 of the present application;

11 is a flowchart of a control method of a surgical tracking system provided in Embodiment 6 of the present application;

FIG. 12 is a flowchart of another control method of a surgical tracking system provided by Embodiment 6 of the present application;

FIG. 13 is a schematic diagram of a control device of a surgical tracking system according to Embodiment 7 of the present application.

Description of reference numbers:

10, lighting device; 11, lighting base; 12, lighting bracket; 20, tracking object; 201, remote control; 202, surgical instrument; 203, profiler; 2031, profiler body; 2032, laser; 21, marker; 211, active marker; 212, reflective marker; 22, indicator; 23, marker bracket; 24, installation joint; 25, state adjustment device; 251, hollow plate; 26, mechanical fixing seat; 27, control panel; 271, intermediate connecting device; 30, camera device; 31, camera bracket; 311, joint assembly; 40, robot; 50, operating table; 60, monitor; 70, computer; 80, contour object; 801, contour image.

Detailed ways

The present application will be described below with reference to the accompanying drawings and embodiments. The specific embodiments described herein are merely used to explain the present application. For the convenience of description, only the parts related to the present application are shown in the drawings.

Example 1

FIG. 1 is a schematic structural diagram of a surgical tracking system provided in Embodiment 1 of the present application. This embodiment can be applied to the situation of tracking and positioning a tracking object during surgery.

The system includes: a tracking object 20, a controller, a marker 21 and at least two camera devices 30, and the at least two camera devices 30, the tracking object 20 and the controller are communicatively connected; wherein, the at least two camera devices 30 are respectively connected by The camera bracket 31 is fixed on the fixing device in the surgical tracking system, the marker 21 is installed on the tracking object 20, and the marker 21 is within the camera field of view of each camera device 30; the tracking object 20 is provided with an adjustable marker 21 The state adjustment device for the marking state; the controller is configured to control the state adjustment device to adjust the current marking state of the marker 21 based on the marker images collected by the at least two camera devices 30 respectively.

The state adjusting device is not shown in FIG. 1 , the state adjusting device may be arranged inside or on the surface of the tracking object 20 , and the disposition position of the state adjusting device will be explained in the following embodiments. Wherein, exemplarily, the state adjustment device may be configured to adjust the switch state and/or the pose state of the marker 21, wherein the pose state includes a position state and/or an angle state, and the pose state is used to describe the relative position of the marker 21. Pose data for tracking the object 20 . Exemplarily, when it is detected that the marker 21 corresponding to the marker image is blocked or the tracking quality is poor, the control state adjusting device adjusts the current marker state of the marker 21 until the marker corresponding to the collected marker image is detected. When the object 21 is not blocked and the tracking quality is high, the adjustment operation is completed.

Exemplarily, the fixture in the surgical tracking system may be a ceiling, a camera fixture, or a lighting fixture. In one embodiment, the camera device 30 is fixed on the illumination device 10 in the surgical tracking system through the camera bracket 31 . In the surgical tracking system shown in FIG. 1 , the camera devices 30 are dispersedly installed on the lighting base 11 of the lighting device 10 , so that the camera field of view can cover the entire tracking area from different directions. The tracking area includes a movable area of the tracking object 20 .

In one embodiment, the lighting base 11 is disposed on the lighting device 10 through a rotatable assembly. The lighting base 11 is rotatable relative to the lighting device 10 . In one embodiment, a moving handle is fixed on the lighting base 11 , and the user can control the lighting base 11 to rotate by moving the handle.

In one embodiment, the lighting base 11 is connected to one end of the lighting bracket 12, and the other end of the lighting bracket 12 is connected to a fixing device. Exemplarily, the fixing device may be a ceiling or a lighting fixing table. The lighting base 11 can be rotated relative to the lighting device 10 and the lighting bracket 12 .

In one embodiment, a rotatable and/or retractable joint assembly 311 is disposed on each camera bracket 31 , and an encoder for encoding the position of the camera device 30 is disposed in the joint assembly 311 . The position of the camera device 30 fixed on the camera support 31 can be changed by controlling the joint assembly 311 on the camera support 31 to rotate and/or extend and retract.

In one embodiment, the number of markers 21 is at least three. The six-degree-of-freedom information of the tracking object 20 can be determined based on the spatial position data of the at least three markers 21 , and the six-degree-of-freedom information includes coordinate degrees of freedom on three coordinate axes and rotational degrees of freedom around the three coordinate axes. Three markers 21 are attached to the tracking object 20 shown in FIG. 1 .

In one embodiment, the tracking object 20 includes at least one of a surgical instrument, a remote control, and a profiler. Among them, exemplary surgical instruments include, but are not limited to, puncture needles, cutting knives, surgical scissors, radiofrequency ablation needles, ultrasonic probes, and the like. Wherein, for example, the profiler may be a laser profiler, which is configured to measure the profile data of the measured object in the target area.

2 is a schematic structural diagram of another surgical tracking system provided in Embodiment 1 of the present application. Taking the tracking object 20 in the surgical tracking system including the remote control 201 as an example, the surgical tracking system further includes a robot 40 , an operating table 50 , and a display 60 And computer 70, for example, the controller in the surgical tracking system may be located in computer 70. The robot 40 moves with the remote controller 201 . The function and type of the robot 40 are not limited here.

In one embodiment, the tracking object 20 is further provided with an indicator, and the indicator includes an indicator light and/or a sound player. For example, when the indicator includes an indicator light, the indicator light can be set to emit light waves of different colors, and the light waves of different colors can represent different prompt information. When the indicator includes a sound player, the sound player may be arranged to emit sound waves to convey the prompt information. In one embodiment, the indicator on the tracking object 20 is turned on during the process of the state adjustment device adjusting the current marking state of the marker 21 .

In the technical solution of this embodiment, by setting a state adjustment device that can adjust the marking state of the marker in the surgical tracking system, when the marker in the field of view of the camera device in the surgical tracking system is blocked, the state adjustment device can be used to adjust the marked state of the marker. The marked state of the occluded marker solves the problem that the marker is occluded during the tracking process, improves the flexibility of surgery and reduces the risk of surgery.

Embodiment 2

The technical solution of this embodiment is described on the basis of the foregoing embodiment. When the tracked object includes a surgical instrument and/or a profiler, markers are mounted on the tracked object through a marker holder, and the markers include active markers and/or reflective markers.

FIG. 3A is a schematic structural diagram of a surgical instrument provided with an active marker provided in the second embodiment of the present application. The marker holder 23 shown in FIG. 3A is cylindrical. Of course, the marker holder 23 can also be a polygon or a circle. The shape of the marker holder 23 is not limited here. The active marker 211 may be a light-emitting diode that emits light of a specific wavelength through external power supply. Wherein, for example, the specific wavelength light can be infrared light. The marker holder 23 has a built-in battery, which is configured to supply power to the active marker 211 .

Illustratively, the surgical instrument 202 shown in FIG. 3A may be a puncture needle. The active marker 211 is circumferentially mounted on the marker holder 23 , and the surgical instrument 202 is further provided with an indicator 22 and a mounting joint 24 , wherein the mounting joint 24 is configured to connect the marker holder 23 and the surgical instrument 202 .

In one embodiment, when the marker 21 includes an active marker 211, the state adjustment device is disposed in the marker holder 23, and the state adjustment device includes a first switch device configured to control the switch state of the marker. The first switch device controls the on or off state of the active marker 211 by controlling the power supply state of the built-in battery. In one embodiment, the state adjustment device is a wireless device suitable for passive surgical instruments 202, such as puncture needles and cutting knives. In another embodiment, the state adjustment device is a wired device, and the state adjustment device is powered by a cable, which is suitable for active surgical instruments 202, such as radiofrequency ablation needles and ultrasonic probes.

When it is detected that the marker corresponding to the marker image is blocked or the tracking quality is poor, the switch state of the active marker 211 is adjusted by the state adjustment device. For example, when the marker A in the active marker 211 is blocked, the marker A is turned off and the marker B is turned on through the state adjustment device.

FIG. 3B is a schematic structural diagram of a surgical instrument equipped with a reflective marker according to Embodiment 2 of the present application. In one embodiment, when the marker 21 includes an active marker 211 and/or a reflective marker 212, the marker holder 23 is mounted on the surgical instrument 202 by a state adjustment device 25, which includes a rotatable The actuator, the state adjusting device 25 is provided with an encoder arranged to encode the position of the marker holder 23 .

The reflective marker 212 is a marker with a reflective material, for example, the reflective marker 212 may be a marker ball with a reflective material. When it is detected that the marker 21 corresponding to the marker image is blocked or the tracking quality is poor, the posture state of the marker holder 23 is adjusted by the state adjusting device 25 to realize the adjustment of the active marker 211 on the marker holder 23 and/or the pose state of the reflective marker 212 relative to the tracking object 20 .

Exemplarily, the actuator may be a servo motor, a stepper motor or an encoder. In one embodiment, the actuator is responsive to manual rotation.

The surgical instrument shown in FIG. 3B is further provided with a mechanical fixing seat 26 , which is configured to connect the state adjusting device 25 and the surgical instrument 202 .

FIG. 4A is a schematic structural diagram of a surgical tracking system including a profiler according to Embodiment 2 of the present application. The profilometer 203 is placed in the acquisition area of the camera device 30 , and the surgical tracking system further includes a contour object 80 , and the right side of FIG. 4A is the contour image 801 collected by the profilometer 203 .

FIG. 4B is a schematic structural diagram of a profiler provided in Embodiment 2 of the present application. The marker 21 is mounted on the profiler main body 2031 of the profiler 203 through the marker holder 23 . Exemplarily, the marker 21 may be an active marker 211 and/or a reflective marker 212 . The profiler 203 shown in FIG. 4B is a laser profiler, and the profiler 203 is provided with a laser 2032 configured for laser emission and laser reception.

In the technical solution of this embodiment, the marker is installed on the tracking object through the marker bracket, and the tracking object is positioned by using the active marker and/or the reflective marker, which solves the problem that the marker is on the surgical instrument or profiler. The installation problem of the surgical tracking system makes the surgical tracking system suitable for the application fields of surgical instruments and profilers, which expands the application scope of the surgical tracking system.

Embodiment 3

The technical solution of this embodiment is described on the basis of the foregoing embodiment. When the tracking object includes a remote controller, the marker is installed on the remote controller through the control panel, and correspondingly, the state adjustment device is arranged on the control panel, and the marker includes an active marker and/or a reflective marker.

FIG. 5A is a schematic structural diagram of a remote controller equipped with an active marker according to Embodiment 3 of the present application. Active markers 211 on the remote control 201 shown in FIG. 5A are mounted on the control panel 27 in an array. In one embodiment, when the marker 21 includes an active marker 211, the state adjustment device 25 includes a second switch device configured to control the switch state of the marker, the second switch device including a switch button and/or a touch panel.

The state adjustment device 25 is arranged to control the open and closed state of the active marker 211 on the control panel 27 . Exemplarily, the number of the second switching device is at least one. For example, when the button "1" in the second switching device is activated, active marker A, active marker B and active marker C on the control panel 27 are turned on, when the second switching device button When "2" is triggered, active marker B, active marker C and active marker D on the control panel 27 are turned on.

In this embodiment, the robot 40 will follow the remote controller 201 to move, when it is detected that the marker 21 corresponding to the marker image is blocked or the tracking quality is poor, or when the state adjusting device 25 adjusts the switch state of the marker 21 , or when the remote controller 201 is turned off, the robot 40 will immediately stop the current operation.

FIG. 5B is a schematic structural diagram of a remote controller equipped with a reflective marker according to Embodiment 3 of the present application. In one embodiment, when the marker 21 includes the reflective marker 212, the control panel 27 is provided with an intermediate connecting device 271 configured to connect with the reflective marker 212, and/or the state adjustment device 25 includes an intermediate connecting device 271 configured to block The hollow plate 251 of the reflective marker 212 .

The left diagram in FIG. 5B shows a remote control 201 including an intermediate connection device 271 . Wherein, for example, the intermediate connecting device 271 may be a screw, which is arranged on the control panel 27 in the form of an array. Correspondingly, the reflective marker 212 is a marker ball with internal threads, and the reflective marker 212 can be installed on the control panel 27 through the intermediate connecting device 271 according to requirements. The advantage of this setting is that the distribution state of the reflective markers 212 on the remote controller 201 can be changed at any time.

The right diagram in FIG. 5B shows a remote control 201 including a hollow plate 251 . There are hollow areas and solid areas on the hollow plate 251 , so that the reflective markers 212 in the hollow areas can be tracked by the camera device 30 , while the reflective markers 212 in the solid areas cannot be tracked by the camera device 30 . In one embodiment, the number of reflective markers 212 in the hollow area is at least three. In one embodiment, the state adjustment device 25 includes at least one hollowed-out plate 251 , and the hollowed-out regions and the solid regions on different hollowed-out plates 251 are arranged at different positions.

In the technical solution of this embodiment, the marker is installed on the tracking object through the control panel, and the tracking object is positioned by using an active marker and/or a reflective marker, which solves the installation problem of the marker on the remote controller. The surgical tracking system is suitable for the application field of the remote control, and the scope of application of the surgical tracking system is expanded.

Embodiment 4

FIG. 6 is a flowchart of a control method of a surgical tracking system provided in Embodiment 4 of the present application. This embodiment is applicable to the situation of tracking and positioning the tracking object in the surgical process, and the method can be controlled by the surgical tracking system. The device can be implemented by means of software and/or hardware, and the device can be configured in a surgical tracking system. It includes the following steps:

S410: Acquire at least two marker images separately collected by at least two camera devices, and determine spatial position data of the marker based on the at least two marker images.

Exemplarily, the marker image is used to represent the image corresponding to at least one marker on the tracking object collected by the camera device, and the spatial position data is used to describe the position data of the marker in the world coordinate system.

In one embodiment, determining the spatial position data of the marker based on at least two marker images includes: for each marker image, based on a marker center point corresponding to the marker in the marker image and a camera corresponding to the marker image The center point of the camera lens of the device determines the tracking ray corresponding to the image of the marker; for each marker, based on the tracking quality parameter of the tracking ray corresponding to the marker, determine at least two target tracking rays and each target tracking ray corresponding to The ray weight of the marker is determined based on the at least two target tracking rays and the ray weight corresponding to each target tracking ray to determine the spatial position data of the marker.

The marker center point is used to describe the center point of the marker in the marker image, the camera lens center point represents the center point of the camera lens on the camera device, and the tracking ray is a line determined based on the marker center point and the camera lens center point. For example, if marker A, marker B, and marker C are set on the tracking object, the marker image includes marker center point A and marker center point B corresponding to marker A, marker B, and marker C respectively. and mark the center point C. Correspondingly, the tracking ray includes a tracking ray A, a tracking ray B, and a tracking ray C corresponding to the marker A, the marker B, and the marker C, respectively.

FIG. 7 is a schematic diagram of a tracking ray according to Embodiment 4 of the present application. Fig. 7 takes a marker as an example, and Fig. 7 shows three camera devices. Taking the leftmost camera device as an example, the leftmost box represents the imaging unit of the camera device. The collected marker image is imaged in the camera. On the unit, the dark black "X" on the camera imaging unit indicates the marker center point of the marker image. The double circle on the right side of the box represents the camera lens of the camera device, and the orthogonal intersection of the two lines on the camera lens represents the center point of the camera lens of the camera device. The lines connecting the three camera devices and the markers respectively represent tracing rays.

The tracking quality parameter may be used to evaluate at least one of the quality of the tracking ray, the quality of the marker image corresponding to the tracking ray, and the quality of the marker corresponding to the tracking ray. Exemplarily, when there are multiple tracking quality parameters, a comprehensive quality parameter may be determined based on the multiple tracking quality parameters, and at least two target tracking rays and a ray weight corresponding to each target tracking ray may be determined based on the comprehensive quality parameter.

Screen the tracing rays based on the tracing quality parameter or adjust the ray weights corresponding to the tracing rays. Exemplarily, it is assumed that the number of tracking rays determined based on the marker image is 3, which are respectively tracking ray A, tracking ray B, and tracking ray C, and the tracking quality parameter corresponding to tracking ray A is poor. In one embodiment, Take the tracking ray B and the tracking ray C as the target tracking ray respectively, or reduce the ray weight corresponding to the tracking ray A.

In one embodiment, the tracking quality parameters include image quality, the angular quality of the tracking ray and the central axis of the camera, the stable value of the tracking ray, the error quality of the tracking ray and the marker, and the angular quality of the tracking ray and the central axis of the marker. at least one.

In one embodiment, when the tracking quality parameter includes the error quality of the tracking ray and the marker, based on the tracking quality parameter of the tracking ray corresponding to the marker, at least two target tracking rays and a target tracking ray corresponding to each target tracking ray are determined. The ray weight includes: determining at least two target tracking rays and a ray weight corresponding to each target tracking ray based on the error quality between the tracking ray and the marker, so that the spatial position of the marker determined based on the target tracking ray and the ray weight is determined The data satisfies the minimum error mass between the tracking ray and the marker; wherein, the error mass between the tracking ray and the marker is used to characterize the weighted sum of squared distances between the marker and at least two tracking rays.

When the target tracking ray number i ≥ 2, the target tracking ray with large error will be directly removed from the calculation. The weighted distance sum of squares satisfies the formula:

Among them, _i represents the ith target tracking ray, wi represents the ray weight corresponding to the ith target tracking ray, and Dr _i represents the distance between the coordinate point and the ith target tracking ray.

S420 , determining the conversion error data corresponding to the marker based on the local position data and the spatial position data of the marker, and controlling the state adjusting device to adjust the marking state of the marker based on the conversion error data.

In this embodiment, the local position data and the spatial position data are used to represent the position data of the marker in the tracking object coordinate system and the position data in the world coordinate system, respectively. Among them, the local position data of the i-th marker in the tracking object coordinate system is recorded as

The spatial position data corresponding to the i-th marker at time t is recorded as

Determine the transformation matrix corresponding to the tracking object coordinate system and the world coordinate system based on the local position data and the spatial position data, and determine the position error between the reference spatial position data and the spatial position data determined based on the transformation matrix and the local position data Convert error data.

Exemplarily, based on the local position data corresponding to the i markers and the spatial position data corresponding to the i markers, a conversion matrix for converting the local position data in the tracking object coordinate system to the spatial position data in the world coordinate system is obtained.

Therefore, the reference spatial position data for the ith marker

Satisfy the formula:

make

Among them, E _i,t represents the position error. Theoretically, the reference spatial position data and the spatial position data belong to the same marker, that is, E _i,t =0. But due to the existence of conversion error, E _i,t ≠0. The conversion error data Dm _i,t of the ith marker at time t can be obtained by summing the squares of the elements in E _i ,t.

In one embodiment, an optimized search algorithm is used to calculate

Minimize ∑ _i Dm _i,t . Since each marker has the same weight in the calculation of the spatial pose of the tracked object, when the spatial position data of one of the markers deviates far from the actual marker position data, it will still be included in the calculation, resulting in the subsequent tracking of the object. Spatial pose distortion. In another embodiment, optimization calculations are employed

make

minimum. Among them, w _i represents the weight corresponding to the i-th marker. The weight may be the same as the ray weight corresponding to the target tracing ray. For markers with large errors, they are directly removed from the calculation.

In one embodiment, if the conversion error data is greater than a preset error threshold, the state adjusting device is controlled to adjust the marking state of the marker. Wherein, controlling the state adjustment device to adjust the marking state of the marker includes: adjusting the marking state of the marker removed in the calculation process of the optimization search algorithm to the off state, and maintaining the marking state of the reserved marker in the open state; The actuator adjusts the local position data of the marker relative to the coordinate system of the tracked object.

On the basis of the above embodiment, the method further includes: determining a tracking quality evaluation result based on the tracking quality parameters corresponding to the at least two tracking rays respectively; if the tracking quality evaluation result does not meet the tracking quality evaluation standard, turning on the tracking quality Indicator to prompt the tracking quality evaluation result.

Exemplarily, the tracking quality evaluation result is determined based on the parameter values and parameter weights of the tracking quality parameters corresponding to the at least two tracking rays respectively. Wherein, for example, the tracking quality evaluation result may be a tracking quality score, and correspondingly, the tracking quality evaluation standard may be a tracking quality score threshold. If the Tracking Quality Score is less than the Tracking Quality Score Threshold, an indicator on the tracked object is turned on, prompting the user that the procedure can be paused until the Tracking Quality Score is greater than or equal to the Tracking Quality Score Threshold.

S430. Determine the spatial pose of the tracking object in the surgical tracking system based on the adjusted marker image corresponding to the adjusted marker.

The conversion error data corresponding to the adjusted marker is determined based on the adjusted marker image, and if the conversion error data is less than or equal to the preset error threshold, then based on the local position data and spatial position data of the adjusted marker, it is determined that the tracking object is in the world The spatial pose in the coordinate system. The spatial pose includes position data and angle data, wherein the angle data may be determined based on the spatial position relationship corresponding to the spatial position data of the at least three markers and the local position relationship corresponding to the local position data. Exemplarily, it is assumed that the spatial position relationship corresponding to the spatial position data of the three markers is a triangle parallel to the horizontal plane, if the local position relationship corresponding to the local position data of the three markers is a triangle parallel to the tracking object, then the tracking object The angle data is parallel to the horizontal plane; if the local positional relationship corresponding to the local position data of the three markers is a triangle perpendicular to the tracking object, the angle data of the tracking object is perpendicular to the horizontal plane.

The technical solution of this embodiment is to determine the conversion error data corresponding to the marker by using the spatial position data and local position data determined based on the image of the marker, and control the state adjustment device in the surgical tracking system to adjust the mark of the marker based on the conversion error data. It solves the problem that the marker is occluded during the tracking process, improves the flexibility of surgery and reduces the risk of surgery.

Embodiment 5

FIG. 8 is a flowchart of a control method of an operation tracking system provided in Embodiment 5 of the present application. The technical solution of this embodiment is described on the basis of the above-mentioned embodiment. The tracking quality parameter includes at least one of image quality, angular quality between the tracking ray and the central axis of the camera, stable value of the tracking ray, error quality between the tracking ray and the marker, and angular quality between the tracking ray and the central axis of the marker.

The implementation steps of this embodiment include:

S510: Acquire at least two marker images respectively collected by at least two camera devices.

S520. For each marker image, determine a tracking ray corresponding to the marker image based on the marker center point corresponding to the marker in the marker image and the center point of the camera lens of the camera device corresponding to the marker image.

S530. For each marker, determine at least two target tracking rays and a ray weight corresponding to each target tracking ray based on the tracking quality parameter of the tracking ray corresponding to the marker.

In one embodiment, when the tracking quality parameter includes image quality, the method further includes: for each marker image, determining, for each marker image, based on at least one image parameter of image size, image brightness, and image roundness of the marker image, determining a marker based on the marker image. The image quality corresponding to the traced ray determined by the object image.

According to the principle of optical tracking, the shape of the marker image on the camera imaging unit is a circle. Since the tracking ray is determined based on the marker center point of the marker and the center point of the camera lens, the size and roundness of the marker image will affect the accuracy of the marker center point, which in turn affects the quality of the tracking ray.

Exemplarily, the image quality is determined based on a size level, a brightness level, and a circularity level corresponding to the image size, the image brightness, and the image circularity, respectively. Exemplarily, the size range, brightness range and circularity range corresponding to different levels are different, and the size level corresponding to the marker image is determined according to the size range, brightness range and circularity range in which the image size, image brightness and image circularity are respectively located. Brightness level and roundness level. The image quality can be used to evaluate the quality of the marker image. When the image quality is high, the tracking ray corresponding to the marker image is used as the target tracking ray or the ray weight of the tracking ray corresponding to the marker image is increased.

In one embodiment, when the tracking quality parameter includes the angular quality of the tracking ray and the central axis of the camera, the method further includes: for each tracking ray, based on the included angle between the tracking ray and the central axis of the camera device corresponding to the tracking ray , which determines the angular quality of the traced ray to the camera's central axis.

Exemplarily, when the quality of the angle between the tracking ray and the central axis of the camera is relatively high, it means that the angle between the tracking ray and the central axis of the camera device is relatively small. On the contrary, when the angular quality between the tracking ray and the central axis of the camera is relatively low , it means that the angle between the tracking ray and the central axis of the camera device is relatively large. FIG. 9 is a schematic diagram of an angle between a tracking ray and a central axis of a camera according to Embodiment 5 of the present application. The tracking ray is a ray determined based on the center point of the marker and the center point of the camera lens. The center axis of the camera device is a ray determined based on the center point of the camera imaging unit and the center of the camera lens. "α" in Figure 9 represents the tracking ray and the camera lens. The angle between the central axes of the device.

In one embodiment, when the tracking quality parameter includes a stable value of the tracking ray, the method further includes: for each tracking ray, determining the number of state changes of the tracking ray within the second preset time length and/or the number of state changes corresponding to the tracking ray The number of fluctuations of the at least one tracking quality parameter other than the stable value of the tracking ray within the second preset time length, and the stable value of the tracking ray is determined based on the number of state changes and/or the number of fluctuations.

During the operation, due to the movement and rotation of the tracking object, the imaging projections of multiple markers on the same camera device may overlap or the markers are occluded or out of the tracking range of the camera. When this happens , which may lead to the disappearance of the tracing ray. The repeated appearance and disappearance of the tracking rays will cause certain fluctuations in the determined pose data. Therefore, even if the actual position of the marker does not change, the disappearance of part of the tracking rays will have a certain impact on the spatial position data of the marker.

In one embodiment, the number of state changes includes the number of occurrences and/or the number of disappearances, and the number of fluctuations is used to represent the number of times that the parameter change corresponding to the tracking quality parameter exceeds a preset change threshold.

When the tracking quality parameter includes the stable value of the tracking ray and at least one other tracking quality parameter, the number of fluctuations of the at least one tracking quality parameter other than the stable value of the tracking ray within the second preset time length is determined. Exemplarily, other tracking quality parameters may be at least one of image quality, angular quality between the tracking ray and the central axis of the camera, error quality between the tracking ray and the marker, and angular quality between the tracking ray and the central axis of the marker. Wherein, exemplarily, it is assumed that the tracking quality parameter is image quality, and the parameter values of the image quality determined within the second preset time length are 10, 9, 10.5, 9, and 9.5, respectively, and it is assumed that the preset change threshold is 1 , the number of fluctuations is 2.

In one embodiment, when the tracking quality parameter includes the angular quality of the tracking ray and the central axis of the marker, the method further includes: for each tracking ray, based on the clip between the tracking ray and the central axis of the marker corresponding to the tracking ray Angle, which determines the angular quality of the tracing ray to the central axis of the marker.

Exemplarily, when the angular quality between the tracking ray and the central axis of the marker is relatively high, it means that the angle between the tracking ray and the central axis of the marker is small. On the contrary, when the angular quality between the tracking ray and the central axis of the marker is When it is lower, it means that the angle between the tracking ray and the central axis of the marker is larger. FIG. 10 is a schematic diagram of the angle between the tracking ray and the central axis of the marker according to the fifth embodiment of the present application. "β" in Figure 10 represents the angle between the tracking ray and the central axis of the marker.

Since the center axis of the marker changes with the movement or rotation of the tracked object, the method further includes acquiring the last spatial pose corresponding to the tracked object, and determining the last center of the marker based on the last spatial pose and local position data axis, to determine the angle between the current tracking ray and the last central axis of the marker, and to determine the angular quality of the tracking ray and the central axis of the marker. Since the surgical tracking system calculates the spatial pose of the tracked object more frequently, the error between the last central axis of the marker and the current central axis corresponding to the tracking ray is negligible.

S540. Determine the spatial position data of the marker based on the at least two target tracking rays and the ray weight corresponding to each target tracking ray.

S550. Determine the conversion error data corresponding to the marker based on the local position data and the spatial position data of the marker, and control the state adjustment device to adjust the marking state of the marker based on the conversion error data.

S560. Determine the spatial pose of the tracking object in the surgical tracking system based on the adjusted marker image corresponding to the adjusted marker.

According to the technical solution of this embodiment, the tracking rays determined based on the marker image are screened or the weights are adjusted through various tracking quality parameters, so as to calculate the spatial position of the marker based on the determined target tracking rays and the ray weights corresponding to the target tracking rays It solves the problem of inaccurate calculation results of the surgical tracking system. By selecting high-quality tracking rays or reducing the corresponding weights of low-quality tracking rays, the space of the tracking object calculated based on the adjusted tracking rays and ray weights is improved. Pose accuracy.

Embodiment 6

FIG. 11 is a flowchart of a control method of a surgical tracking system provided in Embodiment 6 of the present application. The technical solution of this embodiment is described on the basis of the above-mentioned embodiment. The method further includes: acquiring spatial position data of a preset object, and determining an object distance between the preset object and the camera device based on the spatial position data and a camera position of a camera device corresponding to the preset object ; wherein, the preset object is a marker or a tracking object; and based on the object distance, the camera device corresponding to the object distance is controlled to perform focusing processing.

S610: Acquire at least two marker images separately collected by at least two camera devices, and determine spatial position data of the marker based on the at least two marker images.

S620. Determine the conversion error data corresponding to the marker based on the local position data and the spatial position data of the marker, and control the state adjustment device to adjust the marking state of the marker based on the conversion error data.

On the basis of the above-mentioned embodiment, the method further includes: acquiring spatial position data corresponding to at least one marker determined within the first preset time length; for each marker, determining the corresponding spatial position data based on the marker The stability evaluation result of the marker, and based on the stability evaluation result, the marker weight corresponding to the marker is adjusted, and/or the state adjustment device is controlled to adjust the marker state of the marker.

The surgical tracking system calculates the spatial position data corresponding to each marker based on the preset frequency. Exemplarily, if the preset frequency is 100 Hz, then for the same marker, the surgical tracking system calculates 100 spatial position data within 1 second. .

In one embodiment, the stability evaluation result of the marker is determined based on the statistical data volume of the spatial position data corresponding to the marker within the first preset time length and the standard data volume corresponding to the preset frequency of the surgical tracking system. The stability evaluation result includes the absolute value or the proportional value of the difference between the statistical data volume and the standard data volume.

For example, assuming that the first preset time length is 2 seconds and the preset frequency is 100 Hz, the standard data volume is 200 pieces. Assuming that the number of statistical data is 150, the absolute value of the difference between the two is 50, and the ratio is 4/3 or 3/4. Wherein, exemplarily, if the absolute value of the difference or the ratio in the stability evaluation result is greater than the preset difference threshold or the preset ratio threshold, the marking weight corresponding to the marker is adjusted, and/or the state adjustment device is controlled to adjust The marker state of the marker.

In another embodiment, the spatial pose corresponding to the tracking object within the first preset time length is obtained; the change frequency of the marker corresponding to the marker is determined based on the spatial position data corresponding to the marker, and the spatial pose corresponding to the tracking object is determined based on the The tracking object change frequency corresponding to the tracking object, and the stability evaluation result of the marker is determined based on the difference between the marker change frequency and the tracking object change frequency.

If the difference between the current spatial position data and the previous spatial position data is greater than the first preset difference threshold, the number of changes corresponding to the marker is increased by 1. If the difference between the current spatial pose and the previous spatial pose is greater than the second preset difference threshold, the number of changes corresponding to the tracking object is increased by 1. The marker change frequency is determined based on the number of changes corresponding to the marker and the first preset time length, and the change frequency of the tracked object is determined based on the number of changes corresponding to the tracking object and the first preset time length.

S630. Acquire spatial position data of the preset object, and determine the object distance between the preset object and the camera device based on the spatial position data and the camera position of the camera device corresponding to the preset object.

In this implementation, the preset object is a marker or a tracking object. Wherein, when the preset object is the tracking object, the spatial pose corresponding to the tracking object is calculated and obtained in S620, wherein the spatial pose includes spatial position data.

S640. Based on the object distance, control the camera device corresponding to the object distance to perform focusing processing.

Exemplarily, the focusing process is used to characterize the camera device by adjusting the object distance and the image distance, so that the collected image of the marker can be clearly imaged on the camera imaging unit. Among them, the object distance u refers to the distance from the marker to the center point of the camera lens, and the image distance v refers to the distance from the camera imaging unit to the center point of the camera lens. In this embodiment, the object distance may refer to the object distance.

The object distance u and the image distance v satisfy the imaging law

Among them, the focal length f refers to the distance from the center point of the camera lens to the focus of the light when parallel light is incident. When the focal length is determined, the object distance and the image distance satisfy a one-dimensional function relationship, and the process of adjusting the distance (ie, the image distance) between the camera imaging unit and the camera lens can be understood as a focusing process.

S650 , based on the adjusted marker and the camera device after focusing processing, reacquire an adjusted marker image corresponding to the adjusted marker, and determine the spatial pose of the tracking object in the surgical tracking system.

On the basis of the above embodiment, when the tracking object is a profiler, the method further includes: acquiring profile data corresponding to the measured object scanned by the profiler; based on the relative position data between the profiler and the measured object and the profiler The three-dimensional contour data corresponding to the measured object is obtained by performing three-dimensional reconstruction processing on the contour data.

The profile data scanned by the profiler is the profile data based on the profiler coordinate system, so the relative position of the profile data scanned by the profiler and the profiler is fixed, that is, the relative position data between the profiler and the measured object is fixed. . Based on the relative position data between the profilometer and the measured object and the spatial pose of the profilometer in the world coordinate system, the contour data in the profilometer coordinate system is converted into the world coordinate system, and the converted contours are analyzed. The data is subjected to three-dimensional reconstruction processing to obtain the three-dimensional contour data of the measured object in the world coordinate system. This embodiment can be applied to preoperative three-dimensional image registration and/or intraoperative patient position registration.

FIG. 12 is a flowchart of another control method of an operation tracking system provided in Embodiment 6 of the present application. A tracking object with multiple markers is placed in a common field of view of multiple camera devices, and at least one tracking ray corresponding to each marker is determined based on the marker images collected by the camera devices. On the one hand, based on the image quality corresponding to the tracking ray, the angle between the tracking ray and the central axis of the camera, and the time stable value of the tracking ray, the ray weight corresponding to the tracking ray is adjusted and/or the determined markers are screened to obtain a value that is used as For the target tracking ray calculated by the marker, the spatial coordinates corresponding to the multiple markers on the tracking object are calculated based on the target tracking ray and the ray weight corresponding to the target tracking ray. In addition, the spatial coordinates corresponding to the marker calculated based on the target tracking ray and the ray weight corresponding to the target tracking ray minimize the error between the tracking ray and the marker.

On the other hand, the stability of the marker within the first preset time length is evaluated, and the marker weight corresponding to the marker is adjusted based on the stability evaluation result and/or the marker state used for calculation of the tracking object is adjusted. Based on the spatial position data and local position data of the marker, determine the transformation matrix corresponding to the tracking object, determine the transformation error data between the marker and the tracking object based on the transformation matrix, and adjust the marker weight and/or adjustment corresponding to the marker based on the transformation error data The marker state used for tracking object calculations. In addition, the central axis of the marker of the marker on the tracking object is determined based on the spatial pose of the tracking object, and based on the angle between the tracking ray and the central axis of the marker, the ray weight corresponding to the tracking ray is adjusted and/or the determined marker is adjusted. Screening is performed to obtain target tracking rays used for marker calculations.

In another aspect, the object distance between the marker or the tracking ray and the camera device is determined based on the spatial position data of the marker or the spatial pose of the tracking ray, and the camera device corresponding to the object distance is controlled to perform focusing processing based on the object distance, and The image of the marker corresponding to the marker is re-acquired based on the camera device after focusing processing.

The technical solution of this embodiment, by calculating the distance between the marker or the tracking ray and the camera device, and adjusting the camera focal length of the camera device based on the distance, solves the problem that the calculation result of the surgical tracking system is inaccurate, and improves the accuracy of the marker image. The image quality is improved, the tracking quality of the tracking ray determined based on the marker image is improved, and the accuracy of the calculated spatial pose of the tracking object is improved.

Embodiment 7

FIG. 13 is a schematic diagram of a control device of a surgical tracking system according to Embodiment 7 of the present application. This embodiment can be applied to the situation of tracking and positioning the tracking object during the operation, the device can be implemented by software and/or hardware, and the device can be configured in the operation tracking system. The control device of the surgical tracking system includes: a spatial position data determination module 710 , a marker state adjustment module 720 and a spatial pose determination module 730 .

The spatial position data determination module 710 is configured to acquire at least two marker images respectively collected by at least two camera devices, and determine the spatial position data of the marker based on the at least two marker images; the marker state adjustment module 720 is configured to Based on the local position data and spatial position data of the marker, the corresponding conversion error data of the marker is determined, and based on the conversion error data, the state adjusting device is controlled to adjust the marking state of the marker; wherein, the local position data and the spatial position data are respectively used for Characterize the position data of the marker under the tracking object coordinate system and the position data under the world coordinate system; the spatial pose determination module 730 is set to determine the tracking in the surgical tracking system based on the adjusted marker image corresponding to the adjusted marker The spatial pose of the object.

In the technical solution of this embodiment, the conversion error data corresponding to the marker is determined by using the spatial position data and local position data determined based on the image of the marker, and the state adjustment device in the surgical tracking system is controlled to adjust the mark of the marker based on the conversion error data. state, solves the problem of markers being occluded during the tracking process, improves the flexibility of surgery and reduces the risk of surgery.

On the basis of the above technical solution, the device also includes:

a marker stability evaluation module, configured to obtain spatial position data corresponding to at least one marker determined within the first preset time length; for each marker, determine the stability of the marker based on the spatial position data corresponding to the marker The stability evaluation result, and based on the stability evaluation result, the marking weight corresponding to the marker is adjusted, and/or the state adjusting device is controlled to adjust the marking state of the marker.

On the basis of the above technical solutions, the spatial position data determination module 710 includes:

A tracking ray determination unit, configured to determine, for each marker image, a tracking ray corresponding to the marker image based on the marker center point corresponding to the marker and the camera lens center point of the camera device corresponding to the marker image in the marker image; a ray weight determination unit, configured to, for each marker, determine at least two target tracking rays and a ray weight corresponding to each target tracking ray based on the tracking quality parameter of the tracking ray corresponding to the marker; the spatial position data determining unit , which is set to determine the spatial position data of the marker based on at least two target tracking rays and a ray weight corresponding to each target tracking ray.

Based on the above technical solutions, the tracking quality parameters include image quality, the angular quality between the tracking ray and the central axis of the camera, the stable value of the tracking ray, the error quality between the tracking ray and the marker, and the angular quality between the tracking ray and the central axis of the marker at least one of them.

On the basis of the above technical solution, when the tracking quality parameter includes image quality, the device further includes:

The image quality determination module is configured to, for each marker image, determine the image quality corresponding to the tracking ray determined based on the marker image based on at least one image parameter of image size, image brightness and image roundness of the marker image.

On the basis of the above technical solution, when the tracking quality parameter includes the angular quality between the tracking ray and the central axis of the camera, the device further includes:

The angle determination module of the camera central axis is configured to, for each tracking ray, determine the angular quality of the tracking ray and the camera central axis based on the included angle between the tracking ray and the central axis of the camera device corresponding to the tracking ray.

On the basis of the above technical solution, when the tracking quality parameter includes the stable value of the tracking ray, the device further includes:

A tracking ray stability determination module, configured to, for each tracking ray, determine the number of state changes of the tracking ray within the second preset time length and/or at least one tracking quality corresponding to the tracking ray except the stable value of the tracking ray The number of fluctuations of the parameter within the second preset time length is based on the number of state changes and/or the number of fluctuations to determine the stable value of the tracking ray.

On the basis of the above technical solution, when the tracking quality parameter includes the error quality between the tracking ray and the marker, the ray weight determination unit is set to:

Determine at least two target tracking rays and a ray weight corresponding to each target tracking ray based on the error quality of the tracking ray and the marker, so that the spatial position data of the marker determined based on the target tracking ray and the ray weight satisfy the tracking ray and the ray weight. The error mass of the marker is the smallest; wherein, the error mass of the tracking ray and the marker is used to characterize the weighted sum of squared distances between the marker and at least two tracking rays.

On the basis of the above technical solution, when the tracking quality parameter includes the angular quality between the tracking ray and the central axis of the marker, the device further includes:

The angle determination module for the central axis of the marker is configured to, for each tracking ray, determine the angular quality of the tracking ray and the central axis of the marker based on the included angle between the tracking ray and the central axis of the marker corresponding to the tracking ray.

On the basis of the above technical solution, the device also includes:

The camera focal length adjustment module is configured to obtain the spatial position data of the preset object, and determine the object distance between the preset object and the camera device based on the spatial position data and the camera position of the camera device corresponding to the preset object; wherein, the preset The object is a marker or a tracking object; based on the object distance, the camera device corresponding to the object distance is controlled to perform focusing processing.

On the basis of the above technical solution, when the tracking object is a profiler, the device further includes:

The three-dimensional contour data determination module is set to obtain contour data corresponding to the measured object scanned by the contour instrument; based on the relative position data between the contour instrument and the measured object and the spatial pose of the contour instrument, the contour data is subjected to three-dimensional reconstruction processing , to obtain the 3D contour data corresponding to the measured object.

The control device of the surgical tracking system provided by the embodiment of the present application may be configured to execute the control method of the surgical tracking system provided by the embodiment of the present application, and has functions and effects corresponding to the execution method.

In the embodiment of the control device of the above-mentioned surgical tracking system, the multiple units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be realized; The names of the functional units are only for the convenience of distinguishing from each other, and are not used to limit the protection scope of the present application.

Embodiment 8

The eighth embodiment of the present application also provides a storage medium containing computer-executable instructions, where the computer-executable instructions are used to execute a control method for a surgical tracking system when executed by a computer processor, and the method includes:

Acquire at least two marker images separately collected by at least two camera devices, and determine the spatial position data of the marker based on the at least two marker images; Converting the error data, and controlling the state adjustment device to adjust the marking state of the marker based on the converted error data; wherein, the local position data and the spatial position data are used to represent the position data of the marker in the tracking object coordinate system and the world coordinate system respectively. Based on the adjusted marker image corresponding to the adjusted marker, determine the spatial pose of the tracked object in the surgical tracking system.

The computer storage medium of the embodiments of the present application may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. Examples (non-exhaustive list) of computer readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (Read Only Memory) Memory, ROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, EPROM or flash memory), optical fiber, portable compact disk read-only memory (Compact Disc-Read Only Memory, CD-ROM), optical storage devices , a magnetic memory device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

A computer-readable signal medium may include a propagated data signal in baseband or as part of a carrier wave, with computer-readable program code embodied thereon. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device .

Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wire, optical fiber cable, radio frequency (RF), etc., or any suitable combination of the foregoing.

Computer program code for carrying out the operations of the present application may be written in one or more programming languages, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural languages, or a combination thereof. A programming language, such as the "C" language or similar programming language. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or Wide Area Network (WAN), or may be connected to an external computer (eg, using Internet service provider to connect via the Internet).

A storage medium containing computer-executable instructions provided by an embodiment of the present application, the computer-executable instructions of the computer-executable instructions are not limited to the above method operations, and can also execute the related control methods of the surgical tracking system provided by any embodiment of the present application. operate.

Claims (20)

1. A surgical tracking system, comprising: a tracking object, a controller, a marker, and at least two camera devices, the at least two camera devices and the tracking object being connected in communication with the controller; wherein,

   The at least two camera devices are respectively fixed on the fixing device in the surgical tracking system through a camera bracket, the marker is mounted on the tracking object, and the marker is within the camera field of view of each camera device ;

   The tracking object is provided with a state adjustment device configured to adjust the marking state of the marker;

   The controller is configured to control the state adjustment device to adjust the marking state of the marker based on the marker images collected by the at least two camera devices respectively.
2. The system of claim 1, wherein the tracking object includes at least one of a surgical instrument, a remote control, and a profiler.
3. 3. The system of claim 2, wherein the marker is mounted on the tracked object by a marker holder where the tracked object includes at least one of the surgical instrument and the profiler , the marker includes at least one of an active marker and a reflective marker.
4. 3. The system of claim 3, wherein, where the marker includes the active marker, the state adjustment device is disposed within the marker holder, the state adjustment device including an arrangement configured to control The first switching device of the marker switch state.
5. 3. The system of claim 3, wherein the marker holder passes the state adjustment device in the event that the marker includes at least one of the active marker and the reflective marker Installed on the surgical instrument, the state adjustment device includes a rotatable actuator, and an encoder configured to encode the position of the marker holder is provided in the state adjustment device.
6. The system according to claim 2, wherein, in the case where the tracking object includes the remote control, the marker is mounted on the remote control through a control panel, and the state adjustment means is provided on the control On the panel, the markers include at least one of active markers and reflective markers.
7. 6. The system of claim 6, wherein, where the marker comprises the active marker, the state adjustment means comprises a second switch means arranged to control the switch state of the marker, the second switch The switch device includes at least one of a switch button and a touch panel.
8. The system of claim 6, wherein, where the marker comprises the reflective marker, at least one of the following is satisfied:

   The control panel is provided with an intermediate installation device configured to install the reflective marker, and the state adjustment device includes a hollow plate configured to shield the reflective marker.
9. The system according to claim 1, wherein the tracking object is further provided with an indicator, and the indicator comprises at least one of an indicator light and a sound player.
10. A control method for an operation tracking system, applied to the operation tracking system according to any one of claims 1-9, comprising:

    acquiring at least two marker images respectively collected by at least two camera devices in the surgical tracking system, and determining spatial position data of the markers in the surgical tracking system based on the at least two marker images;

    Based on the local position data and the spatial position data of the marker, the conversion error data corresponding to the marker is determined, and based on the conversion error data, the state adjustment device in the surgical tracking system is controlled to adjust the marker The marking state of the object; wherein, the local position data and the spatial position data are used to represent the position data of the marker in the tracking object coordinate system and the position in the world coordinate system of the surgical tracking system, respectively. data;

    Based on the adjusted marker image corresponding to the adjusted marker, the spatial pose of the tracking object is determined.
11. The method of claim 10, further comprising:

    obtaining spatial position data corresponding to at least one marker determined within the first preset time length;

    For each marker, based on the spatial position data corresponding to each marker, determine the stability evaluation result of each marker, and based on the stability evaluation result, perform at least one of the following: adjusting the The marking weight corresponding to each marker is controlled, and the state adjusting device is controlled to adjust the marking state of each marker.
12. 11. The method of claim 10, wherein the determining spatial location data of markers in the surgical tracking system based on the at least two marker images comprises:

    For each marker image, determine each marker based on a marker center point in the each marker image corresponding to the marker and a camera lens center point of the camera device corresponding to each marker image The tracking ray corresponding to the object image;

    determining at least two target tracking rays and a ray weight corresponding to each target tracking ray based on the tracking quality parameter of the tracking ray corresponding to the marker;

    Based on the at least two target tracking rays and a ray weight corresponding to each target tracking ray, the spatial position data of the marker is determined.
13. The method according to claim 12, wherein the tracking quality parameters include image quality, angular quality of the tracking ray and the camera center axis, stable value of the tracking ray, error quality of the tracking ray and marker, tracking ray and marker At least one of the angular masses of the central axis.
14. The method of claim 13, where the tracking quality parameter includes the image quality, the method further comprising:

    For each marker image, based on at least one image parameter of image size, image brightness, and image roundness of each marker image, determine the image quality corresponding to the tracking ray determined based on each marker image .
15. The method according to claim 13, when the tracking quality parameter includes the angular quality of the tracking ray and the central axis of the camera, the method further comprises:

    For each tracking ray, the angular quality of the tracking ray and the central axis of the camera is determined based on the included angle between each tracking ray and the central axis of the camera device corresponding to each tracking ray.
16. The method of claim 13, wherein the tracking quality parameter includes a stable value of the tracking ray, the method further comprising:

    For each tracking ray, at least one of the following is determined: the number of state changes of each tracking ray within the second preset time length, and the value corresponding to each tracking ray divided by the stable value of each tracking ray The number of fluctuations of at least one other tracking quality parameter within the second preset time length;

    A stable value of the tracking ray is determined based on at least one of the determined number of state changes and the number of fluctuations.
17. The method according to claim 13, wherein, when the tracking quality parameter includes an error quality between the tracking ray and the marker, the determining based on the tracking quality parameter of the tracking ray corresponding to the marker At least two target tracking rays and ray weights corresponding to each target tracking ray, including:

    The at least two target tracking rays and a ray weight corresponding to each target tracking ray are determined based on the error mass of the tracking rays and the marker, such that the at least two target tracking rays and each target tracking ray are based on The spatial position data of the marker determined by the corresponding ray weight satisfies the minimum error mass between the tracking ray and the marker; wherein, the error mass between the tracking ray and the marker is used to characterize the relationship between the marker and at least two tracking rays The weighted distance sum of squares.
18. The method according to claim 13, when the tracking quality parameter includes the angular quality of the tracking ray and the central axis of the marker, the method further comprises:

    For each tracking ray, based on the included angle between each tracking ray and the central axis of the marker corresponding to each tracking ray, the angular quality of the tracking ray and the central axis of the marker is determined.
19. The method of claim 10, further comprising:

    Acquire spatial position data of a preset object, and determine an object between the preset object and a camera device corresponding to the preset object based on the spatial position data and the camera position of the camera device corresponding to the preset object distance; wherein, the preset object is a marker or a tracking object;

    Based on the subject distance, a camera device corresponding to the subject distance is controlled to perform focusing processing.
20. The method according to claim 10, when the tracking object is a profiler, the method further comprises:

    Obtain the contour data corresponding to the measured object scanned by the profiler;

    Based on the relative position data between the profiler and the measured object and the spatial pose of the profiler, three-dimensional reconstruction processing is performed on the profile data to obtain three-dimensional profile data corresponding to the measured object.

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