Endoscope posture calculation method for minimally invasive surgery

Endoscopic surgery is the most widely used minimally invasive surgical procedure. Due to its advantages of less trauma, lower infection rate, shorter hospital stay, and faster patient recovery, almost all abdominal surgeries, including intrathoracic surgery, pelvic exenteration, and abdominal aortic aneurysm repair, can be performed through endoscopic surgery. This paper studies a new method for endoscopic positioning. This method rigidly connects a small camera to the tail of the endoscope, and fixes a checkerboard calibration board with a rigid body on the outside of the human body. The rigid body has a marker ball. By calculating the position conversion relationship between the endoscope and the camera, the camera and the checkerboard calibration board, and the checkerboard calibration board and the rigid body, the position and posture of the endoscope under the optical tracking system are obtained, so as to reduce the trouble caused by light path obstruction in endoscopic surgical navigation. After experiments, the accuracy of the endoscope position acquisition is good and has certain use value.