CN112971983B - Attitude data measuring method and device, electronic equipment and storage medium - Google Patents
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Abstract
The application provides a method and a device for measuring attitude data, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring motion data and a human body impedance value acquired by a surgical navigator; correcting the motion data based on the human body impedance value to obtain target motion data; converting the target motion data to obtain attitude data; and fusing the target motion data and the attitude data by using a preset Kalman filter to obtain the target attitude data of the surgical navigator. The invention can correct the motion data by adopting the human body impedance value so as to reduce the error influence of the temperature on the sensor, thereby improving the accuracy of the motion data; and removing noise in the estimation result of the attitude data by using a Kalman filter, thereby further improving the accuracy of the attitude data.
Description
Technical Field
The present disclosure relates to the field of computer technologies, and in particular, to a method and an apparatus for measuring attitude data, an electronic device, and a storage medium.
Background
In an orthopedic surgery, a nail placing operation is often required to be performed on a human skeleton so as to achieve the purposes of stabilizing the human skeleton and the like. Currently, most of the clinical nail setting operations are under the current situation of eye observation and depend on the hand feeling and experience of a surgeon and the precision of surgical instruments. To improve the accuracy of technical instruments, more and more surgical instruments have sensors that should be used in clinical surgery.
In the related art, the surgical instrument adopts Micro-Electro-Mechanical systems (MEMS) sensors such as an accelerator and a gyroscope to acquire attitude data, so as to identify and position the human body characteristics and realize the directional navigation of the nail placement operation. However, in practical applications, the MEMS sensor may accumulate over time and have errors, so that it is difficult to improve the measurement accuracy of the attitude data.
Disclosure of Invention
An object of the embodiments of the present application is to provide a method and an apparatus for measuring attitude data, an electronic device, and a storage medium, which aim to solve the problem of low measurement accuracy of attitude data.
In a first aspect, an embodiment of the present application provides a method for measuring attitude data, including:
acquiring motion data and a human body impedance value acquired by a surgical navigator;
correcting the motion data based on the human body impedance value to obtain target motion data;
converting the target motion data to obtain attitude data;
and fusing the target motion data and the attitude data by using a preset Kalman filter to obtain the target attitude data of the surgical navigator.
In the embodiment, because the reason that the sensor has errors along with the time is caused by the temperature, the motion data is corrected by adopting the human body impedance value to obtain the target motion data so as to reduce the influence of the temperature on the errors of the sensor and improve the accuracy of the motion data; then, the target motion data is used for transformation to obtain attitude data, so that the accuracy of the estimation result of the attitude data is improved; and finally, fusing the target motion data and the attitude data by using a preset Kalman filter to obtain target attitude data of the surgical navigator, so as to remove noise in an estimation result of the attitude data by using the Kalman filter and further improve the accuracy of the attitude data.
In one embodiment, the surgical navigator is provided with a three-dimensional magnetic field sensor, a three-dimensional acceleration sensor, a three-dimensional gyro sensor and an electrical impedance measurement probe, and obtains motion data and a human body impedance value acquired by the surgical navigator, including:
based on the three-dimensional magnetic field sensor, carrying out north correction on the three-dimensional acceleration sensor and the three-dimensional gyro sensor, wherein the three-dimensional acceleration sensor is vertical to the three-dimensional gyro sensor;
acquiring motion data based on the three-dimensional acceleration sensor and the three-dimensional gyro sensor after north-positive correction;
based on the electrical impedance measuring probe, a human body impedance value is acquired.
In the embodiment, the three-degree-of-freedom motion of the nail holding instrument at any position needs to be known in the nail placing operation, the six-degree-of-freedom angular acceleration information needs to be acquired, and the six-degree-of-freedom angular acceleration information needs to be acquired, so that the sensing axes of the accelerator need to be mutually vertical, namely, the devices meet the orthogonal requirement, and therefore, the three-dimensional magnetic field sensor is combined, a GAM three-system coordinate system is established for the three-dimensional acceleration sensor and the three-dimensional gyro sensor, and due north correction is carried out, the accuracy of data acquired by the sensors is improved.
In one embodiment, the acquiring of the impedance value of the human body based on the electrical impedance measurement probe comprises:
acquiring an electrical impedance value based on an electrical impedance measuring probe;
and carrying out discrete Fourier transform on the electrical impedance value to obtain a complex impedance value, and taking the complex impedance value as a human body impedance value.
In the present embodiment, the electrical impedance measuring probe is based on the principle of a transformer, and acquires electrical impedance values, so that the electrical impedance values are converted into complex impedance values representing the temperature of a human body.
In one embodiment, the modifying the motion data based on the impedance value of the human body to obtain the target motion data includes:
and correcting the motion data by using the human body impedance value based on a preset error correction model to obtain target motion data.
In the present embodiment, the sensor data is error-compensated by the error correction model to improve the accuracy of the motion data.
In one embodiment, transforming the target motion data to obtain the attitude data includes:
determining a rotation quaternion corresponding to the target motion data;
superposing the rotation quaternion and the last attitude data obtained by the operation navigator to obtain an attitude quaternion;
and taking the attitude quaternion as attitude data.
In this embodiment, the current posture of the surgical navigator is estimated by combining the corrected target motion data with the previous posture data, so as to improve the accuracy of the posture data.
In an embodiment, the fusing the target motion data and the attitude data by using a preset kalman filter to obtain the target attitude data of the surgical navigator includes:
calculating a Kalman gain value of a Kalman filter based on the data error of the target motion data;
and correcting the attitude data based on the target motion data and the Kalman gain value to obtain target attitude data.
In the embodiment, a kalman gain value is calculated through a data error to correct the attitude data, so that noise data in the attitude data is removed, and the accuracy of the measurement result of the attitude data is improved.
In a second aspect, an embodiment of the present application provides an attitude data measurement apparatus, including:
the acquisition module is used for acquiring motion data and a human body impedance value acquired by the surgical navigator;
the correction module is used for correcting the motion data based on the human body impedance value to obtain target motion data;
the transformation module is used for transforming the target motion data to obtain attitude data;
and the fusion module is used for fusing the target motion data and the attitude data by utilizing a preset Kalman filter to obtain the target attitude data of the operation navigator.
In one embodiment, the surgical navigator is provided with a three-dimensional magnetic field sensor, a three-dimensional acceleration sensor, a three-dimensional gyro sensor and an electrical impedance measurement probe, and the acquisition module comprises:
the correction unit is used for carrying out north-alignment correction on the three-dimensional acceleration sensor and the three-dimensional gyro sensor based on the three-dimensional magnetic field sensor, and the three-dimensional acceleration sensor is vertical to the three-dimensional gyro sensor;
the first acquisition unit is used for acquiring motion data based on the three-dimensional acceleration sensor and the three-dimensional gyro sensor after north correction;
and the second acquisition unit is used for acquiring the impedance value of the human body based on the electrical impedance measuring probe.
In a third aspect, an embodiment of the present application provides an electronic device, which includes a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to make the electronic device execute the method for measuring attitude data according to the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method for measuring attitude data according to the first aspect.
It is understood that the beneficial effects of the second to fourth aspects can be seen from the description of the first aspect, and are not repeated herein.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic flowchart of a method for measuring attitude data according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a measurement apparatus for attitude data according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
As described in the related art, in practical applications, the MEMS sensor may accumulate errors with time, so that it is difficult to improve the measurement accuracy of the attitude data.
In order to solve the problems in the prior art, the application provides a method for measuring attitude data, which corrects motion data by adopting a human body impedance value to obtain target motion data so as to reduce the error influence of temperature on a sensor and improve the accuracy of the motion data; then, the target motion data is used for transformation to obtain attitude data, so that the accuracy of the estimation result of the attitude data is improved; and finally, fusing the target motion data and the attitude data by using a preset Kalman filter to obtain target attitude data of the surgical navigator, so as to remove noise in an estimation result of the attitude data by using the Kalman filter and further improve the accuracy of the attitude data.
Example one
Referring to fig. 1, fig. 1 shows a flowchart of an implementation of a measurement method for attitude data according to an embodiment of the present application. The measurement method of the pose data described in the embodiments of the present application can be applied to electronic devices including, but not limited to, smart scalpels such as surgical navigators. The method for measuring attitude data in the embodiment of the application includes steps S101 to S104, which are detailed as follows:
and step S101, acquiring motion data and a human body impedance value acquired by the surgical navigator.
In this embodiment, the surgical navigator is a hardware device of an inertial attitude measurement and electrical impedance measurement system, the whole system combines an MEMS technology and an electrical impedance measurement technology, a circuit integration method is used, a BIS measurement circuit, a data analysis circuit and a human-computer interaction hardware are designed in an integrated manner, a high-precision three-axis gyro sensor, a three-axis acceleration sensor, a three-axis magnetic field sensor, a high-precision electrical impedance measurement probe and other sensors are provided, a 32-bit armortex 3 can be used for realizing high-speed MCU calculation, and an inclination angle and a course angle of a carrier in a static state or a moving state and a human tissue impedance value in the state can be measured without depending on any other external signals in a three-dimensional space.
The motion data includes, but is not limited to, acceleration, angular rate, magnetic field strength, etc., and the body impedance value represents a measure of body temperature.
In one embodiment, acquiring motion data and body impedance values acquired by a surgical navigator comprises: based on the three-dimensional magnetic field sensor, carrying out north correction on the three-dimensional acceleration sensor and the three-dimensional gyro sensor, wherein the three-dimensional acceleration sensor is vertical to the three-dimensional gyro sensor; acquiring motion data based on the three-dimensional acceleration sensor and the three-dimensional gyro sensor after north correction; and acquiring a human body impedance value based on the electrical impedance measuring probe.
In the embodiment, the three-degree-of-freedom motion of the nail holding instrument at any position needs to be known in the nail placing operation, the six-degree-of-freedom angular acceleration information needs to be acquired, and the sensing axes of the accelerator need to be mutually vertical to obtain the six-degree-of-freedom angular acceleration information, namely, the devices meet the orthogonal requirement, so that the three-dimensional magnetic field sensor is combined, a three-system coordinate system is established for the three-dimensional acceleration sensor and the three-dimensional gyro sensor, and due north correction is carried out, and the accuracy of data acquired by the sensors is improved. The sensor can acquire the acceleration, the angular rate and the magnetic field intensity of the surgical navigator to obtain the state change condition of the surgical navigator.
Optionally, a 32-bit armport m3 high-speed low-power consumption MCU is used to acquire motion data of the high-precision triaxial gyro sensor, the triaxial acceleration sensor and the triaxial magnetic field sensor through an IIC bus, control waveform to generate current through an SPI bus, sample a voltage value on the high-precision electrical impedance measurement probe through a 12-bit high-speed ADC (analog-to-digital converter) of the MCU, and obtain an attitude value and an electrical impedance value through calculation.
Optionally, the acquiring the impedance value of the human body based on the electrical impedance measuring probe comprises: acquiring an electrical impedance value based on an electrical impedance measuring probe; and carrying out discrete Fourier transform on the electrical impedance value to obtain a complex impedance value, and taking the complex impedance value as a human body impedance value.
In this embodiment, the electrical impedance measuring probe is based on the principle of a transformer, and it collects electrical impedance values, so that the electrical impedance values need to be converted into complex impedance values representing the temperature of the human body.
And S102, correcting the motion data based on the human body impedance value to obtain target motion data.
In this embodiment, since the inertial navigation error of the inertial navigation sensor increases with time, specifically, there are static error, dynamic error and random error, and the main cause of these errors is caused by temperature change, the present embodiment corrects the motion data by the human body impedance value representing the human body temperature, thereby reducing the influence of temperature on the inertial navigation error.
In one embodiment, the motion data is corrected by using the human body impedance value based on a preset error correction model, so as to obtain target motion data. By pre-establishing an error correction model, the sensor data and the impedance value are tested to express model parameters, so that the sensor data is subjected to error compensation to improve the accuracy of the motion data.
And step S103, converting the target motion data to obtain attitude data.
In the present embodiment, the target motion data includes data such as acceleration, angular velocity, etc., which do not directly represent the current posture of the surgical navigator, so that the target motion data needs to be converted into posture data. Optionally, when the surgical navigator is in a static state, the target motion data is converted into a quaternion, and then the quaternion and the fixed attitude data when leaving the factory are subjected to filtering processing to obtain an attitude quaternion of the surgical navigator in the static state.
Optionally, while the surgical navigator is in motion: determining a rotation quaternion corresponding to the target motion data; superposing the rotation quaternion and the last attitude data obtained by the operation navigator to obtain an attitude quaternion; and taking the attitude quaternion as attitude data.
In this embodiment, the data such as the acceleration and the angular rate in the target motion data can represent the motion change of the surgical navigator, that is, the target motion data is the transformation data when the surgical navigator changes from the previous posture to the current posture through motion, so the current posture data can be obtained by combining the previous posture of the surgical navigator and the target motion data. Further, in the stacking process, a kalman filter can be used to perform a back-transmission operation on the previous attitude data and the target motion data, so that the final attitude data is converged. In the embodiment, the current posture of the surgical navigator is estimated by combining the corrected target motion data with the previous posture data, so that the accuracy of the posture data is improved.
And step S104, fusing the target motion data and the attitude data by using a preset Kalman filter to obtain target attitude data of the surgical navigator.
In this embodiment, due to interference of system noise and measurement noise with uncertain statistical characteristics, the estimation accuracy of the conventional kalman filter is difficult to meet the requirement, and even the filter diverges. In engineering practice, due to the accumulation of errors of inertial devices, inaccurate modeling, improper parameter selection and the like, system errors are often introduced into a measurement equation, so that the performance of a filter is greatly reduced, and even divergence is caused. Therefore, the present embodiment effectively improves observability of the system by adopting a "linear motion + angular motion" parameter matching manner, and constructs a "linear motion + angular motion" matching transfer alignment algorithm, wherein target motion data includes acceleration and angular rate.
Alternatively, the transfer alignment may be by computing the difference between the attitude solutions of the inertial navigation system as an observed quantity of a kalman filter, and then recursively estimating and correcting the attitude error and the sensor measurement error using the kalman filter.
In an embodiment, the fusing the target motion data and the attitude data by using a preset kalman filter to obtain the target attitude data of the surgical navigator includes: calculating a Kalman gain value of a Kalman filter based on the data error of the target motion data; and correcting the attitude data based on the target motion data and the Kalman gain value to obtain target attitude data.
In this embodiment, the data error is a state quantity interfered by noise, and the state quantity is a random quantity, which may be estimated by a preset statistical strategy to make the estimated value approach the true value as accurately as possible, thereby obtaining an estimated vector, and then the difference between the true value and the estimated value is used as a vector error, based on which the kalman gain value is calculated. And correcting the attitude data based on the Kalman gain value, thereby removing the noise data in the attitude data and improving the accuracy of the measurement result of the attitude data.
Example two
In order to implement the method corresponding to the above method embodiment to achieve the corresponding functions and technical effects, the following provides a measurement apparatus for attitude data. Referring to fig. 2, fig. 2 is a block diagram of a measurement apparatus for attitude data according to an embodiment of the present application. The modules included in the apparatus in this embodiment are used to execute the steps in the embodiment corresponding to fig. 1, and refer to fig. 1 and the related description in the embodiment corresponding to fig. 1 specifically. For convenience of explanation, only the part related to the present embodiment is shown, and the measurement apparatus for attitude data provided in the embodiment of the present application includes:
an obtaining module 201, configured to obtain motion data and a human body impedance value acquired by a surgical navigator;
the correction module 202 is configured to correct the motion data based on the human body impedance value to obtain target motion data;
the transformation module 203 is used for transforming the target motion data to obtain attitude data;
and the fusion module 204 is configured to fuse the target motion data and the attitude data by using a preset kalman filter to obtain target attitude data of the surgical navigator.
In an embodiment, a three-dimensional magnetic field sensor, a three-dimensional acceleration sensor, a three-dimensional gyro sensor, and an electrical impedance measurement probe are disposed on the surgical navigator, and the obtaining module 201 includes:
the correction unit is used for carrying out north correction on the three-dimensional acceleration sensor and the three-dimensional gyro sensor based on the three-dimensional magnetic field sensor, and the three-dimensional acceleration sensor is vertical to the three-dimensional gyro sensor;
the first acquisition unit is used for acquiring motion data based on the three-dimensional acceleration sensor and the three-dimensional gyro sensor after north correction;
and the second acquisition unit is used for acquiring a human body impedance value based on the electrical impedance measuring probe.
In one embodiment, the second acquisition unit comprises:
the acquisition subunit is used for acquiring an electrical impedance value based on the electrical impedance measuring probe;
and the transformation subunit is used for performing discrete Fourier transformation on the electrical impedance value to obtain a complex impedance value, and taking the complex impedance value as a human body impedance value.
In one embodiment, the modification module 202 includes:
and the correction unit is used for correcting the motion data by using the human body impedance value based on a preset error correction model to obtain target motion data.
In one embodiment, the transformation module 203 comprises:
the determining unit is used for determining a rotation quaternion corresponding to the target motion data;
the superposition unit is used for superposing the rotation quaternion and the last attitude data obtained by the operation navigator to obtain an attitude quaternion;
as a unit, for taking the attitude quaternion as attitude data.
In one embodiment, the fusion module 204 includes:
the computing unit is used for computing a Kalman gain value of the Kalman filter based on the data error of the target motion data;
and the correction unit is used for correcting the attitude data based on the target motion data and the Kalman gain value to obtain target attitude data.
The attitude data measuring device described above can implement the attitude data measuring method described in the first embodiment. The alternatives in the first embodiment are also applicable to the present embodiment, and are not described in detail here. The rest of the embodiments of the present application may refer to the contents of the first embodiment, and in this embodiment, details are not repeated.
EXAMPLE III
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 3, the electronic apparatus 3 of this embodiment includes: at least one processor 30 (only one shown in fig. 3), a memory 31, and a computer program 32 stored in the memory 31 and executable on the at least one processor 30, the processor 30 implementing the steps of any of the above-described method embodiments when executing the computer program 32.
The electronic device 3 may be a computing device such as a smart phone, a tablet computer, a desktop computer, a supercomputer, a personal digital assistant, a physical server, and a cloud server. The electronic device may include, but is not limited to, a processor 30, a memory 31. Those skilled in the art will appreciate that fig. 3 is merely an example of the electronic device 3, and does not constitute a limitation of the electronic device 3, and may include more or less components than those shown, or may combine some components, or different components, and may further include, for example, an input/output device, a network access device, and the like.
The Processor 30 may be a Central Processing Unit (CPU), and the Processor 30 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 31 may in some embodiments be an internal storage unit of the electronic device 3, such as a hard disk or a memory of the electronic device 3. The memory 31 may also be an external storage device of the electronic device 3 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the electronic device 3. Further, the memory 31 may also include both an internal storage unit and an external storage device of the electronic device 3. The memory 31 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 31 may also be used to temporarily store data that has been output or is to be output.
In addition, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in any of the method embodiments described above.
The embodiments of the present application provide a computer program product, which when running on an electronic device, enables the electronic device to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including 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 steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, 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.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
Claims (10)
1. A method for measuring attitude data, comprising:
acquiring motion data and a human body impedance value acquired by a surgical navigator, wherein the surgical navigator is provided with a three-dimensional magnetic field sensor, a three-dimensional acceleration sensor and a three-dimensional gyro sensor, and the acquiring of the motion data and the human body impedance value acquired by the surgical navigator comprises the steps of performing north-alignment correction on the three-dimensional acceleration sensor and the three-dimensional gyro sensor based on the three-dimensional magnetic field sensor, wherein the three-dimensional acceleration sensor is vertical to the three-dimensional gyro sensor;
correcting the motion data based on the human body impedance value to obtain target motion data;
transforming the target motion data to obtain attitude data;
and fusing the target motion data and the attitude data by using a preset Kalman filter to obtain target attitude data of the surgical navigator, wherein the target attitude data is used for carrying out screw setting operation on the spine.
2. The method for measuring the posture data according to claim 1, wherein an electrical impedance measuring probe is further disposed on the surgical navigator, and the method for acquiring the motion data and the human body impedance value acquired by the surgical navigator further comprises:
acquiring the motion data based on the three-dimensional acceleration sensor and the three-dimensional gyro sensor after due north correction;
and acquiring the human body impedance value based on the electrical impedance measuring probe.
3. The method for measuring posture data according to claim 2, wherein the acquiring the impedance value of the human body based on the electrical impedance measuring probe comprises:
acquiring an electrical impedance value based on the electrical impedance measuring probe, wherein the electrical impedance measuring probe is of a transformer principle;
and carrying out discrete Fourier transform on the electrical impedance value to obtain a complex impedance value, and taking the complex impedance value as the human body impedance value.
4. The method for measuring posture data according to claim 1, wherein the step of correcting the motion data based on the impedance value of the human body to obtain target motion data comprises:
and correcting the motion data by using the human body impedance value based on a preset error correction model to obtain target motion data.
5. The method for measuring attitude data according to claim 1, wherein the transforming the target motion data to obtain attitude data comprises:
determining a rotation quaternion corresponding to the target motion data;
superposing the rotation quaternion and the last attitude data obtained by the operation navigator to obtain an attitude quaternion;
and taking the attitude quaternion as the attitude data.
6. The method for measuring the attitude data according to claim 1, wherein the fusing the target motion data and the attitude data by using a preset kalman filter to obtain the target attitude data of the surgical navigator comprises:
calculating a Kalman gain value of the Kalman filter based on the data error of the target motion data;
and correcting the attitude data based on the target motion data and the Kalman gain value to obtain the target attitude data.
7. An attitude data measuring apparatus, comprising:
the acquisition module is used for acquiring motion data and a human body impedance value acquired by the surgical navigator, the surgical navigator is provided with a three-dimensional magnetic field sensor, a three-dimensional acceleration sensor and a three-dimensional gyro sensor, and the acquisition module comprises: a correction unit, configured to perform due north correction on the three-dimensional acceleration sensor and the three-dimensional gyro sensor based on the three-dimensional magnetic field sensor, where the three-dimensional acceleration sensor and the three-dimensional gyro sensor are perpendicular to each other;
the correction module is used for correcting the motion data based on the human body impedance value to obtain target motion data;
the transformation module is used for transforming the target motion data to obtain attitude data;
and the fusion module is used for fusing the target motion data and the attitude data by utilizing a preset Kalman filter to obtain target attitude data of the operation navigator, wherein the target attitude data is used for carrying out screw setting operation on the spine.
8. The device for measuring posture data of claim 7, wherein an electrical impedance measuring probe is further provided on the surgical navigator, and the acquiring module further comprises:
the first acquisition unit is used for acquiring the motion data based on the three-dimensional acceleration sensor and the three-dimensional gyro sensor after north correction;
and the second acquisition unit is used for acquiring the human body impedance value based on the electrical impedance measuring probe.
9. An electronic device, comprising a memory for storing a computer program and a processor for executing the computer program to cause the electronic device to perform the measurement method of attitude data according to any one of claims 1 to 6.
10. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, implements the measurement method of attitude data according to any one of claims 1 to 6.
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