CN114081626A - Tool identification method compatible with small amount of mark point loss based on optical position indicator - Google Patents

Tool identification method compatible with small amount of mark point loss based on optical position indicator Download PDF

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CN114081626A
CN114081626A CN202111224921.2A CN202111224921A CN114081626A CN 114081626 A CN114081626 A CN 114081626A CN 202111224921 A CN202111224921 A CN 202111224921A CN 114081626 A CN114081626 A CN 114081626A
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tool
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identified
mark
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CN114081626B (en
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杨荣骞
孔晶晶
关沛峰
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South China University of Technology SCUT
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
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Abstract

The invention discloses a tool identification method compatible with a small number of mark point losses based on an optical locator, which comprises the following steps: 1) acquiring basic information of a tool to be identified by using an optical positioning instrument; 2) and (3) carrying out special judgment of tool identification by utilizing the basic information: the standard tool file of the tool when leaving the factory is firstly possessed, and the identification is terminated in advance when the number of the marking points is less than 3 or more than 200; 3) performing point pair matching on the mark point set in the standard tool file and the mark point set identified by the optical position indicator, and indicating that the identification is successful when the number of the matched point pairs is not less than the number of the mark points which can be identified by the current position indicator; 4) and performing tool identification precision calculation on the matched result, and outputting the tool information which is identified at this time. The invention can not only identify the tool under the condition that all the mark points on the tool exist and are not shielded, but also identify the tool under the condition that a small number of mark points on the tool are lost or shielded in the process.

Description

Tool identification method compatible with small amount of mark point loss based on optical position indicator
Technical Field
The invention relates to the technical field of optical operation navigation, in particular to a tool identification method compatible with a small number of mark point loss based on an optical position finder.
Background
The optical navigation technology is used for detecting the relative position relation between an optical navigation device and an object to be detected in a physical optical measurement mode, and is widely applied to the fields of aerospace, medical treatment, industry and the like. And with the rapid development of modern medical imaging technology, great help is brought to the diagnosis and treatment of diseases. The operation navigation system based on the medical image and taking the optical locator as a core component can help a doctor to perform an operation by visualizing the position relation of the operation tool and the characteristic structure of the patient in an actual space, thereby providing great help in the aspects of operation precision, operation time consumption, operation trauma, postoperative curative effect and the like, and being more and more choices of the surgical doctor.
The more common positioning mode of the surgical navigation system for the surgical tool and the patient is a point set matching mode based on the mark points, namely, the mode that the position finder identifies the external mark points on the tool or stuck on the skin surface of the patient and obtains the three-dimensional coordinates of the external mark points, and then the relative position relation between the coordinate system of the position finder and the coordinate system of the tool or the patient is obtained for real-time positioning. The tool mentioned in the invention is used for determining the position of the needle tip of the operation puncture needle in the coordinate system of the positioning instrument before operation, in particular during the process of tumor ablation operation. However, in a real experiment or an operation process, the mark points fall off or are shielded due to misoperation, so that the positioning instrument cannot identify all the mark points, positioning or navigation accuracy is affected, and even navigation cannot continuously provide service during an operation, so that the operation is affected.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings of the prior art and provides a tool identification method compatible with a small number of lost mark points based on an optical position indicator. Meanwhile, the algorithm implementation part of the method is simple in logic and easy to understand.
In order to achieve the purpose, the technical scheme provided by the invention is as follows: the tool identification method compatible with a small number of mark point losses based on the optical locator comprises the following steps:
1) the method for acquiring basic information of a tool to be identified by using the optical locator comprises the following steps: standard tool file information and three-dimensional coordinates of mark points which can be identified by an optical locator;
2) and (3) carrying out special judgment of tool identification by utilizing the basic information: the standard tool file of the tool when leaving the factory is firstly possessed, and the identification is terminated in advance when the number of the marking points is less than 3 or more than 200;
3) performing point pair matching on the mark point set in the standard tool file and the mark point set identified by the optical position indicator, and indicating that the identification is successful when the number of the matched point pairs is not less than the number of the mark points which can be identified by the current position indicator;
4) and performing tool identification precision calculation on the matched result, and outputting the tool information which is identified at this time.
Further, in step 1), the standard tool file information refers to information that is provided when the tool leaves the factory, and includes a tool name, the number of reflective marker balls on the tool, and a three-dimensional coordinate point set of marker points in a tool coordinate system.
Further, in step 2), the special judgment made in advance for tool identification by using the basic information in step 1) includes the following three types, and the non-conformity will not continue the current identification and directly prompt that the current tool cannot be identified:
a. the standard tool file of the tool to be identified is provided with: the tool is manufactured when leaving a factory, but needs to be put into a tool identification project;
b. the number of the mark points of the tool to be identified and the number of the mark points identified by the optical locator cannot be less than 3: the position of the three-dimensional object in the space is determined based on the characteristics of at least three non-collinear points, namely, the identification can be finished only by 3 marker balls, otherwise, the plane fitting cannot be carried out;
c. the number of the marking points of the tool to be identified and the number of the marking points identified by the optical locator cannot be more than 200: more than 200 maximum points which can be identified by the binocular camera exceeding the optical locator.
Further, in step 3), performing point pair matching on the mark point set in the tool file and the mark point set identified by the locator, comprising the following steps:
3.1) calculating the marking points S on the tool FilejTo point set S ═ SjThe distances of other marked points in 1,2,3, 8 are recorded as a one-dimensional matrix
Figure BDA0003313826280000031
Where j is the initial sequence number of the marker point in the tool file, all the points of the set S
Figure BDA0003313826280000032
Is recorded as m-dimensional distance matrix Mats(ii) a Similarly, calculating the mark point O identified by the optical locatoriDistances to other marked points in the point set O
Figure BDA0003313826280000033
Wherein i is an initial sequence number point set O ═ O of the mark points identified by the optical locatoriAll of 1,2,3, 8
Figure BDA0003313826280000034
Is recorded as n-dimensional distance matrix MatO；
3.2) traversing the distance matrix Mat of the tool file calculated in the step 3.1)sTo traverse the obtained point SjIs a distance of
Figure BDA0003313826280000035
On the basis of the distance Mat from the acquisition point of the optical position indicatorOPerforming matching counting, specifically as follows:
3.2.1) first pairing: distance matrix Mat traversing optical position finderOObtaining each point OiIs a distance of
Figure BDA0003313826280000036
Current point OiIs a distance of
Figure BDA0003313826280000037
And point S in step 3.2)jIs/are as follows
Figure BDA0003313826280000038
Make a comparison when
Figure BDA0003313826280000039
Each distance of (1) and
Figure BDA00033138262800000310
when the distances are matched, recording the distance as finding O in the point set OiS capable of matchingj(ii) a Now using the number of numjSave the current point SjIndex ofjAnd array nmiRecord the current OiIndex ofiUsing the number of numj' and numi' saving the index of the point that is not successfully paired in the set S and O, and saving the index of the current point OiOther points O in the set of points O for which distance calculations are madekIs expressed as point set O' ═ OkI k ≠ i, i ≠ 1,2,3,., 8, k ═ 1,2,3,., 8}, k is the serial number of the point, and similarly, the current point S is stored and storedjOther points S in the set S of points for which distance calculations are madePIs expressed as point set S ═ SPI p ≠ j, j ≠ 1,2,3,., 8, p ═ 1,2,3,. 8}, and p is the serial number of the point; wherein the distance on the pair matching is defined as the absolute value of the point distance difference being less than 0.15 mm;
3.2.2) repeating the operation of the step 3.2.1) on the obtained point sets O ' and S ', continuously reducing the number of points in the point sets for matching, and ending the circulation when the points in the O ' are empty;
3.3) second point set pairing: for the index array num obtained in the step 3.2)jAnd numiRepeating the logic processing of the step 3.2), namely, confirming whether the paired points are not matched with the point pairs again; if the index of the point is not matched with the index of the point, deleting the index of the point from the corresponding index array, recording the index of the point and adding the index into the unpaired array numj' or numi' of (1);
3.4) third time point set pairing: repeating the logic processing of the step 3.2) on the unmatched successful points, namely, matching the unmatched successful points of the previous two times again; and when the number of the point pairs after final matching is not less than the number of the mark points which can be identified by the current optical locator, the successful identification is indicated.
Further, in step 4), performing tool recognition accuracy calculation on the matching result, and outputting the tool information which is recognized at this time, including the following steps:
4.1) respectively obtaining two point sets O after the point sets O and S are matched in the step 3)2And S2As input to a point iteration algorithm ICP; performing ICP core calculation, namely calculating a result by an optimal matching method based on a least square method, namely taking a rigid matching transformation matrix (R, T) of two point sets as output, wherein R is a rotation transformation matrix, and T is a translation transformation matrix;
4.2) utilizing the matrix (R, T) obtained by the calculation in the step 4.1) to carry out pairing on the point set O2Each point in the image is changed in rotation and translation to obtain a changed point set O3；
4.3) collecting the points O obtained in the step 4.2)3Each point in (3) is one by one associated with the point set O in step 4.1)2Calculating the point distance of each point, and taking the average value of all the point distances as the error of the overall tool identification;
and 4.4) outputting the tool information and the error identified this time, wherein the tool information comprises a tool name, the origin coordinates of a tool coordinate system and the three-dimensional coordinates of all the mark points.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the invention firstly provides the optical positioning instrument in the process of identifying the tool, so that the tool can be identified when the marking points of the tool are all present and are not shielded, and the tool can be identified when a small number of marking points on the tool are lost or shielded in the process.
2. The invention can realize normal operation when the mark point falls and is lost or the mark point is artificially shielded due to misoperation in the operation navigation process by being compatible with the tool identification function of the condition that a small amount of mark points are lost or shielded, thereby ensuring the smooth operation to a certain extent.
3. The method has wide application scenes in the field of optical navigation or positioning, the algorithm of the method realizes partial logic which is simple and easy to understand, and different functions can be improved based on the method, so that the method has wide prospect.
Drawings
FIG. 1 is a logic flow diagram of the method of the present invention.
Fig. 2 is a schematic diagram of an apparatus for tool recognition using an optical locator.
Fig. 3 is a standard tool file information diagram configured when the tool is shipped.
FIG. 4 is a diagram of tool information output after recognition is completed by the method of the present invention.
Detailed Description
The present invention will be further described with reference to the following specific examples.
Referring to fig. 1 to 4, the method for identifying a tool compatible with a small number of marker points lost based on an optical locator provided in this embodiment mainly identifies a tool with a known name by using the optical locator, thereby automatically identifying and acquiring information of the tool during a surgical navigation procedure, and performing error analysis on current identification in real time, which includes the following steps:
s1, acquiring basic information of the tool to be identified by using the optical locator, wherein the basic information comprises: standard tool file information and three-dimensional coordinates of marking points which can be identified by a positioning instrument; the standard file information comprises the name of the tool, the number of the reflective marker balls on the tool and a three-dimensional coordinate point set of the marker points in a tool coordinate system.
When all the mark points can be normally identified, the coordinates of the mark points in the acquired standard tool file and the coordinates of the mark points on the current tool identified by the positioning instrument are shown in table 1:
TABLE 1 Mark Point coordinates
Figure BDA0003313826280000061
When a small number of mark points are missing or blocked, the coordinates of the mark points in the obtained standard tool file and the coordinates of the mark points on the current tool identified by the positioning instrument are shown in table 2:
TABLE 2 Mark Point coordinates
Figure BDA0003313826280000062
S2, the special judgment made first for tool identification by using the data in the step S1 includes the following three types, and the non-conformity will not continue the current identification and directly prompt that the current tool cannot be identified:
a. the standard tool file of the tool to be identified is provided with: the tool is manufactured when leaving the factory, but needs to be put into the tool recognition project.
b. The number of the mark points of the tool to be identified and the number of the mark points identified by the optical locator cannot be less than 3: the position of the three-dimensional object in space is determined based on the characteristics of at least three non-collinear points, namely, at least 3 marker balls are required to complete recognition, otherwise, plane fitting cannot be carried out.
c. The number of the marking points of the tool to be identified and the number of the marking points identified by the optical locator cannot be more than 200: more than 200 maximum points which can be identified by the binocular camera exceeding the optical locator.
S3, performing point pair matching on the mark point set in the standard tool file and the mark point set identified by the optical position finder, and indicating successful identification when the number of the matched point pairs is not less than the number of the mark points which can be identified by the current position finder, wherein the method comprises the following steps:
s301, calculating a mark point S on the tool filej(j is the initial sequence number of the marker point in the tool file) to the set of points S ═ S { (S)jThe distances of other marked points in the 1, m are recorded as a one-dimensional matrix
Figure BDA0003313826280000071
All of the point set S
Figure BDA0003313826280000072
Is recorded as m-dimensional distance matrix Mats. Similarly calculating the mark point O identified by the locatori(i is the initial serial number of the mark point identified by the optical locator) to the other mark points in the point set O
Figure BDA0003313826280000073
Set of points O ═ OiAll of 1,2,3, 8
Figure BDA0003313826280000074
Is recorded as n-dimensional distance matrix MatO。
S302, traversing the distance matrix Mat of the tool file calculated in the step S301STo traverse the obtained point SjIs a distance of
Figure BDA0003313826280000075
For reference distance Mat from acquisition point of locatorOAnd (6) performing matching counting.
S3021, first pairing: distance matrix Mat of traversing position finderOObtaining each point OiIs a distance of
Figure BDA0003313826280000076
Current point OiIs a distance of
Figure BDA00033138262800000710
And point S in step S302jIs/are as follows
Figure BDA0003313826280000077
Make a comparison when
Figure BDA0003313826280000078
Each distance of (1) and
Figure BDA0003313826280000079
when the distances are matched, recording the distance as finding O in the point set OiS capable of matchingj. At this time useArray numjSave the current point SjIndex ofjAnd array numiRecord the current OiIndex ofiUsing the number of numj' and numi' saving the index of points in the set S and O that were not successfully paired, while saving the lower and current points OiOther points O in the set of points O for which distance calculations are madek(k is the serial number of the point) is recorded as a point set O' ═ OkI k ≠ i, i ≠ 1,2,3,., 8, k ═ 1,2,3,., 8}, and similarly, the current point S is saved and storedjOther points S in the set S of points for which distance calculations are madeP(p is the number of dots). Wherein the distance on the pair match is defined as the absolute value of the dot pitch difference being less than 0.15 mm.
And S3022, performing operation similar to the step on the point sets O ' and S ' obtained in the step S3021, continuously reducing the number of points in the point sets for matching, and ending the cycle when the points in the O ' are empty.
S303, pairing the second time point set: for the index array num obtained in step S302jAnd numiThe same logic process as step S302 is performed, that is, it is determined whether there is a point pair mismatch for the already paired points. If the index of the point is not matched with the index of the point, deleting the index of the point from the corresponding index array, recording the index of the point and adding the index into the unpaired array numj' or numj' of (1).
S304, third time point set pairing: the unmatched successful points are matched again with the first two unmatched successful points by the logic similar to the step S302. And when the number of the point pairs after final matching is not less than the number of the mark points which can be identified by the current locator, the successful identification is indicated.
S4, performing tool identification precision calculation on the matching result, and outputting the tool information of the current identification completion, including the following steps:
s401, respectively obtaining two point sets O after the point sets O and S are paired through S32And S2As input to a point iteration algorithm ICP. The result of the ICP algorithm core calculation, namely the calculation of the optimal matching method based on the least square method, is the rigid matching transformation matrix (R, T) of the two point sets as output. WhereinR is a rotation transformation matrix, and T is a translation change matrix.
S402, using the matrix (R, T) obtained by the calculation in the step S401 to match the point set O after the matching is completed2Each point in the image is changed in rotation and translation to obtain a changed point set O3。
S403, collecting the point set O obtained in the step S4023Each point in (a) is one by one in the point set O in step S4012The point distance calculation is carried out on each point, and the average value of all the point distances is used as the error of the overall tool identification.
And S404, outputting the tool information and the identification error identified at this time, wherein the tool information comprises a tool name, the origin coordinates of a tool coordinate system and the three-dimensional coordinates of all the mark points.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims (5)

1. The tool identification method compatible with a small number of mark point losses based on the optical locator is characterized by comprising the following steps:
1) the method for acquiring basic information of a tool to be identified by using the optical locator comprises the following steps: standard tool file information and three-dimensional coordinates of mark points which can be identified by an optical locator;
2) and (3) carrying out special judgment of tool identification by utilizing the basic information: the standard tool file of the tool when leaving the factory is firstly possessed, and the identification is terminated in advance when the number of the marking points is less than 3 or more than 200;
3) performing point pair matching on the mark point set in the standard tool file and the mark point set identified by the optical position indicator, and indicating that the identification is successful when the number of the matched point pairs is not less than the number of the mark points which can be identified by the current position indicator;
4) and performing tool identification precision calculation on the matched result, and outputting the tool information which is identified at this time.
2. The optical locator-based tool identification method compatible with small marker point loss according to claim 1, wherein: in step 1), the standard tool file information refers to information that is provided when the tool leaves the factory, and includes a tool name, the number of reflective marker balls on the tool, and a three-dimensional coordinate point set of marker points in a tool coordinate system.
3. The optical locator-based tool identification method compatible with small marker point loss according to claim 1, wherein: in step 2), the special judgment made in advance for tool identification by using the basic information in step 1) comprises the following three types, and the non-conformity can not continue the current identification and directly prompt that the current tool cannot be identified:
a. the standard tool file of the tool to be identified is provided with: the tool is manufactured when leaving a factory, but needs to be put into a tool identification project;
b. the number of the mark points of the tool to be identified and the number of the mark points identified by the optical locator cannot be less than 3: the position of the three-dimensional object in the space is determined based on the characteristics of at least three non-collinear points, namely, the identification can be finished only by 3 marker balls, otherwise, the plane fitting cannot be carried out;
c. the number of the marking points of the tool to be identified and the number of the marking points identified by the optical locator cannot be more than 200: more than 200 maximum points which can be identified by the binocular camera exceeding the optical locator.
4. The optical locator-based tool identification method compatible with small marker point loss according to claim 1, wherein: in step 3), performing point pair matching on the mark point set in the tool file and the mark point set identified by the locator, comprising the following steps:
3.1) calculating the marking points S on the tool FilejTo point set S ═ SjThe distances of other marked points in 1,2,3, 8 are recorded as a one-dimensional matrix
Figure FDA0003313826270000021
Where j is the initial sequence number of the marker point in the tool file, all the points of the set S
Figure FDA0003313826270000022
Is recorded as m-dimensional distance matrix MatS(ii) a Similarly, calculating the mark point O identified by the optical locatoriDistances to other marked points in the point set O
Figure FDA0003313826270000023
Wherein i is an initial sequence number point set O ═ O of the mark points identified by the optical locatoriAll of 1,2,3, 8
Figure FDA0003313826270000024
Is recorded as n-dimensional distance matrix MatO；
3.2) traversing the distance matrix Mat of the tool file calculated in the step 3.1)STo traverse the obtained point SjIs a distance of
Figure FDA0003313826270000025
On the basis of the distance Mat from the acquisition point of the optical position indicatorOPerforming matching counting, specifically as follows:
3.2.1) first pairing: distance matrix Mat traversing optical position finderOObtaining each point OiIs a distance of
Figure FDA0003313826270000026
Current point OiIs a distance of
Figure FDA0003313826270000027
And point S in step 3.2)jIs/are as follows
Figure FDA0003313826270000028
Make a comparison when
Figure FDA0003313826270000029
Each distance of (1) and
Figure FDA00033138262700000210
when the distances are matched, recording the distance as finding O in the point set OiS capable of matchingj(ii) a Now using the number of numjSave the current point SjIndex ofjAnd array numiRecord the current OiIndex ofiUsing the number of numj' and numi' saving the index of the point that is not successfully paired in the set S and O, and saving the index of the current point OiOther points O in the set of points O for which distance calculations are madekIs expressed as point set O' ═ OkI k ≠ i, i ≠ 1,2,3,., 8, k ═ 1,2,3,., 8}, k is the serial number of the point, and similarly, the current point S is stored and storedjOther points S in the set S of points for which distance calculations are madePIs expressed as point set S ═ SPI p ≠ j, j ≠ 1,2,3,., 8, p ═ 1,2,3,. 8}, and p is the serial number of the point; wherein the distance on the pair matching is defined as the absolute value of the point distance difference being less than 0.15 mm;
3.2.2) repeating the operation of the step 3.2.1) on the obtained point sets O ' and S ', continuously reducing the number of points in the point sets for matching, and ending the circulation when the points in the O ' are empty;
3.3) second point set pairing: for the index array num obtained in the step 3.2)jAnd numiRepeating the logic processing of the step 3.2), namely, confirming whether the paired points are not matched with the point pairs again; if the index of the point is not matched with the index of the point, deleting the index of the point from the corresponding index array, recording the index of the point and adding the index into the unpaired array numj' or numi' of (1);
3.4) third time point set pairing: repeating the logic processing of the step 3.2) on the unmatched successful points, namely, matching the unmatched successful points of the previous two times again; and when the number of the point pairs after final matching is not less than the number of the mark points which can be identified by the current optical locator, the successful identification is indicated.
5. The method for identifying tools compatible with small marker point loss according to claim 4, wherein: in step 4), performing tool recognition accuracy calculation on the matching result, and outputting the tool information which is recognized at this time, including the following steps:
4.1) respectively obtaining two point sets O after the point sets O and S are matched in the step 3)2And S2As input to a point iteration algorithm ICP; performing ICP core calculation, namely calculating a result by an optimal matching method based on a least square method, namely taking a rigid matching transformation matrix (R, T) of two point sets as output, wherein R is a rotation transformation matrix, and T is a translation transformation matrix;
4.2) utilizing the matrix (R, T) obtained by the calculation in the step 4.1) to carry out pairing on the point set O2Each point in the image is changed in rotation and translation to obtain a changed point set O3；
4.3) collecting the points O obtained in the step 4.2)3Each point in (3) is one by one associated with the point set O in step 4.1)2Calculating the point distance of each point, and taking the average value of all the point distances as the error of the overall tool identification;
and 4.4) outputting the tool information and the error identified this time, wherein the tool information comprises a tool name, the origin coordinates of a tool coordinate system and the three-dimensional coordinates of all the mark points.
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