Method and system of tracking patient position in operation

1. A method to update an operation pathway for a robotic arm assembly to perform an operation on a patient having a predetermined spatial relationship with a frame including a tag in response to a movement of the patient, comprising:

processing a two-dimensional image associated with the tag having the spatial relationship with the patient, wherein a corresponding movement of the tag in response to the movement of the patient is determined based on the spatial relationship, and wherein the tag includes a first point and a second point, and the two-dimensional image includes a first point image and a second point image;

associating the first point image with the first point and the second point image with the second point; and

updating the operation pathway based on a conversion matrix of the first point and the second point, and the first point image and the second point image;

wherein the updating the operation pathway further includes:

obtaining a first projection point associated with the first point and a second projection point associated with the second point in the two-dimensional coordinate system based on the conversion matrix;

obtaining a third distance between the first projection point and the first point image in the two-dimensional coordinate system; and

obtaining a fourth distance between the second projection point and the second point image in the two-dimensional coordinate system;

wherein the method further comprises in response to a sum of the third distance and the fourth distance greater than a second threshold, identifying the movement of the patient and updating the operation pathway.

2. The method of claim 1 , wherein the processing the two-dimensional image further includes identifying the first point image and the second point image having intensities greater than a first threshold based on an enlargement factor and a shrinkage factor.

3. The method of claim 1 , wherein the processing two-dimensional image further includes assigning a two-dimensional coordinate system to the two-dimensional image and identifying coordinates associated with the first point image and the second point image in the two-dimensional coordinate system.

4. The method of claim 1 , wherein the associating the first point image with the first point further comprises:

obtaining a geometric center associated with the first point image and the second point image in the two-dimensional coordinate system;

obtaining a first distance between the first point image and the geometric center and a second distance between the second point image and the geometric center; and

selecting the first point image as a base point image based on the first distance and the second distance.

5. The method of claim 1 , wherein the associating the second point image with the second point further comprises:

obtaining a first vector from the geometric center to the first point image in the two-dimensional coordinate system;

obtaining a second vector from the geometric center to the second point image in the two-dimensional coordinate system; and

associating the second point image with the second point based on a cross product of the first vector and the second vector and a dot project of the first vector and the second vector.

6. The method of claim 1 , the method further comprising:

in response to identifying the movement of the patient, moving the robotic arm assembly to a safety point; and

moving the robotic arm assembly from the safety point to an operation target of the patient based on the updated operation pathway.

7. The method of claim 1 , the method further comprising verifying the updated operation pathway to identify a collision associated with the robotic arm assembly.

8. The system of claim 1 , wherein the processor is further configured to verify the updated operation pathway to identify a collision associated with the robotic arm assembly.

9. A system to update an operation pathway for a robotic arm assembly to perform an operation on a patient having a predetermined spatial relationship with a frame including a tag in response to a movement of the patient, comprising:

an optical apparatus; and

a processor configured to:

process a two-dimensional image associated with the tag having the spatial relationship with the patient, wherein a corresponding movement of the tag in response to the movement of the patient is determined based on the spatial relationship, and wherein the tag includes a first point and a second point, and the two-dimensional image includes a first point image and a second point image;

associate the first point image with the first point and the second point image with the second point; and

update the operation pathway based on a conversion matrix of the first point and the second point, and the first point image and the second point image;

wherein the processor is further configured to:

obtain a first projection point associated with the first point and a second projection point associated with the second point in the two-dimensional coordinate system based on the conversion matrix;

obtain a third distance between the first projection point and the first point image in the two-dimensional coordinate system;

obtain a fourth distance between the second projection point and the second point image in the two-dimensional coordinate system; and

identify the movement of the patient and update the operation pathway in response to a sum of the third distance and the fourth distance greater than a second threshold.

10. The system of claim 9 , wherein the processor is further configured to identify the first point image and the second point image having intensities greater than a first threshold based on an enlargement factor and a shrinkage factor.

11. The system of claim 9 , wherein the processor is further configured to assign a two-dimensional coordinate system to the two-dimensional image and identify coordinates associated with the first point image and the second point image in the two-dimensional coordinate system.

12. The system of claim 9 , wherein the processor is further configured to:

obtain a geometric center associated with the first point image and the second point image in the two-dimensional coordinate system;

obtain a first distance between the first point image and the geometric center and a second distance between the second point image and the geometric center; and

select the first point image as a base point image based on the first distance and the second distance.

13. The system of claim 9 , wherein the processor is further configured to:

obtain a first vector from the geometric center to the first point image in the two-dimensional coordinate system;

obtain a second vector from the geometric center to the second point image in the two-dimensional coordinate system; and

associate the second point image with the second point based on a cross product of the first vector and the second vector and a dot product of the first vector and the second vector.

14. The system of claim 9 , wherein the processor is further configured to issue a first command to move the robotic arm assembly to a safety point in response to identifying the movement of the patient and a second command to move the robotic arm assembly from the safety point to an operation target of the patient based on the updated operation pathway.

15. A non-transitory computer-readable storage medium containing a set of executable instructions which, in response to execution by a processor, cause the processor to perform a method to update an operation pathway for a robotic arm assembly to perform an operation on a patient having a predetermined spatial relationship with a frame including a tag in response to a movement of the patient, the method comprising:

processing a two-dimensional image associated with the tag having the spatial relationship with the patient, wherein a corresponding movement of the tag in response to the movement of the patient is determined based on the spatial relationship, and wherein the tag includes a first point and a second point, and the two-dimensional image includes a first point image and a second point image;

associating the first point image with the first point and the second point image with the second point; and

updating the operation pathway based on a conversion matrix of the first point and the second point, and the first point image and the second point image.