Surgical instrument calibration method and device, computer equipment and storage medium

The invention relates to a surgical instrument calibration method and device, computer equipment and a storage medium. The method comprises the steps: obtaining a coordinate set of position sensors, attached to a to-be-calibrated surgical instrument, corresponding to each sampling frequency according to multiple preset sampling frequencies, according to the coordinate set of the position sensors corresponding to each sampling frequency, in a preset algorithm model, obtaining candidate coordinates corresponding to each sampling frequency, wherein the candidate coordinates are coordinates of thefront-end center point of the to-be-calibrated surgical instrument under a surgical instrument position sensor coordinate system, then determining the target coordinates of the front-end center pointof the to-be-calibrated surgical instrument according to the candidate coordinates, and calibrating the surgical instrument through the target coordinates. According to the method, the surgical instrument calibrated according