Surgical navigation mark bead recognition method, device and equipment

The invention provides a surgical navigation mark bead recognition method, device and equipment, and relates to the field of surgical navigation. The invention discloses a surgical navigation marker bead recognition method. The method comprises the following steps: acquiring an image of spatial marker bead distribution in a surgical area; performing threshold segmentation on the image to obtain a plurality of connected domains; screening the connected domains to obtain a connected domain combination; and according to the obtained connected domain combination, calculating and outputting a centroid point coordinate of a target connected domain, and completing identification of the marked bead body on the image. According to the technical scheme of the embodiment of the invention, the threshold value is automatically searched by using the histogram of the CBCT image, automatic segmentation of the marked bead body region is realized, and the region segmentation precision is improved. 本申请提供一种手术导航标记珠体识别的方法、装置和设备，涉及