Oral cavity and throat narrow space visual navigation method based on artificial feature target and guiding device

The invention discloses an oral cavity and throat narrow space visual navigation method based on an artificial feature target and a guiding device, which comprises the following steps: S1, constructing an artificial guiding auxiliary device surrounding an oral cavity internal structure, and designing attached inner wall artificial texture features as visual assistance; s2, on the basis of the guiding auxiliary device and artificial visual feature assistance in the S1, in the roaming stage, constructing an end effector self-pose estimation method based on the synchronous positioning and mapping technology by combining a lightweight visual odometer and a rear-end optimization module; (S3); an artificial feature target is constructed, and in the execution stage, the algorithm in the S4 can conveniently track and position the specific surgical instrument in the view field through a target area; and S4, in an execution stage, constructing a specific surgical instrument pose estimation method based on a target pose