Guide type three-dimensional virtual clamp generation method oriented to dynamic operation path guide

The invention provides a guide type three-dimensional virtual fixture generation method and system oriented to dynamic operation path guide, a storage medium and electronic equipment, and relates to the technical field of virtual fixtures. According to the invention, the local area is determined through the position of the key point, and the local area is tracked, so that error tracking of the three-dimensional key point is reduced; the texture information and the shape information of the endoscope image are combined, so that the influence caused by unobvious in-vivo environment characteristics is avoided to a certain extent; the three-dimensional key points are accurately positioned on the point cloud after dimension reduction by constructing an optimization function, and curve shape inconsistency caused by different view angles is avoided. Furthermore, along the three-dimensional curve obtained through tracking, a virtual force field including gravitation and viscous resistance, namely a guide type virtual