Rigid-flexible integrated endoscope three-dimensional pose calibration and motion tracking system

The invention relates to a rigid-flexible integrated endoscope three-dimensional pose calibration and motion tracking system, which comprises a sensor data acquisition module, which is used for recording the position tQsk of each position of a sensor coordinate system {Os} relative to an emitter coordinate system {Ot} in a circle of motion by rotating a rigid-flexible integrated endoscope for a circle, the mass center tPb, the normal vector tV and the circumferential radius r of the circumferential motion trail of the sensor are obtained; the pose model building module is used for solving the length l of the endoscope cannula and the elevation angle s theta v and the azimuth angle # imgabs0 # of the cannula attitude through the mass center tPb and the circumference radius r so as to obtain a pose model of the flexible tip of the rigid-flexible integrated endoscope; the flexible tip actual position acquisition module is used for acquiring the actual position of the flexible tip of the endoscope through the sur