Method and system of tracking patient position in operation

A system to update an operation pathway for a robotic arm assembly to perform an operation on a patient having a predetermined spatial relationship with a frame including a tag in response to a movement of the patient, comprising:

• an optical apparatus;
• and
• a processor configured to:
• process a two-dimensional image associated with the tag having the spatial relationship with the patient, wherein a corresponding movement of the tag in response to the movement of the patient is determined based on the spatial relationship, and wherein the tag includes a first point and a second point, and the two-dimensional image includes a first point image and a second point image;
• associate the first point image with the first point and the second point image with the second point;
• and
• update the operation pathway based on a conversion matrix of the first point and the second point, and the first point image and the second point image;
• wherein the processor is further configured to:
• obtain a first projection point associated with the first point and a second projection point associated with the second point in the two-dimensional coordinate system based on the conversion matrix;
• obtain a third distance between the first projection point and the first point image in the two-dimensional coordinate system;
• obtain a fourth distance between the second projection point and the second point image in the two-dimensional coordinate system;
• and
• identify the movement of the patient and update the operation pathway in response to a sum of the third distance and the fourth distance greater than a second threshold.

A non-transitory computer-readable storage medium containing a set of executable instructions which, in response to execution by a processor, cause the processor to perform a method to update an operation pathway for a robotic arm assembly to perform an operation on a patient having a predetermined spatial relationship with a frame including a tag in response to a movement of the patient, the method comprising:

• processing a two-dimensional image associated with the tag having the spatial relationship with the patient, wherein a corresponding movement of the tag in response to the movement of the patient is determined based on the spatial relationship, and wherein the tag includes a first point and a second point, and the two-dimensional image includes a first point image and a second point image;
• associating the first point image with the first point and the second point image with the second point;
• and
• updating the operation pathway based on a conversion matrix of the first point and the second point, and the first point image and the second point image.