Abstract: Dynamic tracking methods for an in-vivo three-dimensional key point and an in-vivo three-dimensional curve can include mapping a first local region to a first local point cloud and mapping a second local region to a second local point cloud according to a mapping relation between an endoscopic image and the point clouds; determining a first three-dimensional key point of a first two-dimensional key point on the first local point cloud, and acquiring a second three-dimensional key point on the second local point cloud through a coordinate transformation; and mapping the second three-dimensional key point back to the second local region, so as to acquire a second two-dimensional key point from a next image; and acquiring two-dimensional coordinates of a tracked key point by minimizing a preset optimization function in combination with an initial two-dimensional key point, and finally acquiring corresponding three-dimensional coordinates.

Abstract: The invention discloses a thermosensitive modified chitin hydrogel local anesthetic-loaded sustained-release analgesia system, a preparation method and use. A thermosensitive chitin derivative is dissolved into water at a low temperature, a local anesthetic and analgesic drug aqueous solution or degradable polymer microspheres loaded with local anesthetic and analgesic drugs are added under a liquid state, the above materials are evenly mixed at a low temperature, the obtained mixture is injected into a site needing local anesthesia and analgesia so as to quickly form a gel under a body temperature and release the drug. The local anesthetic drug sustained-release analgesia composite hydrogel system is mainly characterized in that preparation is simple, organic solvents are not used, the local anesthetic and analgesic drug can be slowly released, and the problems that the existing local anesthetic drugs have a short action time are solved partly.