Please help me change the following paragraph into the present perfect tense：A personalized marker that can be detected by both X-ray and monocular cameras was designed Using grayscale-based 2D3D regi

A personalized marker that has been detected by both X-ray and monocular cameras has been designed. Grayscale-based 2D/3D registration technology has been used to register preoperative CT images with intraoperative X-ray images, and the Powell method has been used for data optimization. After completing the spatial registration between the medical image coordinate system and the patient, virtual image and real spine fusion have been achieved in the augmented reality spinal surgery navigation system. Finally, 2D/3D image registration experiments have been conducted, and the surface registration accuracy of the spatial registration method has been verified using a spine model