CN210947909U - Operating room applying mixed reality technology - Google Patents
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- CN210947909U CN210947909U CN201921410297.3U CN201921410297U CN210947909U CN 210947909 U CN210947909 U CN 210947909U CN 201921410297 U CN201921410297 U CN 201921410297U CN 210947909 U CN210947909 U CN 210947909U
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Abstract
The present invention relates to the configuration and control of operating rooms, and more particularly, to an operating room that can efficiently use mixed reality technology. It comprises the following components: operating room, basic operation facility and surgical instruments, the operating room is the cube structure, has a plurality of evenly distributed's positioner on the wall, but the operating table of automatic rising is installed at the operating room positive center, install the arm directly over the operating table, install camera device or laser sensor or these two kinds of combinations on the arm, operating lamp and light source device are installed respectively to the operating table top, have still placed in the operating room and have removed the arm, display, server, MR smart machine. The utility model discloses can make the matching of three-dimensional model and patient's focus department quick, accurate to can acquire patient positional information in real time, improve the convenient degree that mixed reality technique used in clinical operation.
Description
Technical Field
The present invention relates to the configuration and control of operating rooms, and more particularly, to an operating room that can efficiently use mixed reality technology.
Background
The MR mixed reality technology is a leading innovative technology, and its application in the medical field is also of an initial scale, but is not mature, and when the MR mixed reality technology is applied in the operation, there are many defects: firstly, precision errors exist in the process of obtaining the position information of the patient; secondly, the model can not be automatically matched along with the position change of the patient; for example, during an operation, the MR intelligent device is used for identifying and positioning an object, so that the three-dimensional modeling of a focus organ of a human body is primarily matched with a patient, but the positioning of the method has precision errors, an additional controller is required to finely adjust a three-dimensional model of the focus organ displayed in the MR intelligent device in practical application, the three-dimensional model is precisely matched with the focus of the patient through a manual adjustment controller, when the position of the patient is changed, the MR intelligent device is required to be readjusted, so that the three-dimensional model in the device is matched with the actual position of the patient, and the operation requires that a doctor needs to perform model adjustment each time wearing the MR intelligent device, thereby wasting time and bringing troubles to the operation; the other method is that a camera is used for identifying a positioning object which can be identified by the camera so as to obtain the position coordinate of a patient, and then the relation is established with the space coordinate of the three-dimensional model so as to solve the problem of positioning the model and the patient. An operation navigation system based on MR, equipment, a method and a storage medium thereof with the application number of 201910073233.7 discloses a method for accurately positioning a three-dimensional image and a focus of a patient, which arranges a plurality of probes with infrared light inductors at a plurality of key point positions of the focus of the patient as marks, acquires a coordinate origin data set of the corresponding focus by a camera unit to obtain a three-dimensional image coordinate model, and acquires physical coordinate information and human eye calibration information corresponding to an MR projection unit to enable the MR projection unit to display the three-dimensional image information which is superposed and registered in real time with the focus of the patient in a live scene.
This approach requires artificial placement of probes at multiple key points at the patient's lesion, and the search for, determination of, and placement of the probes are all determined by human, with many examples: the critical position is determined accurately, the position acquisition of the probe by the camera unit is influenced by the irradiation of the surgical lamplight, and uncertain factors such as position deviation of the probe in the surgical process can be caused, which can cause the superposition and real-time registration effects of the three-dimensional image information displayed by the MR projection unit and the focus of the patient in the scene, and the problems can not be solved fundamentally.
Disclosure of Invention
The utility model provides a solve above-mentioned problem, provide an use operating room of mixed reality technique, can effectively solve the three-dimensional model in the MR smart machine among the prior art and the inaccurate problem of patient's focus department location, the utility model discloses a following technical scheme realizes:
an operating room employing mixed reality technology, comprising: the operating room is of a standard cubic structure, a plurality of positioning devices which are uniformly distributed are arranged on the wall of the operating room, and the area where the positioning devices exist is an area which can be seen from a single visual angle;
an operating table capable of automatically lifting is installed in the right center of the ground of the operating room, a plurality of two-dimensional code patterns or induction chips are uniformly distributed on each edge of the operating table, and the operating table capable of automatically lifting is connected with an operating table control unit;
a mechanical arm is arranged right above the operating table, a camera device or a laser sensor or a combination of the camera device and the laser sensor are arranged on the mechanical arm, and the mechanical arm is connected with a mechanical arm control unit;
an operating lamp and a light source device are respectively arranged above the operating table and are respectively connected with a light control unit;
a movable mechanical arm is further arranged in the operating room, operation auxiliary equipment is mounted on the movable mechanical arm, and the movable mechanical arm is connected with a mechanical arm control unit;
a display is further installed in the operating room and is in communication connection with the server;
the operating room further comprises MR intelligent equipment, and the MR intelligent equipment is respectively in communication connection with the display, the server and the MR intelligent equipment control unit;
the camera device or the laser sensor which is arranged on the mechanical arm hung at the top of the operating room is respectively in communication connection with the display, the MR intelligent equipment and the server;
the operation auxiliary equipment installed on the mobile mechanical arm is respectively in communication connection with the display, the MR intelligent equipment and the server;
the light control unit, the operating table control unit, the mechanical arm control unit and the MR intelligent equipment control unit are respectively connected with an integrated control unit, and the integrated control unit is connected with a server.
Preferably, the positioning device comprises a positioning unit, and two-dimensional codes or induction chips are distributed on the positioning unit.
Preferably, but automatic rising's operating table includes that mesa, elevating system, actuating mechanism, laser range finding sensor and operating table the control unit constitute, elevating system is connected to the mesa, the last laser range finding sensor that installs of elevating system, elevating system connects actuating mechanism, actuating mechanism includes step motor, elevating system actuating mechanism with laser range finding sensor connects through control circuit respectively operating table the control unit.
Preferably, the mechanical arm is composed of at least 2 mechanical arm units with six degrees of freedom.
Preferably, the camera device mounted on the mechanical arm includes a high-definition camera device or a depth-of-field camera device or a combination of the high-definition camera device and the depth-of-field camera device, and the surgical auxiliary equipment mounted on the movable mechanical arm includes a camera device or a laser sensor or a combination of the two.
Preferably, the mobile mechanical arm is composed of a mobile mechanism capable of performing horizontal displacement on the ground and a mechanical arm structure composed of at least 1 three-degree-of-freedom or six-degree-of-freedom mechanical arm unit, and the mechanical arm structure is mounted on the mobile mechanism.
Preferably, still be provided with the automatic modeling workstation in the operating room, output device is connected to the output of automatic modeling workstation, and the input passes through the network connection with the image data generating equipment of hospital, the automatic modeling workstation includes image recognition unit, image processing unit, three-dimensional model generation unit and three-dimensional model correction unit, image recognition unit connects the image processing unit, image processing unit connects the three-dimensional model generation unit, three-dimensional model generation unit connects the three-dimensional model correction unit, output device is output device, output device is one or several combinations in cell-phone, MR smart machine, display, panel, the computer.
Preferably, the MR smart device comprises an MR helmet or MR glasses or a combination of both.
Preferably, the communication method of the communication connection includes: any one or more of broadband, optical fiber, WIFI, Bluetooth, NFC, Ethernet, 4G, 5G and GPRS.
Advantageous effects
1. The utility model discloses an operating room adopts the square structural design, and the MR smart machine of being convenient for acquires space coordinate in the short time, carries out the model tentatively for in spatial environment, and the server of also being convenient for calculates the patient position coordinate who is gathered by camera device fast, and this kind of spatial design can improve server to positional information's discernment and processing speed, shortens model positioning time, realizes the quick location of model, the utility model discloses compare with the contrast patent, in positioning speed and locate mode, effect, more intelligent, convenient and accurate, can effectively avoid the error that the manual operation brought.
2. The utility model discloses place two-dimensional code or response chip in the edge of operating table, combine the operating table that can realize the automatic rising of 0.1mm precision, can further realize the accurate location of model and patient's focus department.
3. The utility model discloses a hang a plurality of six degree of freedom arms at the operating room top, and install camera device or laser sensor on the arm, gather patient positional information in real time, after the doctor changes MR smart machine, camera device or laser sensor can update the location to the patient position in real time, the three-dimensional model of being convenient for is automatic quick, match with patient's focus department accurately, the doctor who wears MR smart machine need not debug repeatedly again, the use convenience of equipment is improved, make MR smart machine more smooth with the cooperation of operation, it is succinct.
4. The utility model discloses be convenient for operate, it is extensive to use, can be used for newly-built operating room to use, also can reform transform current operating room.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the control flow of the present invention;
FIG. 3 is a schematic structural view of the robot arm unit suspended at the top of the operating room;
FIG. 4 is a schematic structural view of the mobile robot arm of the present invention;
FIG. 5 is a schematic structural view of the automatically liftable operating table of the present invention;
fig. 6 is a schematic structural view of the two-dimensional code patterns distributed every other positioning unit of the present invention;
fig. 7 is a schematic structural view of two-dimensional code patterns distributed at two positioning units of the present invention;
fig. 8 is a schematic structural view of the two-dimensional code pattern formed by the positioning units of the present invention.
In the attached figures 1-8, 1-operating room, 2-operating table, 3-mechanical arm, 4-mobile mechanical arm, 5-display, 6-server, 7-operating lamp, 8-light source device, 11-positioning unit, 12-two-dimensional code, 21-table top, 22-lifting mechanism, 23-laser distance measuring sensor, 24-driving device, 33-bolt, 34-fastening device, 35-camera device, 41-mobile mechanism, 42-mechanical arm unit.
Detailed Description
The first embodiment is as follows: an operating room using mixed reality technology according to the embodiment is described with reference to fig. 1 and fig. 2, and includes: the operating room 1 is of a standard cubic structure, a plurality of positioning devices which are uniformly distributed are arranged on the wall of the operating room 1, and the areas where the positioning devices exist are the areas which can be seen at any positions and in a single visual angle;
an operating table 2 capable of automatically lifting is installed in the right center of the ground of the operating room 1, a plurality of two-dimensional code 12 patterns or induction chips are uniformly distributed on each edge of the operating table 2, and the operating table 2 capable of automatically lifting is connected with an operating table control unit;
the table top 21 of the operating table adopted in the embodiment is rectangular, and the four corners of the rectangular table top 21 are respectively provided with the two-dimensional code 12 patterns or the induction chips, so that the position matching between a three-dimensional model in the MR intelligent equipment and a patient is facilitated;
a mechanical arm 3 is arranged right above the operating table 2, a camera device 35 or a laser sensor or a combination of the two is arranged on the mechanical arm 3, the mechanical arm 3 is connected with a mechanical arm control unit, and the mechanical arm control unit controls the mechanical arm to realize actions;
an operating lamp 7 and a light source device 8 are installed above the operating table 2, the operating lamp 7 and the light source device 8 are respectively connected with a light control unit, and the light control unit is used for controlling the brightness and the wavelength of the operating lamp, so that the operating lamp 7 and the light source device 8 can be customized individually, and the individual requirements of numerous hospitals are met;
the operation room 1 is also internally provided with a movable mechanical arm 4, the movable mechanical arm 4 is provided with operation auxiliary equipment, the movable mechanical arm 4 is connected with a mechanical arm control unit, the mechanical arm control unit controls the movement and action of the mechanical arm to be realized, the movable mechanical arm 4 and the mechanical arm 3 hung at the top of the operation room are matched to work, so that the all-dimensional and dead-angle-free information acquisition work can be realized, and data information is provided for the accurate matching of a three-dimensional model displayed in the MR intelligent equipment and a focus of a patient;
the operating room 1 is also internally provided with: the display 5 is used for displaying video images in the operation process; a server 6 for storing computer programs and data information, executing the computer programs and processing the data information, the display 5 being communicatively connected to the server 6;
the operating room 1 further comprises an MR intelligent device, and the MR intelligent device is respectively in communication connection with the display 5, the server 6 and the MR intelligent device control unit;
the camera 35 or the laser sensor mounted on the mechanical arm 3 suspended at the top of the operating room 1 is respectively in communication connection with the display 5, the MR intelligent equipment and the server 6; the image pickup device 35 adopted in this embodiment is a high-definition image pickup device or a depth-of-field image pickup device or a combination of a high-definition image pickup device and a depth-of-field image pickup device, the depth-of-field image pickup device or the laser sensor is used for collecting position information of a focus of a patient, transmitting the collected data to the display 5 in real time for display, transmitting the data to the server 6, storing the data information, calculating a position coordinate of the focus of the patient according to the data information, transmitting the calculated position coordinate to the MR intelligent device and the MR intelligent device control unit in real time, and the MR intelligent device control unit controls the three-dimensional model in the MR intelligent device and the focus of the patient to perform accurate positioning.
The operation auxiliary equipment installed on the mobile mechanical arm 4 is respectively in communication connection with the display 5, the MR intelligent equipment and the server 6; data information acquired by the operation auxiliary equipment is transmitted to the display 5 and the MR intelligent equipment for a doctor or an observer to view; and the data are transmitted to the server 6, stored and support is provided for data processing.
The light control unit, the operating table control unit, the mechanical arm control unit and the MR intelligent equipment control unit are respectively connected with an integrated control unit, the integrated control unit is connected with a server 6, the integrated control unit respectively controls the light control unit, the operating table control unit, the mechanical arm control unit and the MR intelligent equipment control unit, and the light control unit controls an operating lamp 7 and a light source device 8 through information provided by the server 6 so as to change the brightness and wavelength of the operating lamp and the light source device;
the operating table control unit controls the operating table 2 through the information provided by the server 6 to realize the ascending and descending movement of the operating table 2;
the mechanical arm control unit respectively controls a mechanical arm 3 hung at the top of an operating room and a movable mechanical arm 4 moving on the ground through information provided by the server 6, and respectively realizes rotation, rotation and displacement motion of the mechanical arm;
the MR intelligent equipment control unit controls the MR intelligent equipment through the information provided by the server 6, and the loading, displaying, operating and controlling functions of the MR intelligent equipment are realized.
Specifically, the operating room 1 of the utility model is a standard cube structure, a doctor wears the MR intelligent device which guides the three-dimensional model of the focus of a patient, the MR intelligent device carries out primary positioning on the three-dimensional model in the visual field by scanning the positioning device on the wall of the operating room 1, and the server 6 acquires the space coordinate of the three-dimensional model in the operating room 1; then, scanning a two-dimensional code pattern placed on the operating table 2 by using MR intelligent equipment to enable the server 6 to obtain the position coordinates of the patient; a camera device or a laser locator which is hung on the mechanical arm 3 at the top of the operating room 1 and an operation auxiliary device on the movable mechanical arm 4 irradiate the focus of the patient, so that the server 6 further obtains the position coordinate of the focus of the patient, then, the server 6 establishes the association relationship among the space coordinate of the three-dimensional model, the position coordinate of the patient and the position coordinate of the focus, according to the coordinate relationship established by the server 6, the integrated control unit controls the MR intelligent equipment control unit to adjust the three-dimensional model in the MR intelligent equipment to be matched with the focus of the patient, because the spatial coordinates of the three-dimensional model, the position coordinates of the patient and the position coordinates of the focus position establish an incidence relation, therefore, the three-dimensional model in the MR intelligent device can not rotate along with the rotation of the head of the wearer, but can correspondingly move along with the displacement of the patient or the focus of the patient, and the three-dimensional model and the focus of the patient are always kept in a state of being accurately matched.
The second embodiment is as follows: according to a mixed reality technology applied operating room described in the first embodiment, the embodiment is described with reference to fig. 6 and 7, in this embodiment, a positioning unit 11 is installed on a wall of an operating room 1, a length and a width of each positioning unit 11 are respectively not more than 400mm, a two-dimensional code 12 or a sensing chip for positioning is printed or pasted on the positioning unit 11, no more than 100 characters are stored in the two-dimensional code 12, the two-dimensional code 12 occupies two thirds of a single positioning unit, the two-dimensional code can be distributed on each positioning unit 11, or one two-dimensional code 12 can be distributed on every two positioning units 11, it is ensured that the two-dimensional code 12 or the sensing chip can be seen in any position and in a single viewing angle, the positioning units 11 can be made of tiles or PVC plates or other materials capable of placing the two-dimensional code 12 or the sensing chip, this design is convenient for the MR intelligent device to recognize and position from any angle, position information is acquired.
The third concrete implementation mode: according to the operating room using the mixed reality technology described in the first embodiment and the second embodiment, the embodiment is described with reference to fig. 8, in this embodiment, the positioning unit 11 installed on the wall of the operating room 1 is composed of two colors with strong contrast, and the positioning units 11 with strong contrast of the two colors are distributed in a combined manner to form a two-dimensional code 12 pattern for positioning that can be recognized by the MR smart device.
The fourth concrete implementation mode: according to the first embodiment, the operating room using the mixed reality technology is described with reference to fig. 5, the operating table 2 capable of automatically lifting comprises a table top 21, a lifting mechanism 22, a laser distance measuring sensor 23, a driving mechanism 24 and an operating table control unit, the lifting mechanism 22 is connected to the table top 21, the laser distance measuring sensor 23 is installed on the lifting mechanism 22, the lifting mechanism 22 is connected to the driving mechanism 24, the driving mechanism 24 comprises a stepping motor, the lifting mechanism 22, the driving mechanism 24 and the laser distance measuring sensor 23 are respectively connected to the operating table control unit through a control circuit, the lifting mechanism 22 provided with the laser distance measuring sensor 23 and the driving mechanism 24 provided with the stepping motor are integrated on the operating table control unit, the lifting and the lowering of the operating table can be controlled to be accurate to 0.1mm, the matching of the three-dimensional model and the focus of the patient is matched more accurately, and the operating table 2 which can be automatically lifted is an electric operating table.
The fifth concrete implementation mode: according to a specific embodiment, a surgery room using a mixed reality technology is described with reference to fig. 3, in this embodiment, a robot arm 3 is composed of at least 2 robot arm units 34 with six degrees of freedom, in this embodiment, 6 robot arm units 34 with six degrees of freedom are adopted, and each robot arm unit 34 can rotate at any angle, so that an image pickup device 35 or a laser sensor can conveniently perform all-around and dead-angle-free data acquisition, and data information is provided for accurate matching of a three-dimensional model displayed in MR intelligent equipment and a focus of a patient; the arm 3 of this embodiment adopts sliding linkage with 1 top in operating room, bolt fixed connection is adopted at slide rail and 1 top in operating room, the stiff end of arm unit 34 install with slide rail border assorted fastener 32, fastener 32 with the border of slide rail adopts bolt 33 top tightly fixed, and this kind of connected mode of arm unit 34 and operating room 1 can be on the basis of not destroying current operating room shed roof structure, can carry out the rearrangement to the position of arm unit 34, also is convenient for the change or the dismantlement of arm unit 34.
The sixth specific implementation mode: according to a first embodiment of the operating room using a mixed reality technology, the embodiment is described with reference to fig. 4, where the mobile robot 4 is composed of at least 1 three-degree-of-freedom or six-degree-of-freedom robot unit 42, and in the embodiment, the 1 six-degree-of-freedom robot unit 42 is adopted, so that the robot 4 can rotate at any angle, and the implementation of the operation auxiliary device is facilitated.
The seventh embodiment: according to a first specific embodiment, the surgical auxiliary equipment mounted on the mobile manipulator 4 includes an image pickup device or a laser sensor or a combination of the two, and the image pickup device adopted in this embodiment is a high-definition image pickup device or a depth-of-field image pickup device or a combination of a high-definition image pickup device and a depth-of-field image pickup device.
The specific implementation mode is eight: according to a specific embodiment, the operating room using the mixed reality technology is described with reference to fig. 4, the embodiment is described, wherein the mobile mechanical arm 4 is composed of a moving mechanism 41 capable of performing horizontal displacement on the ground and a mechanical arm structure composed of at least 1 three-degree-of-freedom or six-degree-of-freedom mechanical arm unit 42, the mechanical arm 42 is structurally installed on the moving mechanism 41, the moving mechanism with rollers and composed of multiple layers of object placing plates is adopted in the embodiment, the object placing plate on the topmost layer is fixedly provided with 1 six-degree-of-freedom mechanical arm unit 42, and together with the mechanical arm 3 suspended on the operating table 2, image video information or positioning information is acquired from multiple angles and in all directions, so that data information is provided for accurate matching of a three-dimensional model displayed in the MR intelligent device and a focus of a patient, and a doctor is matched to smoothly.
The specific implementation method nine: according to a specific embodiment, an operating room using mixed reality technology is further provided in the operating room 1, wherein an automatic modeling workstation is configured to establish a three-dimensional model recognizable by an MR smart device according to human body image data, an output end of the automatic modeling workstation is connected to the output device, an input end of the automatic modeling workstation is connected to an image data generating device of a hospital through a network, the automatic modeling workstation comprises an image recognizing unit for recognizing the human body image data, an image processing unit for performing adjustment, extraction and processing on the human body image data, a three-dimensional model generating unit for generating a three-dimensional model of a lesion of a human body, and a three-dimensional model correcting unit for correcting and processing the three-dimensional model, the image recognizing unit is connected to the image processing unit, and the image processing unit is connected to the three-dimensional model generating unit, the three-dimensional model generating unit is connected the three-dimensional model correction unit, output device is connected to the three-dimensional model correction unit, this embodiment acquires human image data through arbitrary one kind in X-ray, CT \ MRI \ and the supersound, the output device that this embodiment adopted is cell-phone, MR smart machine, display, flat board, several kinds of combinations in the computer, the automatic modeling workstation can be fast with patient's plane image picture, automatic turns into three-dimensional model picture, supplies the operation to implement and uses, has saved the manual work and has got the piece, has established the time of three-dimensional model, has improved the model and has established efficiency, form a complete set the utility model discloses an operating room jointly uses, can show the application effect who improves mixed reality technique, further improves operation efficiency, brings very big facility for the implementation of operation.
The detailed implementation mode is ten: according to a specific embodiment, the MR smart device used in the embodiment is an MR helmet or MR glasses or a combination of the MR helmet and the MR glasses, and the MR glasses used in the embodiment are action one series glasses provided by a creative company, which are light in weight and suitable for being worn and operated for a long time.
The concrete implementation mode eleven: according to a first specific embodiment, a communication method of communication connection adopted in this embodiment includes: any one or more of WIFI, Bluetooth, NFC, Ethernet, 4G, 5G and GPRS, and a 5G communication mode is preferred.
This embodiment is only illustrative of the patent and does not limit the scope of protection of the patent, and those skilled in the art can make modifications to its part without departing from the spirit of the patent.
Claims (9)
1. An operating room employing mixed reality technology, comprising: operating room, basic operation facility and surgical instrument, its characterized in that:
the operating room is of a standard cubic structure, a plurality of positioning devices which are uniformly distributed are arranged on the wall of the operating room, and the area where the positioning devices exist is an area which can be seen from a single visual angle;
an operating table capable of automatically lifting is installed in the right center of the ground of the operating room, a plurality of two-dimensional code patterns or induction chips are uniformly distributed on each edge of the operating table, and the operating table capable of automatically lifting is connected with an operating table control unit;
a mechanical arm is arranged right above the operating table, a camera device or a laser sensor or a combination of the camera device and the laser sensor are arranged on the mechanical arm, and the mechanical arm is connected with a mechanical arm control unit;
an operating lamp and a light source device are respectively arranged above the operating table and are respectively connected with a light control unit;
a movable mechanical arm is further arranged in the operating room, operation auxiliary equipment is mounted on the movable mechanical arm, and the movable mechanical arm is connected with a mechanical arm control unit;
a display is further installed in the operating room and is in communication connection with the server;
the operating room further comprises MR intelligent equipment, and the MR intelligent equipment is respectively in communication connection with the display, the server and the MR intelligent equipment control unit;
the camera device or the laser sensor which is arranged on the mechanical arm hung at the top of the operating room is respectively in communication connection with the display, the MR intelligent equipment and the server;
the operation auxiliary equipment installed on the mobile mechanical arm is respectively in communication connection with the display, the MR intelligent equipment and the server;
the light control unit, the operating table control unit, the mechanical arm control unit and the MR intelligent equipment control unit are respectively connected with an integrated control unit, and the integrated control unit is connected with a server.
2. The operating room with the mixed reality technology as claimed in claim 1, wherein the positioning device comprises a positioning unit, and two-dimensional codes or sensing chips are distributed on the positioning unit.
3. The operating room of claim 1, wherein the operating table capable of automatically ascending and descending comprises a table top, an elevating mechanism, a driving mechanism, a laser ranging sensor and an operating table control unit, the table top is connected with the elevating mechanism, the elevating mechanism is provided with the laser ranging sensor, the driving mechanism is connected with the elevating mechanism, the driving mechanism comprises a stepping motor, and the elevating mechanism, the driving mechanism and the laser ranging sensor are respectively connected with the operating table control unit through a control circuit.
4. The operating room of claim 1 wherein the robotic arm comprises at least 2 six-degree-of-freedom robotic arm units.
5. The operating room using mixed reality technology according to claim 1, wherein the camera mounted on the robot arm comprises a high-definition camera or a depth-of-field camera or a combination of the high-definition camera and the depth-of-field camera, and the surgical auxiliary equipment mounted on the mobile robot arm comprises a camera or a laser sensor or a combination of the two.
6. The operating room using mixed reality technology as claimed in claim 1, wherein the mobile robot is composed of a moving mechanism capable of horizontal displacement on the ground and a robot structure composed of at least 1 three-degree-of-freedom or six-degree-of-freedom robot units, and the robot structure is mounted on the moving mechanism.
7. The operating room using the mixed reality technology as claimed in claim 1, wherein an automatic modeling workstation is further disposed in the operating room, an output end of the automatic modeling workstation is connected to an output device, an input end of the automatic modeling workstation is connected to an image data generating device of a hospital through a network, the automatic modeling workstation comprises an image recognition unit, an image processing unit, a three-dimensional model generating unit and a three-dimensional model modifying unit, the image recognition unit is connected to the image processing unit, the image processing unit is connected to the three-dimensional model generating unit, the three-dimensional model generating unit is connected to the three-dimensional model modifying unit, the three-dimensional model modifying unit is connected to the output device, and the output device is one or a combination of a mobile phone, an MR smart device, a display, a tablet and a computer.
8. An operating room applying mixed reality technology as claimed in claim 1, wherein the MR smart device comprises MR helmets or MR glasses or a combination of both.
9. The operating room using mixed reality technology according to claim 1, wherein the communication means of the communication connection comprises: any one or more of broadband, optical fiber, WIFI, Bluetooth, NFC, Ethernet, 4G, 5G and GPRS.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110512906A (en) * | 2019-08-28 | 2019-11-29 | 苏州蓝软智能医疗科技有限公司 | A kind of operating room using mixed reality technology |
| CN113041083A (en) * | 2021-04-22 | 2021-06-29 | 江苏瑞影医疗科技有限公司 | Holographic projection operation console applied to QMR technology |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110512906A (en) * | 2019-08-28 | 2019-11-29 | 苏州蓝软智能医疗科技有限公司 | A kind of operating room using mixed reality technology |
| CN113041083A (en) * | 2021-04-22 | 2021-06-29 | 江苏瑞影医疗科技有限公司 | Holographic projection operation console applied to QMR technology |
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