CN110512906A - A kind of operating room using mixed reality technology - Google Patents
A kind of operating room using mixed reality technology Download PDFInfo
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- CN110512906A CN110512906A CN201910801418.5A CN201910801418A CN110512906A CN 110512906 A CN110512906 A CN 110512906A CN 201910801418 A CN201910801418 A CN 201910801418A CN 110512906 A CN110512906 A CN 110512906A
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- 238000005516 engineering process Methods 0.000 title claims abstract description 33
- 239000000203 mixture Substances 0.000 claims abstract description 11
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- 230000003028 elevating effect Effects 0.000 claims description 17
- 238000012545 processing Methods 0.000 claims description 11
- 230000006698 induction Effects 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 239000011521 glass Substances 0.000 claims description 5
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- 238000010586 diagram Methods 0.000 description 8
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- 230000000694 effects Effects 0.000 description 3
- 230000003902 lesion Effects 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
- A61B90/13—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
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- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
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Abstract
The present invention relates to the configuration of operating room and controls, can be with the operating room of efficient application mixed reality technology more specifically to one kind.Its composition includes: operating room, basis operation facility and surgical instrument, the operating room is cube structure, there are several equally distributed positioning devices on wall, operating room center be equipped with can automatic lifting operating table, mechanical arm is installed right above the operating table, photographic device or laser sensor or the combination of both are installed on mechanical arm, operating lamp and light supply apparatus are installed respectively above operating table, mobile mechanical arm is also placed in operating room, display, server, MR smart machine.The present invention can make the matching of threedimensional model and patient's affected area quickly, precisely, and can obtain patient position information in real time, improve the convenient degree that mixed reality technology is applied in clinical operation.
Description
Technical field
The present invention relates to the configuration of operating room and controls, can be with efficient application mixed reality more specifically to one kind
The operating room of technology.
Background technique
MR mixed reality technology is the innovative technology in a forward position, it also begins to take shape in the application of medical field, but simultaneously
Immature, MR mixed reality technology is in implementing operation in application, there is also more defects: depositing first is that obtaining patient position information
In trueness error；Second is that model cannot with the evolution of patient Auto-matching；For example, first allowing MR intelligent at the time of surgery,
Equipment identification positioning object, thus realize the three-dimensional modeling of body foci's organ and the preliminary matches of patient, but this mode
Positioning is also needed with additional controller to the lesion organ shown in MR smart machine in practical application there is also trueness error
Threedimensional model carry out subtle adjusting, by manual adjusting controller, threedimensional model is allowed precisely to match with patient's affected area, when
Patient position changes, it is also necessary to readjust MR smart machine, make threedimensional model and patient's physical location in equipment
Match, this operation needs doctor to require to carry out model adjusting when wearing MR smart machine every time, causes waste of time, instead
Trouble is brought to operation；Another way is the positioning object that can be identified by camera identification camera, to obtain
The position coordinates of patient, then by being contacted with the foundation of the space coordinate of threedimensional model, asked to solve model with what patient positioned
Topic, there is certain restrictions in this method, firstly, it is necessary to the identifiable positioning object of fixing camera with patient in use
Body, the aseptic of this positioning object, the accuracy of position distribution can all have a negative impact to operation and accurate positioning.Application
Number for 201910073233.7 " operation guiding system and its equipment, method and storage medium based on MR " disclose one kind three
The method for tieing up image and patient's affected area precise positioning, it is multiple by multiple key point location arrangements in patient's affected area
Probe with infrared light inductor as label, then obtains the coordinate origin data set for corresponding to affected area by camera unit,
To obtain 3-dimensional image coordinate model, then the corresponding physical coordinates information of MR projecting cell and human eye calibration information are obtained, makes MR
The 3-dimensional image information that projecting cell shows with patient's affected area superposition in live outdoor scene and is registrated in real time.
This method needs artificial multiple key points in patient's affected area to arrange probe, for key point searching,
Determining and probe arrangement is determined by artificially, have it is many for example: key position determines whether accurately, operation light
Irradiation whether will affect camera unit to the position acquisition of probe, whether probe can occur positional shift etc. in the course of surgery
Uncertain factor, the 3-dimensional image information that these factors all can cause MR projecting cell to show and patient's affected area in live outdoor scene
Superposition and real-time registration effect, cannot fundamentally solve the above problems.
Summary of the invention
The present invention can effectively solve the problem that existing to solve the above problems, provide a kind of operating room using mixed reality technology
There are threedimensional model and patient's affected area in technology in MR smart machine to position not accurate problem, the present invention uses following technology
Scheme is realized:
A kind of operating room using mixed reality technology, composition includes: operating room, basis operation facility and surgical instrument, institute
The cube structure that operating room is standard is stated, is provided with several equally distributed positioning devices on the wall of the operating room,
The region that region existing for the positioning device can be seen for single visual angle；
The position of the floor of operating room center be equipped with can automatic lifting operating table, each edge of the operating table
Be evenly distributed with several pattern in 2 D code or induction chip, it is described can automatic lifting operating table connection operating table control it is single
Member；
Mechanical arm is installed right above the operating table, be equipped on the mechanical arm photographic device or laser sensor or this
Two kinds of combination, the mechanical arm connect mechanical arm control unit；
Operating lamp is installed respectively above the operating table and light supply apparatus, the operating lamp, the light supply apparatus are separately connected lamp
Light control unit；
It is also placed with mobile mechanical arm in the operating room, operation ancillary equipment, the shifting are installed on the mobile mechanical arm
Dynamic mechanical arm connects mechanical arm control unit；
Display is also equipped in the operating room, the display communicates to connect server；
It further include MR smart machine in the operating room, the MR smart machine communicates to connect the display, the clothes respectively
Business device and MR smart machine control unit；
The photographic device being mounted on the mechanical arm being suspended at the top of operating room or laser sensor communicate to connect institute respectively
State display, the MR smart machine and the server；
The operation ancillary equipment being mounted on mobile mechanical arm communicates to connect the display, the MR smart machine respectively
With the server；
The light control unit, the operating table control unit, the mechanical arm control unit and the MR smart machine control
Unit processed is separately connected integrated control unit, and the integrated control unit connects server.
Preferably, the positioning device includes positioning unit, and two dimensional code or induction chip are distributed on the positioning unit.
Preferably, it is described can automatic lifting operating table include table top, elevating mechanism, driving mechanism, laser ranging sensing
Device and operating table control unit composition, the table top connect elevating mechanism, and laser ranging sensing is equipped on the elevating mechanism
Device, the elevating mechanism connect the driving mechanism, and the driving mechanism includes stepper motor, the elevating mechanism, the drive
Motivation structure passes through control circuit with the laser range sensor respectively and connects the operating table control unit.
Preferably, the mechanical arm is at least made of the mechanical arm unit of 2 six degree of freedoms.
Preferably, the photographic device installed on the mechanical arm includes high definition camera device or depth of field photographic device or high definition
The combination of photographic device and depth of field photographic device, the operation ancillary equipment installed on the mobile mechanical arm include photographic device or
Laser sensor or the combination of both.
Preferably, the mobile mechanical arm by can ground do horizontal displacement mobile mechanism and at least by 1 three freely
The mechanical arm structure composition of the mechanical arm unit of degree or six degree of freedom composition, the machinery arm configuration are mounted on the mobile mechanism
On.
Preferably, automatic modeling work station, the output end of the automatic modeling work station are additionally provided in the operating room
The image data generating device of connection output device, input terminal and hospital passes through network connection, the automatic modeling work station packet
Image identification unit, image processing unit, threedimensional model generation unit and threedimensional model amending unit are included, described image identification is single
Member connection described image processing unit, described image processing unit connect the threedimensional model generation unit, the threedimensional model
Generation unit connects the threedimensional model amending unit, and the threedimensional model amending unit connects output device, the output dress
It is set to the combination of one or more of mobile phone, MR smart machine, display, plate, computer.
Preferably, the MR smart machine includes the combination of the MR helmet or MR glasses or both.
Preferably, the communication mode of the communication connection include: broadband, optical fiber, WIFI, bluetooth, NFC, Ethernet, 4G,
Any one or more in 5G and GPRS combines.
Beneficial effect
1, operating room of the invention is designed using cube structure, obtains space coordinate in a short time convenient for MR smart machine,
Model being tentatively set in space environment is carried out, server is also convenient for and quickly calculates the patient position seat acquired by photographic device
Identification and processing speed of the server to location information can be improved in mark, this spatial design, shortens the model orientation time, real
The quick positioning of existing model, the present invention is compared with comparing patent, in locating speed and positioning method, effect, more intelligent,
Facilitation and precision, it is possible to prevente effectively from manual operation bring error.
2, the present invention places two dimensional code or induction chip in the edge of operating table, in conjunction with 0.1mm precision may be implemented
The operating table of automatic lifting can further realize the precise positioning of model Yu patient's affected area.
3, the present invention at the top of operating room by hanging multiple sixdegree-of-freedom simulations, and installation camera shooting dress on the robotic arm
It sets or laser sensor, acquires patient position information in real time, after doctor replaces MR smart machine, photographic device or laser sensing
Device can carry out real-time update positioning to patient position, quickly, accurately match automatically with patient's affected area convenient for threedimensional model,
The doctor for wearing MR smart machine does not have to debug repeatedly again, improves the degree easy to use of equipment, makes MR smart machine and operation
Cooperation it is more smooth, succinct.
4, the present invention is widely used convenient for operation, can be used for newly-built operating room and uses, can also be to existing operating room
It is transformed.
Detailed description of the invention
Attached drawing 1 is schematic structural view of the invention；
Attached drawing 2 is control flow schematic diagram of the present invention；
Attached drawing 3 is the mechanical arm cellular construction schematic diagram that the present invention is suspended at the top of operating room；
Attached drawing 4 is the structural schematic diagram of mobile mechanical arm of the present invention；
Attached drawing 5 be the present invention can automatic lifting operating table structural schematic diagram；
Attached drawing 6 is the structural schematic diagram that the present invention is distributed pattern in 2 D code every a positioning units；
Attached drawing 7 is the structural schematic diagram that the present invention is distributed pattern in 2 D code every two positioning units；
Attached drawing 8 is the structural schematic diagram that the present invention is made of pattern in 2 D code positioning unit；
In attached drawing 1-8,1- operating room, 2- operating table, 3- mechanical arm, 4- mobile mechanical arm, 5- display, 6- server,
7- operating lamp, 8- light supply apparatus, 11- positioning unit, 12- two dimensional code, 21- table top, 22- elevating mechanism, 23- laser ranging sensing
Device, 24- driving device, 33- bolt, 34- clamp device, 35- photographic device, 41- mobile mechanism, 42- machinery arm unit.
Specific embodiment
Specific embodiment 1: illustrating a kind of application mixed reality technology described in the present embodiment in conjunction with attached drawing 1 and attached drawing 2
Operating room, composition includes: operating room 1, and basis operation facility and surgical instrument, the operating room 1 is the cube of standard
Structure is provided with several equally distributed positioning devices, region existing for the positioning device on the wall of the operating room 1
For at an arbitrary position, the region that single visual angle can be seen；
The position of the 1 ground center of operating room be equipped with can automatic lifting operating table 2, each side of the operating table 2
Edge is all evenly distributed with several 12 patterns of two dimensional code or induction chip, it is described can the operating table 2 of automatic lifting connect operating table
Control unit；
The table top 21 for the operating table that the present embodiment uses is placed with two dimensional code on four angles of rectangular mesa 21 for rectangle respectively
12 patterns or induction chip, convenient for the threedimensional model and patient's progress location matches in MR smart machine；
The surface of the operating table 2 is equipped with mechanical arm 3, is equipped with photographic device 35 or laser sensing on the mechanical arm 3
Device or the combination of both, the mechanical arm 3 connect mechanical arm control unit, and the mechanical arm control unit control mechanical arm is real
Now act；
Operating lamp 7 and light supply apparatus 8 are installed, the operating lamp 7 and the light supply apparatus 8 connect respectively above the operating table 2
Light control unit is connect, the light control unit is used to control brightness, the wavelength of operating lamp, operating lamp described in the present embodiment
7 and light supply apparatus 8 can personalize, meet the individual demand of numerous hospitals；
It is also placed with mobile mechanical arm 4 in the operating room 1, operation ancillary equipment is installed on the mobile mechanical arm 4, it is described
Mobile mechanical arm 4 connects mechanical arm control unit, and the movement and movement of the mechanical arm control unit control mechanical arm are realized, institute
Mobile mechanical arm 4 and 3 cooperating of mechanical arm that is suspended at the top of operating room are stated, it can be achieved that information comprehensive, without dead angle is adopted
Collect work, the threedimensional model to show in MR smart machine is precisely matched with patient's affected area provides data information；
It is also equipped in the operating room 1: display 5, for showing the video image in surgical procedure；Server 6, for depositing
Computer program and data information are stored up, and executes computer program, handles data information, the communication connection of display 5 service
Device 6；
It further include MR smart machine in the operating room 1, the MR smart machine communicates to connect the display 5, described respectively
Server 6 and MR smart machine control unit；
It is described to be mounted on the photographic device 35 being suspended on the mechanical arm 3 at 1 top of operating room or laser sensor difference communication link
Connect the display 5, the MR smart machine, the server 6；The photographic device 35 that the present embodiment uses is high-definition camera dress
It sets or the combination of depth of field photographic device or high definition camera device and depth of field photographic device, the depth of field photographic device or the laser
Sensor is used to acquire patient's affected area location information, and collected data real-time delivery is shown to the display 5, passes
It is delivered to server 6, storing data information, and according to data information, calculate the position coordinates of patient's affected area, calculated position
Coordinate is intelligently set by real-time delivery to MR smart machine and MR smart machine control unit, MR smart machine control unit control MR
Threedimensional model and patient's affected area in standby carry out precise positioning.
The operation ancillary equipment being mounted on mobile mechanical arm 4 communicates to connect the display 5, the MR intelligence respectively
It can equipment, the server 6；The data information transfer of operation ancillary equipment acquisition is intelligently set to the display 5 and the MR
It is standby, it is checked for doctor or observer；It is transmitted to server 6, data are stored, and provides support for data processing.
The light control unit, the operating table control unit, the mechanical arm control unit and the MR are intelligently set
Standby control unit is separately connected integrated control unit, and the integrated control unit connects server 6, the integrated control unit point
It Kong Zhi not light control unit, the operating table control unit, the mechanical arm control unit and MR smart machine control
Unit, the light control unit control operating lamp 7 and light supply apparatus 8 by the information that the server 6 provides, realize operation
The change of lamp and light supply apparatus brightness and wavelength；
The operating table control unit controls operating table 2 by the information that the server 6 provides, and realizes the rising of operating table 2
And descending motion；
The mechanical arm control unit controls the machinery being suspended at the top of operating room by the information that the server 6 provides respectively
Arm 3 and the movable mechanical arm 4 moved on the ground realize rotation, rotation and the displacement movement of mechanical arm respectively；
The MR smart machine control unit controls MR smart machine by the information that the server 6 provides, and realizes MR intelligence
Load, display, operation and the control function of equipment.
Specifically, operating room 1 of the present invention is standard square body structure, doctor, which wears, has imported patient's affected area three-dimensional
The MR smart machine of model, MR smart machine is by scanning the positioning device on 1 wall of operating room, by the three-dimensional in the visual field
Model carries out Primary Location, and server 6 obtains space coordinate of the threedimensional model in operating room 1；It is scanned again with MR smart machine
The pattern in 2 D code placed on operating table 2 makes server 6 obtain the position coordinates of patient；It is suspended on 1 top mechanism arm of operating room
The operation ancillary equipment on photographic device or laser locator and mobile mechanical arm 4 on 3 irradiates patient's affected area, makes to service
Device 6 further obtains the position coordinates of patient's affected area, and then, server 6 sits the space coordinate of threedimensional model, patient position
Mark and affected area position coordinates establish incidence relation, and according to the coordinate relationship that server 6 is established, integrated control unit controls MR intelligence
Threedimensional model in energy device control cell adjustment MR smart machine is matched with patient's affected area, since the space of threedimensional model is sat
Mark, patient position coordinate and affected area position coordinates establish incidence relation, so the threedimensional model in MR smart machine will not
Rotate head with wearer and follow rotation, but can with the displacement of patient or patient's affected area corresponding displacement, but all can always
Keep threedimensional model and patient's lesion everywhere in accurate matched state.
Specific embodiment 2: a kind of operating room using mixed reality technology according to specific embodiment one,
Illustrate that the present embodiment, the present embodiment are mounted with positioning unit 11, Mei Geding on the wall of operating room 1 in conjunction with attached drawing 6, attached drawing 7
The length and width of bit location 11 is no more than 400mm respectively, and the two dimensional code that positioning uses is printed on or posted on positioning unit 11
12 or induction chip, no more than 100 characters are stored in two dimensional code 12, and 12 size of two dimensional code occupies the three of single positioning unit
/ bis-, two dimensional code can be distributed on each positioning unit 11, can also be distributed every one or two positioning unit 11
One two dimensional code 12, it is ensured that at an arbitrary position, two dimensional code 12 or induction chip can be seen in single visual angle, positioning unit 11 can
With using ceramic tile or PVC board or other can place the material of two dimensional code 12 or induction chip, MR smart machine is convenient in this design
Positioning can be identified from any angle, obtain location information.
Specific embodiment 3: a kind of application mixing according to specific embodiment one and specific embodiment two is existing
The operating room of real technology illustrates the present embodiment in conjunction with attached drawing 8, the positioning unit 11 that the present embodiment is installed on 1 wall of operating room,
It is made of two kinds of colors for comparing strong, the strong positioning unit 11 of two kinds of color contrasts is formed by combination distribution can quilt
12 pattern of two dimensional code used for positioning of MR smart machine identification.
Specific embodiment 4: a kind of operating room using mixed reality technology according to specific embodiment one,
Illustrate the present embodiment in conjunction with attached drawing 5, it is described can the operating table 2 of automatic lifting include that table top 21, elevating mechanism 22, laser ranging pass
Sensor 23, driving mechanism 24 and operating table control unit composition, the table top 21 connect elevating mechanism 22, the elevating mechanism 22
On laser range sensor 23 is installed, the elevating mechanism 22 connects the driving mechanism 24, and the driving mechanism 24 includes
Stepper motor, the elevating mechanism 22, the driving mechanism 24 and the laser range sensor 23 pass through control circuit respectively
The operating table control unit is connected, by the elevating mechanism 22 for being equipped with laser range sensor 23 and stepper motor is installed
Driving mechanism 24 is integrated in operating table control unit, and the raising and reduction of controlling surgical platform can be accurate to 0.1mm, more smart
Cooperate the matching of threedimensional model Yu patient's affected area quasi-ly, the present embodiment use can the operating table 2 of automatic lifting be electric hand
Art platform.
Specific embodiment 5: a kind of operating room using mixed reality technology according to specific embodiment one,
Illustrate that the present embodiment, the mechanical arm 3 are at least made of the mechanical arm unit 34 of 2 six degree of freedoms in conjunction with attached drawing 3, the present embodiment
Using 6 sixdegree-of-freedom simulation units 34, each machinery arm unit 34 may be implemented to rotate at any angle, convenient for camera shooting dress
Set 35 or laser sensor carry out in all directions, the acquisition of the data without dead angle, for the threedimensional model shown in MR smart machine and trouble
Person's affected area, which precisely matches, provides data information；The mechanical arm 3 of the present embodiment uses sliding rail to connect at the top of operating room 1, described
It is bolted and fixed at the top of sliding rail and operating room 1, the fixing end of the machinery arm unit 34 is equipped with and sliding rail edge phase
The edge of matched clamp device 32, the clamp device 32 and the sliding rail holds out against fixation, mechanical arm unit using bolt 33
34 and this connection type of operating room 1 can be on the basis of not destroying existing operating room top structure, can be to mechanical arm
The position of unit 34 is laid out again, is also convenient for the replacement or disassembly of mechanical arm unit 34.
Specific embodiment 6: a kind of operating room using mixed reality technology according to specific embodiment one,
Illustrate the present embodiment in conjunction with attached drawing 4, the mobile mechanical arm 4 is at least by 1 Three Degree Of Freedom or the mechanical arm unit of six degree of freedom
42 compositions, the present embodiment use 1 sixdegree-of-freedom simulation unit 42, and mechanical arm 4 may be implemented to rotate at any angle, be convenient for
The implementation for ancillary equipment of performing the operation.
Specific embodiment 7: a kind of operating room using mixed reality technology according to specific embodiment one,
The operation ancillary equipment installed on the mobile mechanical arm 4 includes photographic device or laser sensor or the combination of both, sheet
The photographic device that embodiment uses is high definition camera device or depth of field photographic device or high definition camera device and depth of field photographic device
Combination.
Specific embodiment 8: a kind of operating room using mixed reality technology according to specific embodiment one,
Illustrate the present embodiment in conjunction with attached drawing 4, the mobile mechanical arm 4 by can ground do horizontal displacement mobile mechanism 41 and at least by
The mechanical arm unit 42 of 1 Three Degree Of Freedom or six degree of freedom forms mechanical arm structure composition, and 42 structure of mechanical arm is mounted on
In the mobile mechanism 41, it is the mobile mechanism being made of Multi-layer article storing plate with idler wheel that the present embodiment, which uses, top
The mechanical arm unit 42 of 1 six degree of freedom is fixedly installed on parcel shelf, it is together with the mechanical arm 3 that is hung on operating table 2, polygonal
Degree acquires image/video information or location information in all directions, for the threedimensional model and patient's lesion shown in MR smart machine
Precisely matching provides data information at place, and cooperation doctor smoothly implements to perform the operation.
Specific embodiment 9: a kind of operating room using mixed reality technology according to specific embodiment one,
It is additionally provided with automatic modeling work station in the operating room 1, for according to body image data, foundation can be known by MR smart machine
The output end of other threedimensional model, the automatic modeling work station connects the output device, the image number of input terminal and hospital
According to generating device by network connection, the automatic modeling work station includes knowing for carrying out the image of body image data identification
Other unit, for rested and reorganized, extracted, handled to body image data image processing unit, for generating at body foci
The threedimensional model generation unit of threedimensional model and for correcting, handling the threedimensional model amending unit of threedimensional model, described image
Recognition unit connection described image processing unit, the described image processing unit connection threedimensional model generation unit, described three
Dimension module generation unit connects the threedimensional model amending unit, and the threedimensional model amending unit connects output device, this reality
Apply example by X-ray, CT MRI and ultrasound in any one image data to obtain human body, the output dress that the present embodiment uses
It is set to the combination of one or more of mobile phone, MR smart machine, display, plate, computer, automatic modeling work station can incite somebody to action
The flat image picture of patient fast and automatically be converted into three-dimensional model diagram, for operation implement use, save manually take piece,
The time for creating threedimensional model, model creation efficiency is improved, then mating operating room of the invention is used in combination, and can significantly improve
The application effect of mixed reality technology, further increases procedure efficiency, carrys out great convenience for the out tape of operation.
Specific embodiment 10: a kind of operating room using mixed reality technology according to specific embodiment one,
The MR smart machine that the present embodiment uses is the combination of the MR helmet or MR glasses or both, and the MR glasses that the present embodiment uses is shadows
The action one series glasses that wound company provides, lighter weight are suitble to wear and operate for a long time.
A kind of specific embodiment 11: operation using mixed reality technology according to specific embodiment one
Room, the communication mode for the communication connection that the present embodiment uses include: WIFI, bluetooth, NFC, Ethernet, appoint in 4G, 5G and GPRS
It anticipates one or more combinations, preferably 5G communication modes.
This embodiment is just an exemplary description of this patent, does not limit its protection scope, those skilled in the art
Member can also be changed its part, as long as no the essence for exceeding this patent, within the protection scope of the present patent.
Claims (9)
1. a kind of operating room using mixed reality technology, composition includes: operating room, basis operation facility and surgical instrument,
It is characterized by:
The operating room is the cube structure of standard, is provided with several equally distributed positioning on the wall of the operating room
Device, the region that region existing for the positioning device can be seen for single visual angle；
The position of the floor of operating room center be equipped with can automatic lifting operating table, each edge of the operating table
Be evenly distributed with several pattern in 2 D code or induction chip, it is described can automatic lifting operating table connection operating table control it is single
Member；
Mechanical arm is installed right above the operating table, be equipped on the mechanical arm photographic device or laser sensor or this
Two kinds of combination, the mechanical arm connect mechanical arm control unit；
Operating lamp is installed respectively above the operating table and light supply apparatus, the operating lamp, the light supply apparatus are separately connected lamp
Light control unit；
It is also placed with mobile mechanical arm in the operating room, operation ancillary equipment, the shifting are installed on the mobile mechanical arm
Dynamic mechanical arm connects mechanical arm control unit；
Display is also equipped in the operating room, the display communicates to connect server；
It further include MR smart machine in the operating room, the MR smart machine communicates to connect the display, the clothes respectively
Business device and MR smart machine control unit；
The photographic device being mounted on the mechanical arm being suspended at the top of operating room or laser sensor communicate to connect institute respectively
State display, the MR smart machine and the server；
The operation ancillary equipment being mounted on mobile mechanical arm communicates to connect the display, the MR smart machine respectively
With the server；
The light control unit, the operating table control unit, the mechanical arm control unit and the MR smart machine control
Unit processed is separately connected integrated control unit, and the integrated control unit connects server.
2. a kind of operating room using mixed reality technology according to claim 1, which is characterized in that the positioning device
Including positioning unit, two dimensional code or induction chip are distributed on the positioning unit.
3. a kind of operating room using mixed reality technology according to claim 1, which is characterized in that described to rise automatically
The operating table of drop includes that table top, elevating mechanism, driving mechanism, laser range sensor and operating table control unit form, described
Table top connects elevating mechanism, and laser range sensor is equipped on the elevating mechanism, and the elevating mechanism connects the driving
Mechanism, the driving mechanism include stepper motor, the elevating mechanism, the driving mechanism and the laser range sensor point
The operating table control unit is not connected by control circuit.
4. a kind of operating room using mixed reality technology according to claim 1, which is characterized in that the mechanical arm is extremely
It is few to be made of the mechanical arm unit of 2 six degree of freedoms.
5. a kind of operating room using mixed reality technology according to claim 1, which is characterized in that on the mechanical arm
The photographic device of installation includes the group of high definition camera device or depth of field photographic device or high definition camera device and depth of field photographic device
It closes, the operation ancillary equipment installed on the mobile mechanical arm includes photographic device or laser sensor or the combination of both.
6. a kind of operating room using mixed reality technology according to claim 1, which is characterized in that the mechanically moving
Arm is by that can do the mobile mechanism of horizontal displacement on ground and at least be made of the mechanical arm unit of 1 Three Degree Of Freedom or six degree of freedom
Mechanical arm structure composition, it is described machinery arm configuration be mounted in the mobile mechanism.
7. a kind of operating room using mixed reality technology according to claim 1, which is characterized in that in the operating room
It is additionally provided with automatic modeling work station, the output end of the automatic modeling work station connects output device, input terminal and hospital
Image data generating device by network connection, the automatic modeling work station include image identification unit, image processing unit,
Threedimensional model generation unit and threedimensional model amending unit, described image recognition unit connects described image processing unit, described
Image processing unit connects the threedimensional model generation unit, and the threedimensional model generation unit connects the threedimensional model amendment
Unit, the threedimensional model amending unit connect output device, and the output device is mobile phone, MR smart machine, display, puts down
The combination of one or more of plate, computer.
8. a kind of operating room using mixed reality technology according to claim 1, which is characterized in that the MR is intelligently set
The standby combination including the MR helmet or MR glasses or both.
9. a kind of operating room using mixed reality technology according to claim 1, which is characterized in that the communication connection
Communication mode include: broadband, optical fiber, WIFI, bluetooth, NFC, Ethernet, any one or more group in 4G, 5G and GPRS
It closes.
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| CN111724486A (en) * | 2020-06-16 | 2020-09-29 | 重庆鑫泺源智能科技有限公司 | Electric power meter installation and power connection practical training system based on mixed reality technology |
| CN111882676A (en) * | 2020-08-04 | 2020-11-03 | 杭州东方通信软件技术有限公司 | Remote monitoring support system and monitoring support method |
| CN111899587A (en) * | 2020-08-11 | 2020-11-06 | 中国科学院苏州纳米技术与纳米仿生研究所 | Semiconductor micro-nano processing technology training system based on VR and AR and application thereof |
| CN112618045A (en) * | 2020-12-31 | 2021-04-09 | 深圳市汇健医疗工程有限公司 | Emergency composite operating room with multiple imaging devices |
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| CN114344050A (en) * | 2022-01-20 | 2022-04-15 | 盐城市第一人民医院 | Intelligent bone surgery system |
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