CN212466186U - Bone tumor surgery auxiliary system based on augmented reality technology - Google Patents
Bone tumor surgery auxiliary system based on augmented reality technology Download PDFInfo
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- CN212466186U CN212466186U CN202020162141.4U CN202020162141U CN212466186U CN 212466186 U CN212466186 U CN 212466186U CN 202020162141 U CN202020162141 U CN 202020162141U CN 212466186 U CN212466186 U CN 212466186U
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Abstract
The utility model discloses a bone tumor operation auxiliary system based on augmented reality technique, include: the device comprises a data acquisition unit, a positioning device, a processor and display equipment; the processor is electrically connected with the data acquisition device, the positioning device and the display equipment; the data acquisition unit is used for generating a three-dimensional model of the patient in a first coordinate system; the positioning device includes: the first positioning device is used for acquiring first positioning information of the surgical site in a second coordinate system; the second positioning device is used for acquiring second positioning information of the endoscope equipment in a second coordinate system; the third positioning device is used for acquiring third positioning information of the surgical tool in a second coordinate system; and the processor is used for realizing the registration of the first coordinate system and the second coordinate system, controlling the display equipment to display the registered information, clearly displaying the position information of the surgical site, the endoscope equipment and the surgical tool, and facilitating the bone tumor surgery.
Description
Technical Field
The utility model relates to the field of medical technology, in particular to bone tumor surgery auxiliary system based on augmented reality technology.
Background
Bone tumor refers to a tumor that occurs in the bone or its accessory tissues (blood vessels, nerves, bone marrow, etc.). Wherein, benign bone tumor is easy to be cured radically, and the prognosis is good; malignant bone tumor develops rapidly, prognosis is not good, mortality is high, and surgical resection of bone tumor is one of the most effective treatment schemes at present. However, when the bone tumor is resected by the operation, the bone tumor needs to be positioned firstly, and in the traditional operation, a doctor makes a large wound on the surface of a human body, so that the doctor can directly visually observe the anatomical structure of the operation part to perform the operation, and the patient can be greatly injured. At present, doctors can perform operation without causing large wound to patients through an endoscope and various imaging technologies, but in the case, the doctors cannot directly observe the operation position visually, and the doctors must rely on an operation auxiliary system to acquire information such as the position of the human operation position and operation tools, but the positioning is difficult in the operation, and the operators cannot clearly know the information, so that an auxiliary system for bone tumor operation is urgently needed to assist the operation of the bone tumor operation.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at solving one of the technical problem in the above-mentioned technique to a certain extent at least. Therefore, the utility model aims to provide a bone tumour operation auxiliary system based on augmented reality technique, the location is simple, can be clear with the positional information of equipment such as operation position, endoscope, the positional information display of operation instrument come out, be favorable to going on of bone tumour operation.
In order to achieve the above object, an embodiment of the present invention provides an auxiliary system for bone tumor surgery based on augmented reality technology, including: the device comprises a data acquisition unit, a positioning device, a processor and display equipment; the processor is electrically connected with the data acquisition device, the positioning device and the display equipment; wherein the content of the first and second substances,
the data acquisition unit is used for acquiring information of a preoperative patient and generating a three-dimensional model of the patient in a first coordinate system according to the acquired patient information;
the positioning device includes: the first positioning device is arranged at the operation position of a patient and used for acquiring first positioning information of the operation position under a second coordinate system; the second positioning device is arranged on the endoscope equipment implanted in the surgical site of the patient and used for acquiring second positioning information of the endoscope equipment under a second coordinate system; the third positioning device is arranged on a surgical tool implanted into a surgical site of a patient and used for acquiring third positioning information of the surgical tool in a second coordinate system;
the processor is configured to calculate a transformation matrix of the first coordinate system and the second coordinate system, so as to implement transformation of the two coordinate systems, and control the display device to display the three-dimensional model, the first positioning information, the second positioning information, and the third positioning information after the three-dimensional model, the first positioning information, the second positioning information, and the third positioning information are registered.
According to the utility model provides a bone tumour operation auxiliary system based on augmented reality technique, patient's three-dimensional model under the patient information generation first coordinate system according to the collection, acquire the first locating information at the operation position under the second coordinate system through the positioner, endoscope equipment's second locating information, the third locating information of operation instrument, register first coordinate system and second coordinate system through the treater, three-dimensional model after registering through display device, first locating information, second locating information, third locating information shows, this bone tumour operation auxiliary system based on augmented reality technique, the location is simple, can be clear with the operation position, the positional information of equipment such as endoscope, the positional information of operation instrument shows, be favorable to going on of bone tumour operation.
According to some embodiments of the present invention, the data collector comprises:
the imaging device is used for shooting a tumor image of the bone or the bone accessory tissue of the patient;
the image registration device is connected with the camera device and is used for carrying out three-dimensional medical image registration on the acquired tumor images in different modes and the acquired tumor images in different stages in a single mode;
and the three-dimensional modeling device is connected with the image registration device and used for establishing a three-dimensional model of the patient according to the registered three-dimensional medical image.
According to some embodiments of the invention, the imaging device comprises a computed tomography device and/or a magnetic resonance imaging device.
According to some embodiments of the invention, the display device comprises a liquid crystal display and/or an AR headset.
According to some embodiments of the present invention, the AR headset includes a device housing, a display, and a buckle portion; the device comprises an equipment shell, wherein installation devices are symmetrically arranged on the left side and the right side of the equipment shell, clamping parts are installed between the installation devices, the clamping parts are connected with the installation devices through bolts, fixing nuts are connected to the outer sides of the bolts, the fixing nuts are abutted to one sides of the installation devices, and the side walls of the clamping parts are connected with buckle parts;
a male buckle and a female buckle are respectively arranged at one end of the buckle part far away from the mounting device; the male buckle is connected with the female buckle in a matching manner;
the display portion is embedded inside the device case.
According to some embodiments of the invention, the display portion comprises a left lens, a connecting beam, a right lens; the left lens and the right lens are symmetrically arranged on the equipment shell, and the left lens is connected with the right lens through the connecting beam; the connecting beam comprises a threaded rod, a threaded cylinder and a fixing rod; the threaded rod is provided with external threads, the threaded barrel is provided with internal threads, one end of the threaded barrel is in threaded connection with the threaded rod, the other end of the threaded barrel is fixedly connected with the fixed rod through a clamping portion, and the fixed rod is sleeved at one end of the threaded barrel and is further provided with a rubber portion.
According to some embodiments of the present invention, a sweat absorbing pad is further provided on the device housing; the sweat absorbing pad is detachably connected with the equipment shell.
According to some embodiments of the present invention, the AR headset further comprises a body sensing device, a voice command input device, a controller, a wireless communication device, a power source, and a speaker; wherein the content of the first and second substances,
the power supply is electrically connected with the human body induction device, the sound instruction input device, the controller, the wireless communication device and the loudspeaker;
the human body induction device is connected with the controller through the sound instruction input device, and the controller is also connected with the wireless communication device and the loudspeaker;
the controller is used for receiving the human body induction signal sent by the human body induction device and the sound instruction sent by the sound instruction input device and controlling the loudspeaker to output sound; and the wireless communication device is also used for communicating with external equipment.
According to some embodiments of the utility model, still be equipped with the scene on the equipment casing and switch the button, with the controller is connected for switch virtual reality scene and real scene.
According to some embodiments of the invention, the connection of the processor and the display device employs one or more of a GSM communication chip, a 5G communication chip, and an NB-loT chip.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and examples.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of an auxiliary system for bone tumor surgery based on augmented reality technology according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an auxiliary system for bone tumor surgery based on augmented reality technology according to another embodiment of the present invention;
fig. 3 is a schematic structural diagram of an AR headset of an auxiliary system for bone tumor surgery based on augmented reality technology according to an embodiment of the present invention;
fig. 4 is a cross-sectional view of a connection beam according to an embodiment of the present invention;
fig. 5 is a block diagram of an AR headset according to an embodiment of the present invention.
Reference numerals:
the bone tumor surgery assisting system based on augmented reality technology comprises a bone tumor surgery assisting system 100, a data collector 1, a camera device 11, an image registration device 12, a three-dimensional modeling device 13, a positioning device 2, a first positioning device 21, a second positioning device 22, a third positioning device 23, a processor 3, a display device 4, an AR head-mounted device 41, a device shell 411, a display part 412, a buckle part 413, a mounting device 414, a clamping part 415, a male buckle 416, a female buckle 417, a left lens 418, a connecting beam 419, a threaded rod 4191, a threaded barrel 4192, a fixed rod 4193, a right lens 420, a clamping part 421, a rubber part 422, a human body sensing device 424, a sound instruction input device, a controller 426, a wireless communication device 427, a power supply 428, a loudspeaker 429 and a scene switching key 430.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.
An augmented reality technology-based bone tumor surgery assistance system 100 according to an embodiment of the present invention will be described with reference to fig. 1 to 5.
Fig. 1 is a schematic structural diagram of an auxiliary system 100 for bone tumor surgery based on augmented reality technology according to an embodiment of the present invention; as shown in fig. 1, an embodiment of the present invention provides a bone tumor surgery auxiliary system 100 based on augmented reality technology, including: the system comprises a data acquisition device 1, a positioning device 2, a processor 3 and a display device 4; the processor 3 is electrically connected with the data acquisition device 1, the positioning device 2 and the display equipment 4; wherein the content of the first and second substances,
the data acquisition unit 1 is used for acquiring information of a preoperative patient and generating a three-dimensional model of the patient in a first coordinate system according to the acquired information of the patient;
the positioning device 2 comprises: a first positioning device 21, disposed at a surgical site of a patient, for acquiring first positioning information of the surgical site in a second coordinate system; a second positioning means 22, provided on an endoscopic device implanted in a surgical site of a patient, for acquiring second positioning information of the endoscopic device in a second coordinate system; a third positioning device 23, which is arranged on a surgical tool implanted in a surgical site of a patient, and is configured to acquire third positioning information of the surgical tool in a second coordinate system;
the processor 3 is configured to calculate a transformation matrix of the first coordinate system and the second coordinate system, so as to implement transformation of the two coordinate systems, and control the display device 4 to display the three-dimensional model, the first positioning information, the second positioning information, and the third positioning information after the registration.
The working principle and the beneficial effects of the technical scheme are as follows: according to the utility model provides a bone tumour operation auxiliary system 100 based on augmented reality technique, patient's three-dimensional model under the patient information generation first coordinate system according to the collection, the first locating information of operation position under the second coordinate system is acquireed through positioner 2, endoscope equipment's second locating information, the third locating information of operation instrument, change first coordinate system and second coordinate system through treater 3, three-dimensional model after registering through display device 4, first locating information, second locating information, the display of third locating information comes out, positioner 2 is the optical positioning device.
And converting the first coordinate system and the second coordinate system into coordinate systems, wherein any point of the operation part under the second coordinate system can find a characteristic matching point in the three-dimensional model of the patient under the first coordinate system when the operation is performed, so that the registration of the actual position of the operation part in the operation and the three-dimensional model established before the operation is realized, and the operation can be accurately guided.
The beneficial effects of the above technical scheme are that: the bone tumor surgery auxiliary system 100 based on the augmented reality technology is simple in positioning, can clearly display position information of devices such as a surgery part and an endoscope and position information of surgical tools, and is beneficial to bone tumor surgery.
Fig. 2 is a schematic structural diagram of an auxiliary system for bone tumor surgery based on augmented reality technology according to another embodiment of the present invention; as shown in fig. 2, the data collector 1 includes:
an imaging device 11 for taking a tumor image of a bone or a bone accessory tissue of a patient;
the image registration device 12 is connected with the camera device and is used for carrying out three-dimensional medical image registration on the acquired tumor images in different modes and the acquired tumor images in different stages in a single mode;
and the three-dimensional modeling device 13 is connected with the image registration device and is used for establishing a three-dimensional model of the patient according to the registered three-dimensional medical image.
The working principle of the technical scheme is as follows: the tumor image of the bone or the bone accessory tissue is shot by the camera device 11, the three-dimensional medical image after the three-dimensional medical image registration is obtained according to the tumor image, and the three-dimensional model of the patient is established, so that the fusion display with the information acquired by the patient in real time is facilitated, the display is clearer, and the design and the selection of the operation scheme are facilitated.
The single mode means that the registered images come from the same equipment, and the different modes means that the registered images come from multiple equipment; for example, the single mode may be a single imaging mode, such as CT imaging, which is difficult to accurately reflect the actual condition of bone tumor, and the tumor images in different modes and the tumor images in different stages of the single mode need to be combined to perform three-dimensional medical registration, so that the result after registration is more accurate, and the reconstruction of the three-dimensional model is facilitated.
According to some embodiments of the present invention, the imaging device 11 comprises a computed tomography apparatus and/or a magnetic resonance imaging apparatus.
The working principle and the beneficial effects of the technical scheme are as follows: the bone tumor of the patient is shot through various medical equipment, so that more comprehensive disease information of the patient can be obtained.
According to some embodiments of the invention, the display device 4 comprises a liquid crystal display and/or an AR headset 41.
Fig. 3 is a schematic structural diagram of an AR headset 41 of an augmented reality technology-based bone tumor surgery assistance system 100 according to an embodiment of the present invention; as shown in fig. 3, the AR headset 41 includes a device housing 411, a display portion 412, and a buckle portion 413; mounting devices 414 are symmetrically arranged on the left side and the right side of the equipment shell, clamping portions 415 are mounted between the mounting devices 414, the clamping portions 415 are connected with the mounting devices 414 through bolts, fixing nuts are connected to the outer sides of the bolts, the fixing nuts abut against one side of the mounting devices 414, and the side walls of the clamping portions 415 are connected with the fastening belt portions 413;
a male buckle 416 and a female buckle 417 are respectively installed at one end of the buckle part 413 away from the installation device 414; the male buckle 416 is connected with the female buckle 417 in a matching manner;
the display portion 412 is embedded inside the device case 411.
In the above technical solution, the fastening portion 413 is connected to the side wall of the locking portion 415, and the locking portion 415 is fixedly disposed on the bolt passing through the mounting device 414 and the fixing nut, so as to prevent the fastening portion 413 from falling off; the buckle part 413 realizes the wearing of the medical staff to the AR headset 41 through the buckling of the male buckle 416 and the female buckle 417 through the male buckle 416 and the female buckle 417 far away from one end of the mounting device 414, avoids the sliding of the AR headset 41 in the operation process, and facilitates the wearing of the medical staff.
AR head-mounted apparatus 41 can be worn conveniently, does not block the real view, does not influence the normal action of the human body, and has the functions of voice communication and video recording on the video screen while the augmented reality display is performed. Illustratively, an operator wears the AR headset 41 to view the three-dimensional model, the first positioning information, the second positioning information, and the third positioning information of the patient registered by the processor 3, and can perform a conventional surgical operation without changing the viewing angle, thereby avoiding that in the prior art, the viewing angle is changed while the operator performs the surgical operation, such as looking up at the scene displayed in the operation by a liquid crystal display, and meanwhile, the image displayed by the AR headset 41 can be live-broadcast or remotely transmitted, such as transmitting the operation image to a remotely-connected surgical expert in real time, and the surgical expert can provide real-time surgical guidance or advice for the operator in an online voice manner. The AR headset 41 may also record video of the entire procedure for use in surgical risk analysis or training for future interns.
Fig. 4 is a cross-sectional view of a connecting beam 419 according to an embodiment of the present invention; as shown in fig. 4, the display portion 412 includes a left lens 418, a connecting beam 419, and a right lens 420; the left lens 418 and the right lens 420 are symmetrically arranged on the device housing 411, and the left lens 418 is connected with the right lens 420 through the connecting beam 419; the connecting beam 419 comprises a threaded rod 4191, a threaded cylinder 4192 and a fixing rod 4193; the threaded rod 4191 is provided with an external thread, the threaded barrel 4192 is provided with an internal thread, one end of the threaded barrel 4192 is in threaded connection with the threaded rod 4191, the other end of the threaded barrel 4192 is fixedly connected with the fixed rod 4193 through a clamping portion 421, and the fixed rod 4193 is sleeved on one end of the threaded barrel 4192 and is further provided with a rubber portion 422.
The working principle and the beneficial effects of the technical scheme are as follows: when it is desired to shorten the axial length of the connecting beam 419, the threaded barrel 4192 is rotated clockwise to move the threaded rod 4191 relative to the threaded barrel 4192, increasing the length of the threaded rod 4191 within the threaded barrel 4192. When the threaded barrel 4192 is rotated and fixed, which means that the connecting beam 419 is at the shortest length, the rubber part 422 is arranged to reduce the impact force, protect the threaded rod 4191 and the fixing rod 4193, and prolong the service life of the threaded rod 4191 and the fixing rod 4193. When it is desired to increase the axial length of the connecting beam 419, the threaded barrel 4192 is rotated counterclockwise to move the threaded rod 4191 relative to the threaded barrel 4192, reducing the length of the threaded rod 4191 in the threaded barrel 4192. The setting through this tie-beam 419 makes the user can adjust the interval between left lens 418 and the right lens 420 according to the demand of oneself, and simple structure makes AR head-mounted apparatus 41 application scope wider, satisfies the user demand, improves user experience.
In one embodiment, a sweat pad is further disposed on the device housing 411; the sweat pad is detachably connected to the device housing 411.
The sweat absorbing pad in the technical scheme realizes the sweat absorbing function of the AR head-mounted device 41, and avoids the phenomenon that the sweat absorbing function affects the normal operation of bone tumor operations due to the fact that the operation time of the bone tumor operations is too long and the medical staff performing the operations sweats.
Fig. 5 is a block diagram of an AR headset 41 according to an embodiment of the invention; as shown in fig. 5, the AR headset 41 further includes a body sensing device 424, a voice command input device 425, a controller 426, a wireless communication device 427, a power source 428, and a speaker 429; wherein the content of the first and second substances,
the power supply 428 is electrically connected with the human body sensing device 424, the voice command input device 425, the controller 426, the wireless communication device 427 and the speaker 429;
the human body sensing device 424 is connected with the controller 426 through the voice command input device 425, and the controller 426 is further connected with the wireless communication device 427 and the loudspeaker 429;
the controller 426 is configured to receive the human body sensing signal sent by the human body sensing device 424 and the voice command sent by the voice command input device 425, and control the speaker 429 to output a voice; and also for communicating with external devices through the wireless communication device 427.
The working principle of the technical scheme is as follows: the body sensing device 424 includes an infrared sensor for detecting a body sensing signal, has high sensitivity, detects a body sensing signal, indicates that the user is using the AR headset 41, and the voice command input device 425 includes a voice recognition device for inputting a voice command, and sends the voice command to the controller 426, and the controller 426 controls the speaker 429 to output a voice, is suitable for use in training medical students, and is advantageous for the medical students to learn the knowledge of the operation. Meanwhile, the controller 426 also communicates with external devices through the wireless communication device 427, which is beneficial for the operator to communicate with others in time during the operation and for the design and selection of the operation scheme.
According to some embodiments of the utility model, still be equipped with scene on the equipment casing 411 and switch button 430, with controller 426 connects for switch virtual reality scene and real scene.
The working principle and the beneficial effects of the technical scheme are as follows: for example, the AR headset 41 is displaying a virtual reality scene, and the controller 426 controls to display a real scene when receiving the instruction signal of the scene switching key 430, so as to meet the user's requirement and improve the user experience.
According to some embodiments of the present invention, the processor 3 is connected to the display device 4 by using one or more of a GSM communication chip, a 5G communication chip, and an NB-loT chip.
The above technical solution realizes data transmission between the processor 3 and the AR headset 41 through a plurality of communication methods.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description. And are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.
Claims (10)
1. An augmented reality technology-based bone tumor surgery assistance system, comprising: the device comprises a data acquisition unit, a positioning device, a processor and display equipment; the processor is electrically connected with the data acquisition device, the positioning device and the display equipment; wherein the content of the first and second substances,
the data acquisition unit is used for acquiring information of a preoperative patient and generating a three-dimensional model of the patient in a first coordinate system according to the acquired patient information;
the positioning device includes:
the first positioning device is arranged at the operation position of a patient and used for acquiring first positioning information of the operation position under a second coordinate system;
the second positioning device is arranged on the endoscope equipment implanted in the surgical site of the patient and used for acquiring second positioning information of the endoscope equipment under a second coordinate system;
the third positioning device is arranged on a surgical tool implanted into a surgical site of a patient and used for acquiring third positioning information of the surgical tool in a second coordinate system;
the processor is configured to calculate a transformation matrix of the first coordinate system and the second coordinate system, so as to implement transformation of the two coordinate systems, and control the display device to display the three-dimensional model, the first positioning information, the second positioning information, and the third positioning information after the three-dimensional model, the first positioning information, the second positioning information, and the third positioning information are registered.
2. The bone tumor surgery assistance system based on augmented reality technology of claim 1, wherein the data collector comprises:
the imaging device is used for shooting a tumor image of the bone or the bone accessory tissue of the patient;
the image registration device is connected with the camera device and is used for carrying out three-dimensional medical image registration on the acquired tumor images in different modes and the acquired tumor images in different stages in a single mode;
and the three-dimensional modeling device is connected with the image registration device and used for establishing a three-dimensional model of the patient according to the registered three-dimensional medical image.
3. The augmented reality technology-based bone tumor surgery assistance system of claim 2, wherein the imaging device comprises a computed tomography device and/or a magnetic resonance imaging device.
4. The augmented reality technology-based bone tumor surgery assistance system of claim 1 wherein the display device comprises a liquid crystal display and/or an AR headset.
5. The bone tumor surgery assistance system based on augmented reality technology of claim 4,
the AR head-mounted equipment comprises an equipment shell, a display part and a buckle part; wherein the content of the first and second substances,
the left side and the right side of the equipment shell are symmetrically provided with mounting devices,
a clamping part is arranged between the mounting devices,
the clamping part is connected with the mounting device through a bolt, the outer side of the bolt is connected with a fixed nut,
the fixing nut is abutted against one side of the mounting device, and the side wall of the clamping part is connected with the buckle part;
a male buckle and a female buckle are respectively arranged at one end of the buckle part far away from the mounting device; the male buckle is connected with the female buckle in a matching manner;
the display portion is embedded inside the device case.
6. The bone tumor surgery assistance system based on augmented reality technology of claim 5,
the display part comprises a left lens, a connecting beam and a right lens;
the left lens and the right lens are symmetrically arranged on the equipment shell, and the left lens is connected with the right lens through the connecting beam;
the connecting beam comprises a threaded rod, a threaded cylinder and a fixing rod;
the threaded rod is provided with external threads, the threaded barrel is provided with internal threads, one end of the threaded barrel is in threaded connection with the threaded rod, the other end of the threaded barrel is fixedly connected with the fixed rod through a clamping portion, and the fixed rod is sleeved at one end of the threaded barrel and is further provided with a rubber portion.
7. The augmented reality technology-based bone tumor surgery assistance system of claim 6, wherein a sweat absorbing pad is further provided on the device housing; the sweat absorbing pad is detachably connected with the equipment shell.
8. The augmented reality technology-based bone tumor surgery assistance system of claim 7, wherein the AR headset further comprises a human body sensing device, a voice command input device, a controller, a wireless communication device, a power supply and a speaker; wherein the content of the first and second substances,
the power supply is electrically connected with the human body induction device, the sound instruction input device, the controller, the wireless communication device and the loudspeaker;
the human body induction device is connected with the controller through the sound instruction input device, and the controller is also connected with the wireless communication device and the loudspeaker;
the controller is used for receiving the human body induction signal sent by the human body induction device and the sound instruction sent by the sound instruction input device and controlling the loudspeaker to output sound; and the wireless communication device is also used for communicating with external equipment.
9. The bone tumor surgery assistance system based on augmented reality technology of claim 8, wherein a scene switching button is further provided on the device housing, and is connected to the controller, for switching between a virtual reality scene and a real scene.
10. The bone tumor surgery assistance system based on augmented reality technology of claim 1, wherein the processor is connected with the display device by one or more of a GSM communication chip, a 5G communication chip and an NB-loT chip.
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| CN113229941A (en) * | 2021-03-08 | 2021-08-10 | 上海交通大学 | Interventional robot contactless teleoperation system based on augmented reality and calibration method |
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