Medical projection device and medical projection method

Abstract

The present application provides a medical projection device and a medical projection method, the device includes a structural frame, a depth camera, an industrial computer and a projection module, the depth camera is installed on the structural frame, and is used to shoot the patient's body position to obtain the body position three-dimensional coordinate data; the industrial computer has a 3D model of the patient pre-stored, and the industrial computer is used to perform layer cutting on the 3D model according to the body position three-dimensional coordinate data and generate a layer cutting model; the projection module is installed on the structural frame, and is used to project the layer cutting map to the patient according to the layer cutting model. The medical projection device does not require marker registration, and can intuitively perform surgical line drawing according to the projection, effectively speeding up the surgical process.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and in particular, to a medical projection device and a medical projection method. Background Art

[0002] When performing a surgical operation, the doctor needs to design the incision according to the location of the patient's lesion. In the field of neurosurgery, there are currently two methods: one is direct visual measurement: the doctor designs the surgical incision based on the patient's CT (Computed Tomography) / MRI (Magnetic Resonance Imaging) and other medical imaging results, combined with reference to the surface anatomical structures such as the eyes, ears, parietal tuberosity, and occipital protuberance, directly visually or with simple tools such as a tape measure; the second is to use a surgical navigator: there are neurosurgery navigators on the market, which register the patient's real-world position with the CT / MRI image through the infrared positioning principle and special reflective elements, so as to design the surgical incision. The accuracy of the first method is affected by many factors, and there is a large error between the designed incision and the actual lesion location. The first method cannot intuitively correspond the imaging results to the patient's actual position, and errors are prone to occur during use, affecting the accuracy of the operation. In addition, the registration time is long, which increases the operation time process and anesthesia risks. The navigation system is expensive and cannot be promoted on a large scale in hospitals at all levels. A hospital often has only one navigation system, which cannot meet clinical needs. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a medical projection device and a medical projection method. The medical projection device does not require marking and registration, and can intuitively perform surgical markings based on the projection, thereby effectively speeding up the surgical process.

[0004] An embodiment of the present application provides a medical projection device, which includes a structural frame, a depth camera, an industrial computer and a projection module. The depth camera is installed on the structural frame and is used to capture the patient's body position to obtain three-dimensional coordinate data of the body position; the industrial computer pre-stores a 3D model of the patient, and the industrial computer is used to perform layer cutting on the 3D model according to the three-dimensional coordinate data of the body position and generate a layer cutting model; the projection module is installed on the structural frame and is used to project a layer cutting image onto the patient according to the layer cutting model.

[0005] In the above implementation process, before the operation, the doctor fixes the patient on the operating table and starts the medical projection device. First, the depth camera captures the patient's body position to obtain the patient's three-dimensional body position coordinate data. Then the depth camera transmits the captured three-dimensional body position coordinate data to the industrial computer. The industrial computer performs layer cutting on the pre-stored 3D model of the patient according to the three-dimensional body position coordinate data and generates a corresponding layer cutting model. Finally, the projection module projects the layer cutting image to the patient according to the layer cutting model. The whole process does not require marking and registration, and has a simple structure and low cost, which can effectively speed up the operation process.

[0006] In a possible implementation, the structural frame includes a three-dimensional mobile device, and the depth camera is installed on the three-dimensional mobile device; the industrial computer is also used to control the three-dimensional mobile device to move the depth camera to a clear shooting range.

[0007] In the above implementation process, since the depth camera has the above characteristics, a three-dimensional mobile device is set up and the three-dimensional mobile device is intelligently controlled by an industrial computer to move the depth camera within a clear shooting range to clearly identify the patient's three-dimensional contour and improve the accuracy of the three-dimensional coordinate data of the body position.

[0008] In a possible implementation, the medical projection device also includes an imaging module, which is arranged on the three-dimensional mobile device and is used to capture a patient orientation map; the depth camera is also used to collect relative position information between the depth camera and the patient, and the industrial computer controls the three-dimensional mobile device to move the depth camera to a clear shooting range according to the patient orientation map and the relative position information.

[0009] In the above implementation process, before the operation, the medical projection device is installed at a suitable position near the patient, and then the imaging module is turned on. The patient's orientation map is captured by the imaging module. The rough orientation between the imaging module and the patient's surgical site can be determined from the orientation map. For example, the patient may be in the upper left corner, upper right corner, lower right corner, lower left corner, etc. of the patient's orientation map. The industrial computer controls the three-dimensional mobile device to move the patient to the middle position of the depth camera screen according to the orientation map. After that, the depth camera collects the relative position information between the depth camera and the patient. The industrial computer controls the three-dimensional mobile device to move the depth camera to a clear shooting range according to the patient's orientation map and the relative position information.

[0010] In a possible implementation, the imaging module is also used to record video during surgery.

[0011] In the above implementation process, an imaging module is set to record the operation and keep a record of the operation process, which can facilitate subsequent training and learning and promote medical development.

[0012] In a possible implementation, the projection module is mounted on the three-dimensional mobile device; the industrial computer is also used to control the three-dimensional mobile device to move the projection module to a clear projection range according to the three-dimensional coordinate data of the body position.

[0013] In the above implementation process, the projection module is also arranged on the three-dimensional moving device, and the projection module is moved into the clear projection range through the intelligent control of the industrial computer.

[0014] An embodiment of the present application also provides a medical projection method, which is used for a medical projection device, wherein the medical projection device includes a structural frame, an industrial computer, a depth camera installed on the structural frame, and a projection module, wherein a 3D model of the patient is pre-stored in the industrial computer, and the method includes: photographing the patient's body position by the depth camera to obtain body position three-dimensional coordinate data; performing layer cutting on the 3D model and generating a layer cutting model according to the body position three-dimensional coordinate data by the industrial computer; and projecting the layer cutting image onto the patient according to the layer cutting model by the projection module.

[0015] In the above implementation process, before the operation, the patient's body position is first photographed by a depth camera to obtain the patient's body position three-dimensional coordinate data, and the photographed body position three-dimensional coordinate data is transmitted to the industrial computer. The industrial computer performs layer cutting on the pre-stored patient 3D model according to the body position three-dimensional coordinate data and generates a corresponding layer cutting model. Finally, the projection module projects the layer cutting map to the patient according to the layer cutting model. The whole process does not require marking and registration, and has a simple structure and low cost, which can effectively speed up the operation process.

[0016] In one possible implementation, the structural frame includes a three-dimensional mobile device, and the depth camera is installed on the three-dimensional mobile device. Before photographing the patient's body position by the depth camera to obtain the three-dimensional coordinate data of the body position, the method also includes: controlling the three-dimensional mobile device by the industrial computer to move the depth camera to a clear shooting range.

[0017] In the above implementation process, since the depth camera has the above characteristics, the depth camera is moved within the clear shooting range through a three-dimensional mobile device and in cooperation with the industrial computer to intelligently control the three-dimensional mobile device, so as to clearly identify the three-dimensional contour of the patient and improve the accuracy of the three-dimensional coordinate data of the body position.

[0018] In a possible implementation, the medical projection device also includes an imaging module arranged on the three-dimensional mobile device, the imaging module is used to capture a patient orientation map, the depth camera is also used to collect relative position information between the depth camera and the patient, and controlling the three-dimensional mobile device by the industrial computer to move the depth camera to a clear shooting range specifically includes: controlling the three-dimensional mobile device by the industrial computer according to the patient orientation map and the relative position information to move the depth camera to a clear shooting range.

[0019] In the above implementation process, before the operation, the medical projection device is installed at a suitable position near the patient, and then the imaging module is turned on to capture the patient's orientation map. At this time, the patient may be in the upper left corner, lower right corner, etc. of the patient's orientation map. The industrial computer controls the three-dimensional mobile device according to the orientation map to move the patient to the middle position of the depth camera screen. At this time, the depth camera is turned on to collect the relative position information between the depth camera and the patient. The industrial computer controls the three-dimensional mobile device according to the patient's orientation map and the relative position information to move the depth camera to a clear shooting range.

[0020] In a possible implementation, the projection module is installed on the three-dimensional mobile device. After the industrial computer performs layer cutting on the 3D model and generates a layer cutting model according to the body position three-dimensional coordinate data, and before the projection module projects the layer cutting image to the patient according to the layer cutting model, the method also includes: controlling the three-dimensional mobile device by the industrial computer according to the body position three-dimensional coordinate data to move the projection module to a clear projection range.

[0021] In the above implementation process, the projection module is also arranged on the three-dimensional moving device, and the projection module is moved into the clear projection range through the intelligent control of the industrial computer.

[0022] In a possible implementation, the medical projection method further includes identifying the incision depth during surgery by the depth camera; obtaining incision information by fitting the 3D model according to the incision depth by the industrial computer; and projecting the incision information to the patient according to the incision information by the projection module.

[0023] In the above implementation process, the depth camera, industrial computer and projection module can be used to monitor the entire operation process, assist the doctor to confirm the clear situation of the lesion, effectively speed up the operation process and improve the operation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A structural diagram of a medical projection device provided in an embodiment of the present application;

[0026] Figure 2 A diagram of the installation structure of a projection module and an imaging module provided in an embodiment of the present application;

[0027] Figure 3 A flowchart of a medical projection method provided in an embodiment of the present application.

[0028] Icon: 100-structure frame; 200-depth camera; 300-industrial computer; 400-projection module; 500-three-dimensional mobile device; 600-imaging module; 700-lighting device. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0030] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0031] Please refer to Figure 1 The embodiment of the present application provides a medical projection device, which includes a structural frame 100, a depth camera 200, an industrial computer 300 and a projection module 400. The depth camera 200 is installed on the structural frame 100, and is used to shoot the patient's body position to obtain three-dimensional coordinate data of the body position; the industrial computer 300 pre-stores a 3D model of the patient, and the industrial computer 300 is used to perform layer cutting on the 3D model according to the three-dimensional coordinate data of the body position and generate a layer cutting model; the projection module 400 is installed on the structural frame 100, and is used to project a layer cutting image to the patient according to the layer cutting model.

[0032] In the above implementation process, before the operation, the doctor fixes the patient on the operating table and starts the medical projection device. First, the depth camera 200 captures the patient's body position to obtain the patient's body position three-dimensional coordinate data. Then, the depth camera 200 transmits the captured body position three-dimensional coordinate data to the industrial computer 300. The industrial computer 300 performs layer cutting on the pre-stored 3D model of the patient according to the body position three-dimensional coordinate data and generates a corresponding layer cutting model. Finally, the projection module 400 projects the layer cutting image to the patient according to the layer cutting model. The whole process does not require marking and registration, and has a simple structure and low cost, which can effectively speed up the operation process.

[0033] It should be noted that the above-mentioned 3D model of the patient is modeled based on the CT / MRT image file of the patient in the medical system.

[0034] It should be noted that the industrial computer 300 is communicatively connected with the depth camera 200 and the projection module 400 . Since the industrial computer 300 is large in size and heavy in weight, the industrial computer 300 can be placed alone on the ground or on a workbench when in use.

[0035] The depth camera 200 using a fixed-focus lens has the following characteristics: when the distance between the depth camera 200 and the patient is too close, the depth camera 200 cannot recognize the three-dimensional contour of the patient. When the distance between the depth camera 200 and the patient is too far, the depth camera 200 has poor accuracy and cannot fit the optimal position. Combining the functional requirements of the front and back sections, for example, the distance between the depth camera 200 and the patient is within the range of 0.6-1.1m to meet the shooting requirements of the depth camera 200, that is, 0.6-1.1m is the clear shooting range of the depth camera 200.

[0036] In a possible implementation, the structural frame 100 includes a 3D mobile device 500, and the depth camera 200 is installed on the 3D mobile device 500; the industrial computer 300 is also used to control the 3D mobile device 500 to move the depth camera 200 to a clear shooting range.

[0037] In the above implementation process, since the depth camera 200 has the above characteristics, a three-dimensional mobile device 500 is set up and the three-dimensional mobile device 500 is intelligently controlled by the industrial computer 300 to move the depth camera 200 to a clear shooting range, so as to clearly identify the three-dimensional contour of the patient and improve the accuracy of the three-dimensional coordinate data of the body position.

[0038] In one possible implementation, see Figure 2The above-mentioned medical projection device also includes an imaging module 600, which is arranged on the three-dimensional mobile device 500 and is used to shoot a patient orientation map; the depth camera 200 is also used to collect relative position information between the depth camera 200 and the patient. The industrial computer 300 controls the three-dimensional mobile device 500 to move the depth camera 200 to a clear shooting range according to the patient orientation map and the relative position information.

[0039] In the above implementation process, before the operation, the medical projection device is installed at a suitable position near the patient, and then the imaging module 600 is turned on. The patient's orientation map is photographed by the imaging module 600. The rough orientation between the imaging module 600 and the patient's surgical site can be determined from the orientation map. For example, the patient may be in the upper left corner, upper right corner, lower right corner, lower left corner, etc. of the patient's orientation map. The industrial computer 300 controls the three-dimensional mobile device 500 to move the patient to the middle position of the depth camera 200 screen according to the orientation map. After that, the depth camera 200 collects the relative position information between the depth camera 200 and the patient. The industrial computer 300 controls the three-dimensional mobile device 500 to move the depth camera 200 to a clear shooting range according to the patient's orientation map and the relative position information.

[0040] In one possible implementation, the imaging module 600 is also used to record video during surgery.

[0041] In the above implementation process, the imaging module 600 is set to record the operation and keep a record of the operation process, which can facilitate subsequent training and learning and promote medical development.

[0042] The projection module 400 using a fixed-focus lens also has the same characteristics as the depth camera 200. If the projection module 400 is too close or too far away from the patient, the best projection effect cannot be achieved.

[0043] In a possible implementation, the projection module is installed on the three-dimensional mobile device 500; the industrial computer 300 is also used to control the three-dimensional mobile device 500 to move the projection module to a clear projection range according to the three-dimensional coordinate data of the body position.

[0044] In the above implementation process, the projection module is also set on the three-dimensional moving device 500, and the projection module is moved into the clear projection range through the intelligent control of the industrial computer 300.

[0045] Specifically, the depth camera 200 transmits the obtained three-dimensional coordinate data of the body position to the industrial computer 300. The industrial computer 300 fits the three-dimensional coordinate data of the body position with the 3D model, and then determines the position coordinates of the 3D model and the deflection angle of the patient at this time, and performs layer cutting and displacement calculation on the 3D model according to the deflection angle to obtain the layer cutting model and displacement information. After that, the industrial computer 300 sends the layer cutting model to the projection module 400, and sends the displacement information to the three-dimensional mobile device 500. The three-dimensional mobile device 500 moves the projection module to the clear projection range according to the displacement information.

[0046] It should be noted that the deflection angle: during the operation, due to the diversity of tumors, the patient's head will be clamped and fixed in different positions, and the clamping angle will also be determined according to the doctor's pre-conceived surgical position; the depth camera 200 will identify the patient's specific position information and azimuth information at this time to provide the industrial computer 300 with position information, so the deflection angle is also called the azimuth angle.

[0047] Specifically, the projection module 400 and the imaging module 600 are coaxial optical paths. Figure 2 shown.

[0048] In some possible embodiments, the depth camera 200 and the projection module 400 both use a zoom lens, which can automatically adjust the focal length within a certain range to obtain a clear image.

[0049] In some embodiments, the medical projection device further includes a lighting device 700 , which is installed on the structural frame 100 and is used for intraoperative lighting.

[0050] The present application also provides a medical projection method, which is used for a medical projection device, the medical projection device comprising a structure frame 100, an industrial computer 300, a depth camera 200 and a projection module 400 mounted on the structure frame 100, the industrial computer 300 pre-stores a 3D model of a patient, such as Figure 3 As shown, the method includes:

[0051] Step 810: photographing the patient's body position by the depth camera 200 to obtain body position three-dimensional coordinate data;

[0052] Step 820: Performing layer cutting on the 3D model according to the three-dimensional coordinate data of the body position by the industrial computer 300 and generating a layer cutting model;

[0053] Step 830: Projecting the slice image onto the patient according to the slice model through the projection module.

[0054] In the above implementation process, before the operation, the patient's body position is first photographed by the depth camera 200 to obtain the patient's body position three-dimensional coordinate data, and the photographed body position three-dimensional coordinate data is transmitted to the industrial computer 300. The industrial computer 300 performs layer cutting on the pre-stored patient 3D model according to the body position three-dimensional coordinate data and generates a corresponding layer cutting model. Finally, the projection module 400 projects the layer cutting map to the patient according to the layer cutting model. The whole process does not require marking and registration, and has a simple structure and low cost, which can effectively speed up the operation process.

[0055] It should be noted that the above-mentioned 3D model of the patient is modeled based on the CT / MRT image file of the patient in the medical system.

[0056] The depth camera 200 using a fixed-focus lens has the following characteristics: when the distance between the depth camera 200 and the patient is too close, the depth camera 200 cannot recognize the three-dimensional contour of the patient. When the distance between the depth camera 200 and the patient is too far, the depth camera 200 has poor accuracy and cannot fit the optimal position. Combining the functional requirements of the front and back sections, for example, the distance between the depth camera 200 and the patient is within the range of 0.6-1.1m to meet the shooting requirements of the depth camera 200, that is, 0.6-1.1m is the clear shooting range of the depth camera 200.

[0057] In one possible implementation, the structural frame 100 includes a three-dimensional mobile device 500, and the depth camera 200 is installed on the three-dimensional mobile device 500. Before photographing the patient's body position by the depth camera 200 to obtain the three-dimensional coordinate data of the body position, the method also includes: controlling the three-dimensional mobile device 500 by the industrial computer 300 to move the depth camera 200 to a clear shooting range.

[0058] In the above implementation process, since the depth camera 200 has the above characteristics, the three-dimensional mobile device 500 is used in conjunction with the industrial computer 300 to intelligently control the three-dimensional mobile device 500 to move the depth camera 200 into a clear shooting range to clearly identify the patient's three-dimensional contour and improve the accuracy of the three-dimensional coordinate data of the body position.

[0059] In a possible implementation, the medical projection device also includes an imaging module 600 arranged on the three-dimensional mobile device 500, the imaging module 600 is used to capture the patient's orientation map, and the depth camera 200 is also used to collect relative position information between the depth camera 200 and the patient. The three-dimensional mobile device 500 is controlled by the industrial computer 300 to move the depth camera 200 to a clear shooting range, specifically including: controlling the three-dimensional mobile device 500 to move the depth camera 200 to a clear shooting range according to the patient's orientation map and the relative position information by the industrial computer 300.

[0060] In the above implementation process, before the operation, the medical projection device is installed at a suitable position near the patient, and then the imaging module 600 is turned on. The patient's orientation map is captured by the imaging module 600. At this time, the patient may be in the upper left corner, lower right corner, etc. of the patient's orientation map. The industrial computer 300 controls the three-dimensional mobile device 500 to move the patient to the middle position of the depth camera 200 screen according to the orientation map. At this time, the depth camera 200 is turned on to collect the relative position information between the depth camera 200 and the patient. The industrial computer 300 controls the three-dimensional mobile device 500 to move the depth camera 200 to a clear shooting range according to the patient's orientation map and the relative position information.

[0061] The projection module 400 also has the same characteristics as the depth camera 200. If the projection module 400 is too close or too far away from the patient, the best projection effect cannot be achieved.

[0062] In a possible implementation, the projection module is installed on the three-dimensional mobile device 500. After the industrial computer 300 performs layer cutting on the 3D model and generates a layer cutting model according to the three-dimensional coordinate data of the body position, before the projection module projects the layer cutting image to the patient according to the layer cutting model, the method further includes: controlling the three-dimensional mobile device 500 to move the projection module to a clear projection range according to the three-dimensional coordinate data of the body position by the industrial computer 300. In the above implementation process, the projection module is also set on the three-dimensional mobile device 500, and the projection module is moved to a clear projection range through the intelligent control of the industrial computer 300.

[0063] Specifically, the depth camera 200 transmits the obtained three-dimensional coordinate data of the body position to the industrial computer 300. The industrial computer 300 fits the three-dimensional coordinate data of the body position with the 3D model, and then determines the position coordinates of the 3D model and the deflection angle of the patient at this time, and performs layer cutting and displacement calculation on the 3D model according to the deflection angle to obtain the layer cutting model and displacement information. After that, the industrial computer 300 sends the layer cutting model to the projection module 400, and sends the displacement information to the three-dimensional mobile device 500. The three-dimensional mobile device 500 moves the projection module to the clear projection range according to the displacement information.

[0064] In a possible implementation, the medical projection method further includes identifying the incision depth during surgery by using the depth camera 200; obtaining surgery information by fitting the 3D model according to the incision depth by using the industrial computer 300; and projecting the surgery information to the patient according to the incision information by using the projection module.

[0065] In the above implementation process, the depth camera 200, the industrial computer 300 and the projection module 400 can be used to monitor the entire operation process, assist the doctor in confirming the clearness of the lesion, effectively speed up the operation process and improve the operation effect.

[0066] It should be noted that the above-mentioned surgical information includes but is not limited to intracranial information or warning lines of dangerous parts.

[0067] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0068] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0069] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A medical projection device, characterized in that: include: Structural frame; A depth camera, mounted on the structural frame, for photographing the patient's body position to obtain three-dimensional coordinate data of the body position; An industrial computer, wherein the 3D model of the patient is pre-stored in the industrial computer, and the industrial computer is used to perform layer cutting on the 3D model according to the three-dimensional coordinate data of the body position and generate a layer cutting model; A projection module, mounted on the structural frame, for projecting a slice image onto the patient according to the slice model; Wherein, the depth of the incision during surgery is identified by the depth camera; The industrial computer performs fitting according to the cutting depth and the 3D model to obtain cutting information; The projection module projects the surgical information to the patient according to the surgical information.

2. The medical projection device according to claim 1, characterized in that: The structural frame includes a three-dimensional mobile device, and the depth camera is installed on the three-dimensional mobile device; The industrial computer is also used to control the three-dimensional moving device to move the depth camera to a clear shooting range.

3. The medical projection device according to claim 2, characterized in that: It also includes an imaging module, which is arranged on the three-dimensional mobile device and is used to take a patient position map; The depth camera is also used to collect relative position information between the depth camera and the patient. The industrial computer controls the three-dimensional moving device to move the depth camera to a clear shooting range according to the patient orientation map and the relative position information.

4. The medical projection device according to claim 3, characterized in that: The imaging module is also used to record video during surgery.

5. The medical projection device according to claim 2, characterized in that: The projection module is installed on the three-dimensional mobile device; The industrial computer is also used to control the three-dimensional moving device to move the projection module to a clear projection range according to the three-dimensional coordinate data of the body position.

6. A medical projection method, characterized in that: For a medical projection device, the medical projection device includes a structure frame, an industrial computer, a depth camera and a projection module installed on the structure frame, and the industrial computer has a 3D model of the patient pre-stored therein, and the method includes: Using the depth camera to photograph the patient's body position to obtain three-dimensional coordinate data of the body position; Performing layer cutting on the 3D model according to the three-dimensional coordinate data of the body position by the industrial computer and generating a layer cutting model; projecting a slice image onto the patient according to the slice model by a projection module; Wherein, the depth of the incision during surgery is identified by the depth camera; The industrial computer performs fitting according to the cutting depth and the 3D model to obtain cutting information; The projection module projects the surgical information to the patient according to the surgical information.

7. The medical projection method according to claim 6, characterized in that: The structural frame includes a three-dimensional mobile device, and the depth camera is installed on the three-dimensional mobile device. Before photographing the patient's body position by the depth camera to obtain the body position three-dimensional coordinate data, the method also includes: The industrial computer controls the three-dimensional moving device to move the depth camera to a clear shooting range.

8. The medical projection method according to claim 7, characterized in that: The medical projection device further includes an imaging module disposed on the three-dimensional mobile device, the imaging module is used to capture a patient orientation map, the depth camera is further used to collect relative position information between the depth camera and the patient, and the three-dimensional mobile device is controlled by the industrial computer to move the depth camera to a clear shooting range, specifically including: The industrial computer controls the three-dimensional moving device to move the depth camera to a clear shooting range according to the patient's orientation map and the relative position information.

9. The medical projection method according to claim 8, characterized in that: The projection module is installed on the three-dimensional mobile device. After the industrial computer performs layer cutting on the 3D model according to the three-dimensional coordinate data of the body position and generates a layer cutting model, and before the projection module projects the layer cutting image to the patient according to the layer cutting model, the method further includes: The industrial computer controls the three-dimensional moving device according to the three-dimensional coordinate data of the body position to move the projection module to a clear projection range.

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