Holographic thoracoscopy system

Abstract

The present invention discloses a holographic thoracoscopic system, which comprises: a plurality of image generating devices, which are respectively arranged at different positions of the inner wall of the chest cavity of a patient undergoing thoracoscopic surgery, each image generating device providing lighting for the chest cavity and collecting image information of the corresponding position in the chest cavity, and forming video data containing the ID of each image generating device; a positioning device, which is used to determine the position of each image generating device on the inner wall of the patient's chest cavity; a receiving and processing device, which is used to receive the video data sent by the plurality of image generating devices, and synthesize and process the plurality of video data according to the positions of the plurality of image generating devices on the inner wall of the patient's chest cavity, so as to obtain a stereoscopic image of the inside of the patient's chest cavity; and a flexible display device, which is used to be arranged on the outer wall of the chest cavity of the patient undergoing thoracoscopic surgery, and display the stereoscopic image of the chest cavity obtained after being processed by the receiving and processing device, so that the operator can perform thoracoscopic surgery through the stereoscopic image and surgical instruments.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a holographic thoracoscope system. Background Art

[0002] In recent years, with the popularization of low-dose spiral CT, the epidemiology and treatment of lung tumors have undergone major changes. More and more patients with early lung cancer have been discovered, and such patients are more suitable for minimally invasive resection. After nearly 30 years of development since 1992, thoracoscopic technology has been perfected. Its effect in treating lung cancer is comparable to that of ordinary thoracotomy, and it was written into the NCCN guidelines as early as 2006. Traditional VATS includes three-port and four-port thoracoscopic surgery. With the development of technology, single-port thoracoscopic surgery has gradually been used clinically in recent years because of its less trauma. In 2011, Spanish scholar Gonzalez first reported single-port thoracoscopic lobectomy. More and more studies have found that single-port and multi-port thoracoscopic lobectomy can be used for lung cancer resection. Compared with traditional multi-port thoracoscopic surgery, single-port thoracoscopic surgery is less invasive and has a faster recovery.

[0003] However, the laparoscopic system used in single-port thoracoscopic surgery is the same as that used in traditional multi-port thoracoscopic surgery, both of which are rod-shaped laparoscopic systems that enter through an incision. Single-port thoracoscopic surgery requires entering the laparoscopic system and multiple operating instruments through the same small incision, which can easily cause the laparoscopic system and surgical instruments to compete for the same operating incision and interfere with each other, increasing the risk and difficulty of the operation and requiring higher technical skills from the doctor. During the operation, a special laparoscope hand is required to operate the laparoscopic system. The rod-shaped laparoscopic system may increase damage to the patient during the operation and cause chronic pain. In addition, the images obtained by the laparoscopic system are transmitted to a monitor outside the operating table for display. The operator during the operation needs to look at the monitor and imagine the image on the image as the image of the surgical area inside the chest cavity to perform the operation. The operator is required to change the angle during the operation, which also increases the difficulty of the operation. Summary of the invention

[0004] In order to solve the above-mentioned problems existing in the prior art, the present invention provides a holographic thoracoscopic system, which can provide lighting for the chest cavity and collect and display surgical images during thoracoscopic surgery. It does not compete with surgical instruments for operating incisions, does not interfere with surgical instruments, and does not require a special mirror gripper. Laparoscopic surgery conforms to the original operating habits, can further reduce incision damage to patients, and is conducive to the early recovery of patients.

[0005] To achieve the above-mentioned purpose of the present invention, the present invention provides a holographic thoracoscopic system, comprising: a plurality of image generating devices, respectively arranged at different positions of the inner wall of the chest cavity of a patient undergoing thoracoscopic surgery, each image generating device providing lighting for the chest cavity and collecting image information of the corresponding position in the chest cavity, and forming video data containing the ID of each image generating device; a positioning device, used to determine the position of each image generating device on the inner wall of the patient's chest cavity; a receiving and processing device, used to receive the video data sent by the plurality of image generating devices, and synthesize and process the plurality of video data according to the positions of the plurality of image generating devices on the inner wall of the patient's chest cavity, so as to obtain a stereoscopic image of the inside of the patient's chest cavity; a flexible display device, used to be arranged on the outer wall of the chest cavity of a patient undergoing thoracoscopic surgery, and displaying the stereoscopic image of the chest cavity obtained after processing by the receiving and processing device, so that the operator can perform thoracoscopic surgery through the stereoscopic image and surgical instruments.

[0006] Among them, the image generating device includes: a base; an image acquisition and transmission component installed on the base for acquiring internal chest cavity image information; a lighting component installed on the base for providing lighting for the inside of the chest cavity; and a fixing component installed on the base for fixing the base to the inner wall of the patient's chest cavity.

[0007] Preferably, the base is also provided with a clamping structure for facilitating clamping by thoracoscopic surgical forceps.

[0008] Wherein, the fixing component is a suction cup structure or a barb structure.

[0009] Among them, the image acquisition and transmission component includes: an image acquisition element for acquiring internal chest image information; a processing module connected to the image acquisition element for converting the acquired image information into video data; and a wireless transmission module connected to the processing module for sending out video data carrying the image acquisition element ID.

[0010] Furthermore, it also includes: a power supply device, which is placed outside the patient's body and provides power to multiple image generating devices placed in the patient's chest cavity in a wireless manner.

[0011] Furthermore, it also includes: a rigid display device, used to at least display the image displayed by the flexible display device.

[0012] Furthermore, it also includes a surgical video acquisition module, which is used to at least acquire the real scene image of the thoracoscopic operating room and the surgical field image, and can be displayed through a hard display device.

[0013] Preferably, the plurality of image generating devices include at least three image generating devices.

[0014] The positioning device includes: a magnetic field generator, which is placed outside the patient's body and is used to emit electromagnetic waves; an electromagnetic wave receiving element, which is detachably mounted on a thoracoscopic surgical forceps used to clamp an image generating device and is connected to the magnetic field generator, and is used to receive the electromagnetic waves emitted by the magnetic field generator when the thoracoscopic surgical forceps deliver the clamped image generating device into the patient's chest cavity.

[0015] Alternatively, the positioning device includes a plurality of positioning sensors respectively integrated on a plurality of image generating devices.

[0016] Preferably, the flexible display device is provided with a notch matching the incision of a patient undergoing thoracoscopic surgery.

[0017] Compared with the prior art, the holographic thoracoscopy system of the present invention has the following advantages:

[0018] The holographic thoracoscopic system of the present invention can provide lighting for the chest cavity and collect and display surgical images during the operator's thoracoscopic surgery, without occupying the operating incision, thereby avoiding competing with surgical instruments for the operating incision and not interfering with surgical instruments. In addition, no special mirror gripper is required during the thoracoscopic surgery, saving manpower. The laparoscopic surgery can be performed according to the original operating habits, which is easy to operate and has a high success rate. In addition, since the operating incision is not occupied, the size of the operating incision can be further reduced, thereby reducing the incision damage to the patient, minimizing the patient's pain, and facilitating the patient's early recovery.

[0019] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic structural diagram of the holographic thoracoscope system of the present invention;

[0021] Figure 2a is a perspective view of the image generating device and the flexible display device of the present invention on the chest of a patient at a first angle;

[0022] Figure 2b is a perspective view of the image generating device and the flexible display device of the present invention on the chest of a patient from a second angle;

[0023] Figure 3 is a schematic diagram of a first structure of an image generating device of the present invention;

[0024] Figure 4 is a schematic diagram of a second structure of the image generating device of the present invention;

[0025] Figure 5 is a schematic diagram of a third structure of the image generating device of the present invention;

[0026] Figure 6is another structural schematic diagram of the barb structure in the image generating device of the present invention;

[0027] Figure 7 It is a schematic structural block diagram of the image acquisition and transmission component structure of the present invention;

[0028] Figure 8 It is a schematic structural block diagram of the image transmission and display of the present invention;

[0029] Fig. 9 It is a schematic structural block diagram of power supply of the power supply device of the present invention;

[0030] Fig.10 It is a schematic structural block diagram of a structure of the positioning device of the present invention. DETAILED DESCRIPTION

[0031] like Figure 1 As shown in FIG. 1 , it is a schematic diagram of the structure of the holographic thoracoscopic system provided by the present invention, as shown in FIG. Figure 2a , Figure 2b As shown, they are perspective views of the image generating device and the flexible display device of the present invention on the patient's chest cavity at two angles. It can be seen from the figure that the holographic thoracoscopic system of the present invention includes: multiple image generating devices 3, which are respectively placed on different parts of the inner wall of the chest cavity of the patient undergoing thoracoscopic surgery, each image generating device provides lighting for the chest cavity and collects image information of the corresponding part in the chest cavity, and forms video data containing the ID of each image generating device; a positioning device 7, which is used to determine the position of each image generating device on the inner wall of the patient's chest cavity; a receiving and processing device 4, which is used to receive the video data sent by the multiple image generating devices, and synthesize the multiple video data according to the positions of the multiple image generating devices on the inner wall of the patient's chest cavity, so as to obtain a three-dimensional image inside the patient's chest cavity; a flexible display device 2, which is placed on the outer wall of the chest cavity of the patient undergoing thoracoscopic surgery, and displays the three-dimensional image of the chest cavity obtained after processing by the receiving and processing device, so that the operator can perform thoracoscopic surgery through the three-dimensional image and surgical instruments.

[0032] Specifically, in order to solve the problem that in the process of single-port thoracoscopic surgery in the prior art, a dedicated mirror hand is required to hold the thoracoscopic system that extends from the patient's surgical operation incision into the chest cavity, and the thoracoscopic system competes with surgical instruments for the incision and interferes with the surgical instruments to affect the efficiency of the operation, the present invention pre-places multiple image generating devices 3 inside the patient's chest cavity before using surgical instruments to perform surgical operations, and uses multiple image generating devices to provide lighting for surgical operations, collect image information inside the chest cavity, generate video data with the ID of each image generating device, and then send these video data to the receiving and processing device 4 located outside the patient's body. The receiving and processing device 4 synthesizes and processes the video data sent by the multiple image generating devices according to the positional relationship of the multiple image generating devices, thereby obtaining a three-dimensional image inside the patient's chest cavity. These three-dimensional images can be displayed on a flexible display device 2 placed on the outer wall of the patient's chest cavity, so that the operator can use surgical instruments to perform surgical operations in the chest cavity by watching the three-dimensional images on the flexible display device 2.

[0033] The multiple image generating devices 3 used in the present invention are at least three ( Figure 1-2b These image generating devices 3 are respectively placed at different positions of the inner wall of the chest cavity of a thoracoscopic surgery patient. When placed, the center lines of the multiple image generating devices 3 need to form a polygon so that three-dimensional images of different parts of the chest cavity can be obtained.

[0034] The image generating device of the present invention can be used as follows Figure 3-Figure 5 The structure shown includes: a base 33; an image acquisition and transmission component 31 mounted on the base for acquiring image information inside the chest cavity; an illumination component 32 mounted on the base for providing illumination inside the chest cavity; and a fixing component 35 mounted on the base for fixing the base to the inner wall of the patient's chest cavity. In addition, a clamping structure 34 is provided on the base for facilitating clamping of thoracoscopic surgery.

[0035] Specifically, the base 33 is a support frame, and the image acquisition and transmission component 31 and the lighting component 32 are installed on one side of the base 33, and the fixing component 35 is installed on the other side.

[0036] The image acquisition and transmission component 31 can be implemented as follows: Figure 7The structure shown includes: an image acquisition element 310 for acquiring image information inside the chest cavity; a processing module 311 connected to the image acquisition element for converting the acquired image information into video data; and a wireless transmission module 312 connected to the processing module for sending out video data carrying the ID of the image acquisition element. In addition, it also includes a housing for accommodating the above-mentioned image acquisition element 310, the processing module 311, and the wireless transmission module 312. The image acquisition element can be a charge coupled device CCD, which can acquire image information at a corresponding position inside the chest cavity and generate a corresponding analog signal, which is transmitted to the processing module. The processing module converts the analog signal into a digital signal and generates video data with the ID of the corresponding image generating device, and the wireless transmission module sends the video data carrying the ID of the image generating device wirelessly, such as by Bluetooth. When applied, the image acquisition and transmission component 31 can also adopt the structure of a camera that can transmit its own ID and the captured video in the prior art.

[0037] The lighting assembly 32 includes a plurality of lighting lamps, which can be installed at different positions of the outer cover of the image acquisition and transmission assembly 31 to provide lighting at various angles. Figure 3 The hemispherical cover can also be made of Figure 5 The flat circular cover shown in the figure, and the lighting lamp can be exposed outside the cover (such as Figure 3 , Figure 5 As shown), it can also be embedded in the outer cover (as shown Figure 4 When manufacturing, the circuit of the lighting component can be integrated with the circuit of the image acquisition and transmission component 31 on a circuit board, or they can be set separately. When applied, a camera with a lighting lamp in the prior art can also be used.

[0038] The fixing component 35 is used to fix the base 33 on the inner wall of the patient's chest cavity. The fixing component 35 can be a suction cup structure (such as Figure 4 As shown in the figure, the opening of the suction cup structure faces upward (i.e., the opening is away from the lighting lamp side). During operation, the base is pressed by surgical forceps so that the suction cup structure can be adsorbed on the inner wall of the chest cavity.

[0039] Alternatively, the fixing assembly 35 may also adopt a barb structure. The barb structure may adopt a first structure, that is, a barb is formed on the side of the base away from the luminaire (such as Figure 3 as shown) and / or both sides of the base (as shown Figure 5The invention discloses a method for providing a plurality of hollow or solid anchoring wires in the form of thin strips, the protruding end of the anchoring wire is in the form of a needle tip, and a plurality of inverted V-shaped barbs are arranged on the outer wall of the anchoring wire. The barbs are arranged at intervals along the axial direction of the anchoring wire, and the V-shaped barbs are inclined from the front end to the rear end along the axial direction of the anchoring wire, that is, the front end of the V-shaped barb points to the tip of the anchoring wire, and the rear end opening faces the base. The barbs can be anchored in the inner wall of the patient's chest cavity, play a role in positioning the image generating device on the inner wall of the chest cavity, and can prevent the image generating device from being positioned and falling into the chest cavity.

[0040] During production, the anchoring wire and barbs are made of medical absorbable materials. In this way, when the image generating device needs to be removed after the operation, even if the barbs remain on the inner wall of the patient's chest cavity, it will not cause damage to the patient.

[0041] Alternatively, the barb structure can also be used as follows Figure 6 In the second structure shown, a fixing rod 353 is provided on the base, and an internally hollow anchoring tube 352 is sleeved outside the fixing rod. The protruding end of the anchoring tube is in the shape of a needle tip, and a plurality of inverted V-shaped barbs 352 are provided on the outer wall of the anchoring tube. The shape of the barbs is the same as that of the first structure mentioned above, and will not be repeated here. During production, the fixing rod and the anchoring tube can be fitted with an interference fit or a transition fit. With the second structure, when the image generating device needs to be removed at the end of the operation, the fixing rod can be detached from the anchoring tube, which can reduce the damage to the inner wall of the patient's chest cavity caused by the barbs due to the downward pulling, and the barbs left on the inner wall of the patient's chest cavity will be absorbed.

[0042] In addition, the base 33 of the present invention is also provided with a clamping structure 34 that facilitates the thoracoscopic surgical forceps to clamp the base. The clamping structure can be a ring groove (such as Figure 3 As shown), it can also be a pair of slots symmetrically arranged on both sides of the outer wall of the base. Of course, other structures in the prior art that can be adapted to a pair of jaws of surgical forceps can also be used.

[0043] The image generating device of the present invention is positioned by the positioning device 7 so that when synthesizing a stereoscopic image, the video image of each image generating device can be placed according to its position in the chest cavity. The positioning device of the present invention can be used as follows: Fig.10The structure shown includes: a magnetic field generator 72, which is placed outside the patient's body and is used to emit electromagnetic waves; an electromagnetic wave receiving element 71, which is detachably mounted on a thoracoscopic surgical forceps for clamping an image generating device and is connected to the host of the magnetic field generator. When the thoracoscopic surgical forceps deliver the clamped image generating device into the patient's chest cavity, the electromagnetic wave emitted by the magnetic field generator is received by the electromagnetic wave receiving element installed on the surgical forceps, thereby determining the position of the image generating device in the chest cavity. Accordingly, before performing thoracoscopic surgery, a three-dimensional image model of the patient's chest cavity is constructed by CT, and after the image generating device is delivered into the patient's chest cavity, the corresponding position of the image generating device on the three-dimensional chest cavity image model can be obtained according to the position of the image generating device in the chest cavity. For example, a coordinate system is established based on the three-dimensional image model (the origin of the coordinate can be set at the position of the operation incision), and the position of each image generating device in the chest cavity can be converted into a corresponding coordinate on the coordinate system. In this way, after the video data generated by multiple image generating devices are sent to the receiving and processing device, the receiving and processing device can arrange these data accordingly to form a complete three-dimensional image of the chest cavity.

[0044] Alternatively, the positioning device of the present invention may also adopt the following structure, including multiple positioning sensors (not shown in the figure) respectively integrated on multiple image generating devices. The positioning sensor may adopt a sensor of the prior art that can collect the location information of the image generating device and transmit the location information wirelessly.

[0045] The receiving and processing device 4 of the present invention can receive video data sent by multiple image generating devices, and synthesize the multiple video data according to the actual positions of the multiple image generating devices on the inner wall of the patient's chest cavity to obtain a three-dimensional image of the patient's chest cavity. The receiving and processing device 4 can adopt a device that can synthesize multiple video data in the prior art.

[0046] The stereoscopic image inside the patient's chest cavity can be displayed by the flexible display device 2, which is placed on the outer wall of the patient's chest cavity. The operator moves the surgical instrument by watching the stereoscopic image to complete the thoracoscopic surgery.

[0047] During design, the flexible display device 2 may be provided with a notch 21 matching the incision of a patient undergoing thoracoscopic surgery.

[0048] In addition to the above-mentioned components, the thoracoscopic system of the present invention may also include a wireless power supply device 6 (such as Fig. 9 As shown in FIG. 1 , the image generating device is used to be placed outside the patient's body and provide power to multiple image generating devices placed in the patient's chest cavity in a wireless manner. Of course, the image generating device can also have a rechargeable battery.

[0049] In addition, a hard display device 5 (such as Figure 8 The flexible display device is used to display at least the image displayed by the flexible display device. Furthermore, the flexible display device also includes a surgical video acquisition module, which is used to acquire at least the real scene image of the thoracoscopic operating room and the surgical field image, and can be displayed through a rigid display device.

[0050] Next, the structure of a holographic thoracoscopy system according to an embodiment of the present invention is described.

[0051] The holographic thoracoscopy system can be composed of an external wireless power supply (as a power supply device), a position sensor (as a positioning device), a signal receiving and processing device, a soft image display screen (as a flexible display device), a hard image display (as a hard display device), and a built-in camera matrix (as an image generating device).

[0052] The connection methods of each device are as follows: the wireless power supply is connected to the power supply through a socket and placed outside the surgical area near the camera matrix. Its function is to provide a power source for the camera matrix placed in the patient's body. Several built-in cameras are attached to the inner wall of the chest cavity. They have their own light source and image acquisition lens. Their power comes from the wireless power supply. The camera has a built-in position sensor and transmits its position information in real time. The image collected by the camera is also transmitted to the signal receiving and processing device wirelessly. The signal receiving and processing device fuses and optimizes the image information with position information it receives to form a three-dimensional holographic image in the chest cavity. The three-dimensional holographic image is projected onto a soft image display screen attached to the surface of the chest wall. The final display effect is the image of the original ordinary open surgery under direct vision operation habits, which is easy to learn. There is no need to transform the operation habits of open surgery-thoracoscopic minimally invasive surgery to complete the surgery under the new thoracoscopic imaging system. The three-dimensional holographic image is also synchronously transmitted to the hard image display for teaching, surgical demonstration and other purposes.

[0053] The wireless power supply is connected to a power source through a socket, emits electromagnetic waves, and provides energy to the built-in camera through the induction coil in the built-in camera.

[0054] The position sensor is located in the built-in camera, and can sense the position and direction of the built-in camera, and provide position information for the image recognized by the built-in camera, so that the image processor can use the information of the camera to synthesize a three-dimensional holographic image.

[0055] The signal receiving and processing device is the "brain" of the entire system. It receives graphic signals from the built-in camera matrix wirelessly, combines the real-time position information of the specific camera, and synthesizes a three-dimensional holographic thoracoscopic image.

[0056] The soft image display screen is a foldable flexible display device that can be laid on the patient's chest wall after disinfection. The surgeon can operate with a view directly aimed at the "surgical area". The camera and display system can achieve the effect of making the chest wall "invisible".

[0057] The rigid image display is a common display screen that synchronously displays the video footage during surgery for teaching purposes.

[0058] The built-in camera matrix includes more than 3 built-in cameras, which integrate image acquisition cameras, their own position sensors, image wireless transmission systems, and induction coils for connector wireless power energy. There are grooves on the outside for easy grasping, and a suction disk at the tail end for adsorption and fixation to the chest wall.

[0059] In summary, the holographic thoracoscopy system of the present invention has the following advantages:

[0060] The holographic thoracoscopic system of the present invention can provide lighting for the chest cavity and collect and display surgical images during the operator's thoracoscopic surgery, without occupying the operating incision, thereby avoiding competing with surgical instruments for the operating incision and not interfering with surgical instruments. In addition, no special mirror gripper is required during the thoracoscopic surgery, saving manpower. The laparoscopic surgery can be performed according to the original operating habits, which is easy to operate and has a high success rate. In addition, since the operating incision is not occupied, the size of the operating incision can be further reduced, thereby reducing the incision damage to the patient, minimizing the patient's pain, and facilitating the patient's early recovery.

[0061] Although the embodiments of the present invention are described in detail above, the embodiments of the present invention are not limited thereto. Those skilled in the art may modify the embodiments of the present invention based on the principles of the embodiments of the present invention. Therefore, all modifications made in accordance with the principles of the embodiments of the present invention should be understood to fall within the protection scope of the embodiments of the present invention.

Claims

1. A holographic thoracoscopic system, characterized in that: include: A plurality of image generating devices, including at least three image generating devices, which are respectively placed at different positions of the inner wall of the chest cavity of a patient undergoing thoracoscopic surgery, each image generating device providing illumination for the chest cavity and collecting image information of a corresponding position in the chest cavity, and forming video data containing an ID of each image generating device; A positioning device, used to determine the position of each image generating device on the inner wall of the patient's chest cavity, comprising: a magnetic field generator, which is placed outside the patient's body and is used to emit electromagnetic waves; an electromagnetic wave receiving element, which can be detachably mounted on a thoracoscopic surgical forceps used to clamp the image generating device, and is connected to the magnetic field generator, and is used to receive the electromagnetic waves emitted by the magnetic field generator when the thoracoscopic surgical forceps deliver the clamped image generating device into the patient's chest cavity; A receiving and processing device, used for receiving video data sent by multiple image generating devices, and synthesizing and processing the multiple video data according to the positions of the multiple image generating devices on the inner wall of the patient's chest cavity, so as to obtain a three-dimensional image of the inside of the patient's chest cavity; The flexible display device is used to be placed on the outer wall of the chest cavity of a patient undergoing thoracoscopic surgery to display the stereoscopic image inside the chest cavity obtained after being processed by the receiving and processing device, so that the operator can perform thoracoscopic surgery through the stereoscopic image and surgical instruments.

2. The holographic thoracoscopic system according to claim 1, characterized in that: The image generating device comprises: Pedestal; An image acquisition and transmission component mounted on the base for acquiring internal chest imaging information; a lighting assembly mounted on the base for providing illumination to the interior of the chest cavity; A fixing component mounted on the base is used to fix the base to the inner wall of the patient's chest cavity.

3. The holographic thoracoscopic system according to claim 2, characterized in that: The base is also provided with a clamping structure for thoracoscopic surgical forceps to clamp.

4. The holographic thoracoscopic system according to claim 2, characterized in that: The fixing component is a suction cup structure or a barb structure.

5. The holographic thoracoscopic system according to claim 2, characterized in that: The image acquisition and transmission component includes: An image acquisition element for acquiring image information inside the chest cavity; A processing module connected to the image acquisition element for converting the acquired image information into video data; A wireless transmission module connected to the processing module is used to send out the video data carrying the image acquisition element ID.

6. The holographic thoracoscopic system according to any one of claims 1 to 5, characterized in that: Also includes: The power supply device is used to be placed outside the patient's body and provide power to multiple image generating devices placed in the patient's chest cavity in a wireless manner.

7. The holographic thoracoscopic system according to any one of claims 1 to 5, characterized in that: Also includes: The rigid display device is used to at least display the image displayed by the flexible display device.

8. The holographic thoracoscopic system according to claim 1, characterized in that: The positioning device includes a plurality of positioning sensors respectively integrated on a plurality of image generating devices.

Images