Surgical navigation guide frame based on mixed augmented reality

Abstract

The application discloses a kind of surgical navigation guiding frame based on mixed augmented reality, it is related to medical instrument technical field.The present application includes scanner, display component is installed at the top of scanner, scanner one end is hung and connects with multiple mixed augmented reality helmets, surgical navigation device is installed at the end of scanner away from mixed augmented reality helmet, lying adjusting component is installed on the side of scanner, and positioning component is installed on the side of lying adjusting component away from scanner.The present application is set up by the setting of surgical navigation device, when the patient is operated by the way that doctor cooperates mixed augmented reality, surgical navigation tool can be more stable, to improve the accuracy of surgical navigation, to improve the safety of operation, while by the way of convenient replacement of navigation tool, the application range of surgical navigation guiding frame can be improved, avoid the time wasted by tool replacement, to improve the efficiency of operation.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a surgical navigation guide based on mixed augmented reality. Background Technology

[0002] Surgical navigation systems accurately correlate preoperative or intraoperative imaging data with the patient's anatomical structures on the operating table. During surgery, the system tracks surgical instruments and displays their positions on the patient's images in real time as virtual probes. This allows surgeons to clearly see the relative positions of the surgical instruments to the patient's anatomical structures, making surgical procedures faster, more precise, and safer.

[0003] The authorized patent number "CN111658147A" discloses a compact CT image-guided puncture surgery navigation device, which describes the technical problem that "compared with the prior art, it can guide the surgical end to accurately complete the puncture surgery, greatly reduce the preparation time of surgical navigation, and eliminate the positional deviation caused by switching coordinate systems between different devices".

[0004] In the process of implementing this patent, the applicant discovered that the patent still has unresolved technical problems for those skilled in the art:

[0005] Viewing CT 3D images through a display screen requires surgeons to frequently look up at the screen during surgery, which can affect the procedure. Furthermore, the surgical navigation guide frame cannot easily replace surgical tools, reducing its applicability and impacting surgical efficiency. Therefore, this application proposes a surgical navigation guide frame based on hybrid augmented reality, providing a new technical solution to address the aforementioned technical problems. Summary of the Invention

[0006] Based on this, a surgical navigation guide based on hybrid augmented reality is provided to solve the following technical problems mentioned in the background art: the method of observing CT three-dimensional imaging through a display screen requires the doctor to frequently look up at the display screen during the operation, which will affect the operation. At the same time, the surgical navigation guide cannot easily replace the surgical tools, thereby reducing the applicability of the guide and affecting the efficiency of the operation.

[0007] The present invention adopts the following technical solution:

[0008] The aforementioned surgical navigation guide frame based on hybrid augmented reality specifically includes a scanner, a display component mounted on the top of the scanner, multiple hybrid augmented reality helmets attached to one end of the scanner, a surgical navigation device mounted on the end of the scanner away from the hybrid augmented reality helmets, a reclining adjustment component mounted on one side of the scanner, and a positioning component mounted on the side of the reclining adjustment component away from the scanner.

[0009] The surgical navigation device includes a control box, a first telescopic rod, a control cabinet, a robotic arm, a disassembly / removal assembly, a placement assembly, a fixing assembly, and a navigation tool. The control box is fixedly connected to the end of the scanner away from the mixed augmented reality helmet. The first telescopic rod is fixedly connected to the side of the control box near the reclining adjustment assembly. The control cabinet is fixedly connected to the side of the first telescopic rod away from the control box. A robotic arm is mounted on the top of the control cabinet. The disassembly / removal assembly is mounted on the end of the robotic arm away from the control cabinet. A navigation tool is inserted into the end of the disassembly / removal assembly away from the robotic arm. The placement assembly is mounted on the end of the control cabinet near the reclining adjustment assembly. The fixing assembly is mounted on the bottom of the control cabinet.

[0010] Furthermore, the variable disassembly assembly includes a fixed cylinder, a plug-in cylinder, locators, and a first limiting plate. The fixed cylinder is fixedly connected to the end of the robotic arm away from the control cabinet. The plug-in cylinder is fixedly connected to the inner side of the fixed cylinder. Four locators are fixedly connected to the outer side of the plug-in cylinder away from the fixed cylinder, and the four locators are arranged in a circumferential array. A slot is opened on the inner side of the plug-in cylinder. The slot is located at the end away from the robotic arm and is connected to the outside. Two guide grooves are symmetrically arranged on the inner side of the slot. Limiting grooves are opened at the top and bottom of the plug-in cylinder. A first limiting plate is slidably connected to the inner side of each of the two limiting grooves. The top and bottom of the two first limiting plates near the slot are serrated and extend into the inner side of the slot.

[0011] Furthermore, the variable disassembly assembly also includes a second telescopic rod and a first spring. The inner sides of both limiting grooves are provided with a second telescopic rod. The two second telescopic rods are respectively located at the top and bottom of the two first limiting plates away from the slots. The two first limiting plates are fixedly connected to the two limiting grooves through the two second telescopic rods. The inner sides of both limiting grooves are provided with two first springs. Each pair of first springs is located at both ends of each second telescopic rod. The two first limiting plates are also fixedly connected to the two limiting grooves through each pair of first springs.

[0012] Furthermore, the variable disassembly assembly also includes a rotating pressure block and a threaded ring. The two limiting grooves are rotatably connected to the rotating pressure blocks near the ends of the robotic arm. The two rotating pressure blocks pass through the two limiting grooves and extend to the outside of the insertion cylinder. The fixed cylinder has a rotating groove on its inner side, and the rotating groove is located at the end of the insertion cylinder near the robotic arm and surrounds the two rotating pressure blocks. The outside of the insertion cylinder is rotatably connected to a threaded ring, and the threaded ring is located inside the rotating groove. The inner side of the threaded ring and the two rotating pressure blocks are threadedly engaged.

[0013] Furthermore, the navigation tool includes a limiting post and a guiding tool. The limiting post is inserted into the inner side of the slot. The limiting post has limiting holes at its top and bottom, and both limiting holes are configured to limit the movement of the two first limiting plates. The guiding tool is fixedly connected to the end of the limiting post away from the insertion cylinder.

[0014] Furthermore, the placement assembly includes a fixed box, a second limiting plate, and a second spring. The fixed box is fixedly connected to one end of the control cabinet near the reclining adjustment assembly. The fixed box has multiple placement slots at one end near the reclining adjustment assembly, and the multiple placement slots are plugged into the limiting posts. Multiple second limiting plates are plugged into the top of the fixed box. Each second limiting plate is located at the top of each placement slot and extends through the top of the control cabinet to the inside of the placement slot. The bottom of each second limiting plate is serrated and is limited to each limiting post. A second spring is installed at both ends of the top of each second limiting plate, and each second limiting plate slides with the fixed box through every two second springs.

[0015] Furthermore, the fixing assembly includes a supporting slide column, a threaded rod, a first rotating rod, a first motor, and a first bevel gear set. A sliding groove is provided at the bottom of the control cabinet. The supporting slide column is slidably connected to the inner side of the sliding groove. A threaded rod is threadedly connected to the top of the supporting slide column. The first rotating rod is rotatably connected to the inner side of the sliding groove, and the first rotating rod is located at the top of the threaded rod. A first motor is installed on the outer side of the control cabinet. The output end of the first motor passes through the control cabinet and extends to the inner side of the sliding groove, and is fixedly connected to the first rotating rod. A first bevel gear set is provided inside the sliding groove, and the first rotating rod and the threaded rod are rotatably connected through the first bevel gear set.

[0016] Furthermore, the reclining adjustment assembly includes a fixed base, a pushing component, a bed frame, a controller, a second rotating rod, and a second motor. The scanner is fixedly connected to the fixed base on the side near the positioning component. The pushing component is installed on the top of the fixed base, and the bed frame is fixedly connected to the top of the pushing component. The controller is installed on the end of the bed frame away from the control cabinet. Two second rotating rods are rotatably connected to the bottom of the side of the bed frame away from the control cabinet. Both second rotating rods penetrate the side wall of the bed frame and extend to the outside of the bed frame. Two second motors are installed on the outside of the bed frame. The positions of the two second motors correspond to the positions of the two second rotating rods, and the output ends of the two second motors are fixedly connected to the two second rotating rods.

[0017] Furthermore, the reclining adjustment assembly also includes a fixed plate, a third rotating rod, a fixed piece, a fourth rotating rod, a second bevel gear set, and a third bevel gear set. Two fixed plates are fixedly connected to the inner sides of both beds, and both fixed plates are located at the top of the two second rotating rods. A third rotating rod is rotatably connected to the inner sides of both fixed plates. Fixed pieces are fixedly connected to both ends of the inner sides of the beds, and every two fixed pieces are located at the top of each second rotating rod. A fourth rotating rod is rotatably connected between adjacent ends of every two fixed pieces. Two second bevel gear sets and two third bevel gear sets are provided inside the beds. The two second rotating rods are rotatably connected to the bottom of the two third rotating rods via the two second bevel gear sets, and the tops of the two third rotating rods are rotatably connected to the two fourth rotating rods via the two third bevel gear sets.

[0018] Furthermore, the reclining adjustment assembly also includes a rotating connecting shaft, a fifth rotating rod, a rotating plate, a soft pad, and a third telescopic rod. The outer middle of each of the two fourth rotating rods is rotatably connected to a rotating connecting shaft. Three fifth rotating rods are fixedly connected to the inner sides of each of the two rotating connecting shafts. Fifth rotating rods are fixedly connected to the two opposite sides of the two rotating connecting shafts. The two rotating connecting shafts are fixedly connected via another fifth rotating rod. The three fifth rotating rods are perpendicular to the two fourth rotating rods. Two rotating plates are rotatably connected to the outer side of each fifth rotating rod. A soft pad is fixedly connected to the top of each rotating plate. Six third telescopic rods are provided inside the bed body, and each third telescopic rod is located at the bottom of each rotating plate and close to the inner sidewall of the bed body.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] This invention provides a surgical navigation guide based on hybrid augmented reality. When doctors perform surgery on patients using hybrid augmented reality, the surgical navigation tool becomes more stable, thereby improving the accuracy of surgical navigation and thus enhancing the safety of the surgery. At the same time, by making the navigation tool easy to replace, the applicability of the surgical navigation guide can be expanded, avoiding the time wasted on tool replacement and thus improving surgical efficiency.

[0021] This invention provides a surgical navigation guide based on hybrid augmented reality, which can adjust the patient's body at different angles, thereby facilitating CT scans in special circumstances and improving the accuracy of CT scans. At the same time, it can adjust the patient's position according to the specific location of the patient during surgery, thereby improving surgical efficiency. Attached Figure Description

[0022] To more clearly illustrate the solutions in this invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 A schematic diagram of the overall structure of a surgical navigation guide based on hybrid augmented reality provided by the present invention;

[0024] Figure 2 A schematic diagram of the structure of a surgical navigation guide display component based on hybrid augmented reality provided by the present invention;

[0025] Figure 3 A schematic diagram of the structure of a surgical navigation device based on hybrid augmented reality provided by the present invention;

[0026] Figure 4 A schematic diagram of a detachable surgical navigation guide frame based on hybrid augmented reality provided by the present invention;

[0027] Figure 5 A schematic diagram of the structure of the first limiting plate of a surgical navigation guide frame based on hybrid augmented reality provided by the present invention;

[0028] Figure 6 A schematic diagram of the structure of the first spring of a surgical navigation guide frame based on hybrid augmented reality provided by the present invention;

[0029] Figure 7 A schematic diagram of a surgical navigation guide frame placement component based on hybrid augmented reality provided by the present invention;

[0030] Figure 8A schematic diagram of a surgical navigation guide frame fixing assembly based on hybrid augmented reality provided by the present invention;

[0031] Figure 9 A schematic diagram of the recumbent adjustment component of a surgical navigation guide frame based on hybrid augmented reality provided by the present invention;

[0032] Figure 10 A schematic diagram of the structure of the fifth rotating rod of a surgical navigation guide based on hybrid augmented reality provided by the present invention;

[0033] Figure 11 A schematic diagram of the structure of the second bevel gear set of a surgical navigation guide based on hybrid augmented reality provided by the present invention;

[0034] Figure 12 A schematic diagram of the structure of the third telescopic rod of a surgical navigation guide frame based on hybrid augmented reality provided by the present invention;

[0035] Figure 13 This is a schematic diagram of the structure of a surgical navigation guide pad based on hybrid augmented reality provided by the present invention.

[0036] The attached diagram lists the components represented by each number as follows:

[0037] 1. Scanner; 2. Display component; 3. Mixed Augmented Reality helmet; 4. Surgical navigation device; 5. Reclining adjustment component; 6. Positioning component; 7. Control box; 8. First telescopic rod; 9. Control cabinet; 10. Robotic arm; 11. Variable disassembly component; 12. Placement component; 13. Fixing component; 14. Fixing cylinder; 15. Insertion cylinder; 16. Positioner; 17. First limiting plate; 18. Second telescopic rod; 19. First spring; 20. Rotating pressure block; 21. Threaded ring; 22. Limiting insertion post; 23. Guiding tool; 24. Fixing box; 25. 26. Second limiting plate; 27. Second spring; 28. Supporting slide column; 29. ​​Threaded rod; 30. First rotating rod; 31. First bevel gear set; 32. Fixed base; 33. Pushing assembly; 34. Bed; 35. Controller; 36. Second rotating rod; 37. Second motor; 38. Fixed plate; 39. Third rotating rod; 40. Fixed plate; 41. Fourth rotating rod; 42. Second bevel gear set; 43. Third bevel gear set; 44. Rotating connecting shaft; 45. Fifth rotating rod; 46. Rotating plate; 47. Soft pad; 48. Third telescopic rod. Detailed Implementation

[0038] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0039] As in the background art, viewing CT 3D images through a display screen requires the surgeon to frequently look up at the screen during surgery, which can affect the operation. At the same time, the surgical navigation guide cannot easily replace the surgical tools, thus reducing the applicability of the guide and affecting the efficiency of the operation.

[0040] To address this technical problem, the present invention provides a surgical navigation guide based on hybrid augmented reality. When doctors perform surgery on patients using hybrid augmented reality, the surgical navigation tool becomes more stable, thereby improving the accuracy of surgical navigation and thus enhancing the safety of the surgery. At the same time, by allowing for convenient replacement of the navigation tool, the applicability of the surgical navigation guide can be expanded, avoiding the time wasted on tool replacement and thus improving surgical efficiency.

[0041] For details, please refer to Figures 1-3 A surgical navigation guide frame based on hybrid augmented reality specifically includes a scanner 1, a display component 2 installed on the top of the scanner 1, multiple hybrid augmented reality helmets 3 hanging on one end of the scanner 1, a surgical navigation device 4 installed on the end of the scanner 1 away from the hybrid augmented reality helmets 3, a reclining adjustment component 5 installed on one side of the scanner 1, and a positioning component 6 installed on the side of the reclining adjustment component 5 away from the scanner 1.

[0042] The surgical navigation device 4 includes a control box 7, a first telescopic rod 8, a control cabinet 9, a robotic arm 10, a variable disassembly assembly 11, a placement assembly 12, a fixing assembly 13, and a navigation tool. The control box 7 is fixedly connected to the end of the scanner 1 away from the mixed augmented reality helmet 3. The first telescopic rod 8 is fixedly connected to the side of the control box 7 near the reclining adjustment assembly 5. The control cabinet 9 is fixedly connected to the side of the first telescopic rod 8 away from the control box 7. The robotic arm 10 is installed on the top of the control cabinet 9. The variable disassembly assembly 11 is installed at the end of the robotic arm 10 away from the control cabinet 9. The navigation tool is inserted into the end of the variable disassembly assembly 11 away from the robotic arm 10. The placement assembly 12 is installed at the end of the control cabinet 9 near the reclining adjustment assembly 5. The fixing assembly 13 is installed at the bottom of the control cabinet 9.

[0043] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0044] Example 1:

[0045] Please refer to Figure 1 A surgical navigation guide based on hybrid augmented reality includes a scanner 1, a display component 2 mounted on the top of the scanner 1, multiple hybrid augmented reality helmets 3 attached to one end of the scanner 1, a surgical navigation device 4 mounted on the end of the scanner 1 away from the hybrid augmented reality helmets 3, a reclining adjustment component 5 mounted on one side of the scanner 1, and a positioning component 6 mounted on the side of the reclining adjustment component 5 away from the scanner 1.

[0046] Scanner 1 is used to perform CT scans on patients, and then three-dimensional images can be created based on the CT scans and displayed through display component 2, so that the surgeon can clearly understand the patient's physical information.

[0047] The Mixed Augmented Reality Helmet 3 is a wearable helmet based on mixed augmented reality. Through the settings of the Mixed Augmented Reality Helmet 3, three-dimensional images can be displayed to surgeons in a more three-dimensional way. At the same time, surgery can be performed by combining virtual imaging and real-world scenes, improving the accuracy of surgical entry points, thereby improving surgical safety, shortening surgical time, and thus improving surgical efficiency.

[0048] The surgical navigation device 4 is used to navigate the surgery. At the same time, by setting the surgical navigation device 4, surgical tools can be placed at the surgical entrance more quickly and accurately, thereby improving the accuracy and safety of the surgery.

[0049] The reclining adjustment component 5 serves as a reclining position for the patient. By adjusting the reclining adjustment component 5, the patient can be placed inside the scanner 1 for scanning. At the same time, by adjusting the reclining adjustment component 5, the patient's body can be adjusted to different degrees as needed, which facilitates CT scanning of the patient and makes it easier for doctors to perform surgery, shortening the doctor's operation time and improving surgical efficiency.

[0050] The positioning component 6 is used for positioning the surgical navigation, enabling the surgical navigation device 4 to be accurately placed in the appropriate position for surgery.

[0051] Before performing surgery on a patient, the patient can be placed on top of the reclining adjustment component 5 and pushed inside the scanner 1 for scanning through the settings of the reclining adjustment component 5. After scanning, the reconstructed three-dimensional model can be displayed through the display component 2 for the surgeon to observe. At the same time, the surgeon can wear a mixed augmented reality helmet 3 to further view the reconstructed three-dimensional model, thereby improving the surgeon's understanding of the patient's body and thus improving surgical efficiency and safety.

[0052] When the patient is removed from the inside of the scanner 1 in preparation for surgery, the surgical navigation device 4 can be positioned by the positioning component 6 and guided to the appropriate position. The top of the surgical navigation device 4 is precisely guided so that the doctor can clearly see the position of the surgical instruments relative to the patient's internal structure, making the surgery fast, accurate and safe.

[0053] Example 2:

[0054] This embodiment 2 further discloses the specific structure of the surgical navigation device 4 based on the above embodiments. By combining the surgical navigation device 4 with the structure in the above embodiments, the surgical navigation tool can be made more stable when the doctor performs surgery on the patient in a mixed augmented reality manner, thereby improving the accuracy of surgical navigation and thus improving the safety of the surgery. At the same time, by making the navigation tool easy to replace, the applicability of the surgical navigation guide can be increased, avoiding the time wasted on replacing tools, thereby improving surgical efficiency.

[0055] The surgical navigation guide based on hybrid augmented reality provided in Example 1 is further optimized, specifically, as follows: Figure 2-8 As shown, the surgical navigation device 4 includes a control box 7, a first telescopic rod 8, a control cabinet 9, a robotic arm 10, a variable disassembly assembly 11, a placement assembly 12, a fixing assembly 13, and a navigation tool. The end of the scanner 1 furthest from the mixed augmented reality helmet 3 is fixedly connected to the control box 7. The first telescopic rod 8 is fixedly connected to the side of the control box 7 closest to the reclining adjustment assembly 5. The control cabinet 9 is fixedly connected to the side of the first telescopic rod 8 furthest from the control box 7. The robotic arm 10 is mounted on the top of the control cabinet 9. The variable disassembly assembly 11 is mounted on the end of the robotic arm 10 furthest from the control cabinet 9. The navigation tool is inserted into the end of the variable disassembly assembly 11 furthest from the robotic arm 10. The placement assembly 12 is mounted on the end of the control cabinet 9 closest to the reclining adjustment assembly 5. The fixing assembly 13 is mounted on the bottom of the control cabinet 9.

[0056] When the control box 7 pushes the first telescopic rod 8 to place the control cabinet 9 in the appropriate position, the positioning component 6 can drive the robotic arm 10 to move, thereby driving the variable disassembly component 11 at the end of the robotic arm 10 to move, so that the variable disassembly component 11 can move accurately and quickly to the appropriate surgical position, thereby facilitating the doctor to perform surgical operations and improving the doctor's surgical efficiency.

[0057] The disassembly assembly 11 includes a fixed cylinder 14, a plug-in cylinder 15, a locator 16, and a first limiting plate 17. The fixed cylinder 14 is fixedly connected to the end of the robotic arm 10 away from the control cabinet 9. The plug-in cylinder 15 is fixedly connected to the inner side of the fixed cylinder 14. Four locators 16 are fixedly connected to the outer side of the plug-in cylinder 15 away from the fixed cylinder 14, and the four locators 16 are arranged in a circumferential array. Through the arrangement of the locators 16, the signals emitted by the positioning assembly 6 can be received, and the positioning effect can be provided for the surgical navigation, thereby improving the accuracy of the surgical navigation. A slot is opened on the inner side of the plug-in cylinder 15. The slot is located at the end away from the robotic arm 10 and is connected to the outside. Two guide grooves are symmetrically arranged on the inner side of the slot. Limiting grooves are opened at the top and bottom of the plug-in cylinder 15. The first limiting plate 17 is slidably connected to the inner side of the two limiting grooves. The two first limiting plates 17 are serrated near the top and bottom of the slot and extend into the inner side of the slot.

[0058] The disassembly assembly 11 also includes a second telescopic rod 18 and a first spring 19. The second telescopic rod 18 is provided inside the two limiting grooves. The two second telescopic rods 18 are located at the top and bottom of the two first limiting plates 17 away from the slots, respectively. The two first limiting plates 17 are fixedly connected to the two limiting grooves through the two second telescopic rods 18. The two limiting grooves are provided inside the two limiting grooves. The two first springs 19 are located at both ends of each second telescopic rod 18. The two first limiting plates 17 are also fixedly connected to the two limiting grooves through the two first springs 19.

[0059] The disassembly assembly 11 also includes a rotating pressure block 20 and a threaded ring 21. The rotating pressure block 20 is rotatably connected to both limiting grooves near the ends of the robotic arm 10. Both rotating pressure blocks 20 pass through the two limiting grooves and extend to the outside of the insertion tube 15. A rotating groove is opened on the inner side of the fixed tube 14, and the rotating groove is located at the end of the insertion tube 15 near the robotic arm 10, and is set to wrap around the two rotating pressure blocks 20. The threaded ring 21 is rotatably connected to the outside of the insertion tube 15, and the threaded ring 21 is located inside the rotating groove. The inner side of the threaded ring 21 and the two rotating pressure blocks 20 are threadedly engaged.

[0060] The navigation tool includes a limiting post 22 and a guide tool 23. The limiting post 22 is inserted into the inner side of the slot. The limiting post 22 has limiting holes at the top and bottom, and both limiting holes are set to limit the two first limiting plates 17. The guide tool 23 is fixedly connected to the end of the limiting post 22 away from the insertion tube 15.

[0061] When changing different navigation tools according to different situations, the appropriate limiting pin 22 can be inserted into the inside of the plug tube 15. During the insertion into the inside of the plug tube 15, the multiple limiting holes at the top and bottom of the limiting pin 22 will pass through the two first limiting plates 17 and continue to enter. During the process of the limiting pin 22 passing through the first limiting plate 17, the first limiting plate 17 will be pushed away from the limiting pin 22. At the same time, through the setting of the first spring 19, the first limiting plate 17 after being pushed up can be pushed back to the limiting hole at the top of the limiting pin 22.

[0062] When the limiting insert 22 is fully inserted into the insert tube 15, the threaded ring 21 can be rotated to engage with the two rotating pressure blocks 20, which rotate the two rotating pressure blocks 20 towards the inside of the insert tube 15 and press the two first limiting plates 17. This enhances the limiting effect of the two first limiting plates 17 on the limiting insert 22, avoids errors such as falling off and shaking during surgical navigation, and improves the accuracy of surgical navigation.

[0063] When it is necessary to replace different guide tools 23, the threaded ring 21 can be rotated to cancel the restriction on the two rotating pressure blocks 20. At this time, the two second telescopic rods 18 can be controlled to pull the two first limiting plates 17 into the two limiting grooves, so that the two first limiting plates 17 cancel the limiting effect on the top and bottom of the limiting pin 22, and then the limiting pin 22 can be taken out.

[0064] By disassembling the guide tool 23, the surgical navigation tool can be replaced according to different situations, thereby improving the accuracy and convenience of surgical navigation, and at the same time improving the surgeon's surgical efficiency and safety.

[0065] The placement component 12 includes a fixed box 24, a second limiting plate 25, and a second spring 26. The fixed box 24 is fixedly connected to one end of the control cabinet 9 near the reclining adjustment component 5. The fixed box 24 has multiple placement slots at the end near the reclining adjustment component 5, and the multiple placement slots are plugged into the limiting posts 22. Multiple second limiting plates 25 are plugged into the top of the fixed box 24. Each second limiting plate 25 is located at the top of each placement slot and extends through the top of the control cabinet 9 to the inside of the placement slot. The bottom of each second limiting plate 25 is serrated and is limited to each limiting post 22. Each second limiting plate 25 has a second spring 26 installed at both ends of its top, and each second limiting plate 25 is slidably engaged with the fixed box 24 through every two second springs 26.

[0066] After the guide tool 23 is removed, the limiting pin 22 can be inserted into the inner side of the placement slot on the outside of the fixing box 24. During the process of the limiting pin 22 being inserted into the placement slot, the second limiting plate 25 will be pushed upward. At this time, the second limiting plate 25 will be pushed downward again by the setting of the two second springs 26, and the limiting pin 22 will be limited.

[0067] When removing the guide tool 23 inside the fixation box 24, the second limiting plate 25 can be pulled upward to remove the limiting effect of the bottom of the second limiting plate 25 on the limiting post 22, thus allowing the limiting post 22 to be removed. The convenient removal and placement operation reduces the time wasted when changing different guide tools 23, thereby improving the surgeon's efficiency.

[0068] The fixed assembly 13 includes a supporting slide column 27, a threaded rod 28, a first rotating rod 29, a first motor 30, and a first bevel gear set 31. A sliding groove is provided at the bottom of the control cabinet 9. The supporting slide column 27 is slidably connected to the inner side of the sliding groove. The threaded rod 28 is threadedly connected to the top of the supporting slide column 27. The first rotating rod 29 is rotatably connected to the inner side of the sliding groove, and the first rotating rod 29 is located at the top of the threaded rod 28. The first motor 30 is installed on the outer side of the control cabinet 9. The output end of the first motor 30 passes through the control cabinet 9 and extends to the inner side of the sliding groove, and is fixedly connected to the first rotating rod 29. The first bevel gear set 31 is provided inside the sliding groove, and the first rotating rod 29 and the threaded rod 28 are rotatably connected through the first bevel gear set 31.

[0069] When the control cabinet 9 is placed in a suitable position, the first motor 30 can be turned on to drive the first rotating rod 29 to rotate. With the setting of the first bevel gear set 31, the rotation of the first rotating rod 29 will drive the threaded rod 28 to rotate. Through the threaded engagement between the threaded rod 28 and the support slide 27, the support slide 27 will move downward and contact the ground, thereby achieving the effect of supporting and fixing the control cabinet 9. This will prevent shaking during surgical navigation or the doctor accidentally touching the control cabinet 9 during the operation, which would affect the accuracy of surgical navigation, thus improving the accuracy and safety of surgical navigation.

[0070] Example 3:

[0071] This embodiment 3 further discloses the specific structure of the lying adjustment component 5 based on the above embodiments. By cooperating with the structure in the above embodiments, the lying adjustment component 5 can be adjusted to different angles of the patient's body, thereby making it more convenient to perform CT scans on the patient in special circumstances and improving the accuracy of CT scans. At the same time, the patient's position can be adjusted according to the special circumstances of the patient during surgery, thereby performing surgery and further improving surgical efficiency.

[0072] The surgical navigation guide based on hybrid augmented reality provided in Embodiment 1 and Embodiment 2 is further optimized, specifically, as follows: Figure 9-13 As shown, the reclining adjustment assembly 5 includes a fixed base 32, a push assembly 33, a bed 34, a controller 35, second rotating rods 36, and a second motor 37. The fixed base 32 is fixedly connected to the side of the scanner 1 near the positioning assembly 6. The push assembly 33 is installed on the top of the fixed base 32. The bed 34 is fixedly connected to the top of the push assembly 33. The controller 35 is installed on the end of the bed 34 away from the control cabinet 9. Two second rotating rods 36 are rotatably connected to the bottom of the side of the bed 34 away from the control cabinet 9. Both second rotating rods 36 penetrate the side wall of the bed 34 and extend to the outside of the bed 34. Two second motors 37 are installed on the outside of the bed 34. The positions of the two second motors 37 correspond to the positions of the two second rotating rods 36, and the output ends of the two second motors 37 are fixedly connected to the two second rotating rods 36.

[0073] The reclining adjustment assembly 5 also includes a fixed plate 38, a third rotating rod 39, a fixed piece 40, a fourth rotating rod 41, a second bevel gear set 42, and a third bevel gear set 43. Two fixed plates 38 are fixedly connected to the inner sides of both bed frames 34, and both fixed plates 38 are located at the top of the two second rotating rods 36. The third rotating rod 39 is rotatably connected to the inner sides of both fixed plates 38. Fixed pieces 40 are fixedly connected to both ends of the inner sides of the bed frames 34, and every two fixed pieces 40 are located at the top of each second rotating rod 36. A fourth rotating rod 41 is rotatably connected between the adjacent ends of every two fixed pieces 40. Two second bevel gear sets 42 and two third bevel gear sets 43 are provided on the inner sides of the bed frames 34. The two second rotating rods 36 are rotatably connected to the bottom of the two third rotating rods 39 through the two second bevel gear sets 42, and the tops of the two third rotating rods 39 are rotatably connected to the two fourth rotating rods 41 through the two third bevel gear sets 43.

[0074] The reclining adjustment assembly 5 also includes a rotating connecting shaft 44, a fifth rotating rod 45, a rotating plate 46, a soft pad 47, and a third telescopic rod 48. The two fourth rotating rods 41 are rotatably connected to the middle of their outer sides by the rotating connecting shaft 44. The two rotating connecting shafts 44 are fixedly connected to the inner sides by three fifth rotating rods 45. The two rotating connecting shafts 44 are fixedly connected to the two opposite sides by the fifth rotating rods 45. The two rotating connecting shafts 44 are fixedly connected by another fifth rotating rod 45. The three fifth rotating rods 45 are perpendicular to the two fourth rotating rods 41. The outer side of each fifth rotating rod 45 is rotatably connected to two rotating plates 46. The top of each rotating plate 46 is fixedly connected to a soft pad 47. The inner side of the bed frame 34 is provided with six third telescopic rods 48. Each third telescopic rod 48 is located at the bottom of each rotating plate 46 and close to the inner side wall of the bed frame 34.

[0075] The controller 35 is set to an SC200 controller, which can individually control the two second motors 37 and the six third telescopic rods 48.

[0076] The pad 47 is made of a softer material, thereby reducing the displacement restriction caused by mutual compression during the folding process of the pad 47;

[0077] When the patient is lying on top of the cushion 47, the bed 34 can be moved by pushing the component 33 and the patient can be sent into the inside of the scanner 1 for scanning.

[0078] When it is necessary to adjust the patient's position, the second motor 37 can be turned on by controlling the controller 35. At the same time as the second motor 37 starts, it drives the second rotating rod 36 to rotate. While the second rotating rod 36 is rotating, it drives the third rotating rod 39 to rotate through the second bevel gear set 42. At the same time, through the setting of the third bevel gear set 43, the third rotating rod 39 drives the fourth rotating rod 41 to rotate. While the fourth rotating rod 41 is rotating, it drives the rotating connecting shaft 44 to fold, so that the rotating connecting shaft 44 drives the fifth rotating rod 45 to fold around the fourth rotating rod 41 as the axis. This causes the two rotating plates 46 on the outer side of the fifth rotating rod 45 to fold synchronously, which can achieve the effect of lifting the patient's head or feet.

[0079] At the same time, the lifting and lowering of the third telescopic rod 48 can be controlled by the controller 35. When the third telescopic rod 48 is lifted up, the rotating plate 46 at the top of the third telescopic rod 48 will rotate around the fifth rotating rod 45 as the axis, thereby achieving the effect of lifting the patient's sides.

[0080] By individually controlling each third telescopic rod 48 and the second motor 37 through the controller 35, the angle of patient positioning adjustment can be expanded. Different patient positions can be adjusted according to different situations, which can reduce the workload of doctors during surgery and thus improve the efficiency of doctors in performing surgery on patients.

[0081] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A surgical navigation guide based on hybrid augmented reality, comprising a scanner (1), characterized in that, The scanner (1) is equipped with a display component (2) on top, and a plurality of mixed augmented reality helmets (3) are attached to one end of the scanner (1). A surgical navigation device (4) is installed on the end of the scanner (1) away from the mixed augmented reality helmet (3). A reclining adjustment component (5) is installed on one side of the scanner (1), and a positioning component (6) is installed on the side of the reclining adjustment component (5) away from the scanner (1). The surgical navigation device (4) includes a control box (7), a first telescopic rod (8), a control cabinet (9), a robotic arm (10), a variable disassembly assembly (11), a placement assembly (12), a fixing assembly (13), and a navigation tool. The scanner (1) is fixedly connected to the control box (7) at one end away from the mixed augmented reality helmet (3). The control box (7) is fixedly connected to the first telescopic rod (8) at one side near the reclining adjustment assembly (5). The first telescopic rod (8) is fixedly connected to the control cabinet (9) at one side away from the control box (7). The robotic arm (10) is mounted on the top of the control cabinet (9). The variable disassembly assembly (11) is mounted at one end of the robotic arm (10) away from the control cabinet (9). The navigation tool is inserted into the end of the variable disassembly assembly (11) away from the robotic arm (10). The placement assembly (12) is mounted at one end of the control cabinet (9) near the reclining adjustment assembly (5). The fixing assembly (13) is mounted at the bottom of the control cabinet (9). The variable disassembly assembly (11) includes a fixed cylinder (14), a plug-in cylinder (15), a locator (16), and a first limiting plate (17). The fixed cylinder (14) is fixedly connected to one end of the robotic arm (10) away from the control cabinet (9). The plug-in cylinder (15) is fixedly connected to the inner side of the fixed cylinder (14). Four locators (16) are fixedly connected to the outer side of the plug-in cylinder (15) away from the fixed cylinder (14), and the four locators (16) are arranged in a circular array. A slot is opened on the inner side of the plug-in cylinder (15). The slot is located at one end away from the robotic arm (10) and is connected to the outside. Two guide grooves are symmetrically arranged on the inner side of the slot. Limiting grooves are opened at the top and bottom of the plug-in cylinder (15). The first limiting plate (17) is slidably connected to the inner side of the two limiting grooves. The top and bottom of the two first limiting plates (17) near the slot are serrated and extend to the inner side of the slot. The navigation tool includes a limiting plug (22) and a guide tool (23). The limiting plug (22) is inserted into the inner side of the slot. The limiting plug (22) has limiting holes at its top and bottom, and both limiting holes are configured to limit the two first limiting plates (17). The guide tool (23) is fixedly connected to the end of the limiting plug (22) away from the plug tube (15). The placement component (12) includes a fixed box (24), a second limiting plate (25), and a second spring (26). The control cabinet (9) is fixedly connected to the fixed box (24) at one end near the reclining adjustment component (5). The fixed box (24) has multiple placement slots at one end near the reclining adjustment component (5), and the multiple placement slots are plugged into the limiting post (22). Multiple second limiting plates (25) are plugged into the top of the fixed box (24). Each second limiting plate (25) is located at the top of each placement slot and extends through the top of the control cabinet (9) to the inside of the placement slot. The bottom of each second limiting plate (25) is serrated and is limited to each limiting post (22). Each second limiting plate (25) has a second spring (26) installed at both ends of the top of each second limiting plate (25), and each second limiting plate (25) slides with the fixed box (24) through every two second springs (26).

2. The surgical navigation guide based on hybrid augmented reality according to claim 1, characterized in that, The variable disassembly assembly (11) further includes a second telescopic rod (18) and a first spring (19). The inner sides of the two limiting grooves are provided with the second telescopic rod (18). The two second telescopic rods (18) are respectively located at the top and bottom of the two first limiting plates (17) away from the slots. The two first limiting plates (17) are fixedly connected to the two limiting grooves through the two second telescopic rods (18). The inner sides of the two limiting grooves are provided with two first springs (19). Each pair of first springs (19) is located at both ends of each second telescopic rod (18). The two first limiting plates (17) are also fixedly connected to the two limiting grooves through each pair of first springs (19).

3. A surgical navigation guide based on hybrid augmented reality according to claim 2, characterized in that, The variable disassembly assembly (11) further includes a rotating pressure block (20) and a threaded ring (21). The two limiting grooves are rotatably connected to the ends of the robotic arm (10). The two rotating pressure blocks (20) pass through the two limiting grooves and extend to the outside of the plug-in tube (15). The inner side of the fixed tube (14) is provided with a rotating groove, and the rotating groove is located at the end of the plug-in tube (15) near the robotic arm (10) and surrounds the two rotating pressure blocks (20). The outer side of the plug-in tube (15) is rotatably connected to a threaded ring (21), and the threaded ring (21) is located inside the rotating groove. The inner side of the threaded ring (21) and the two rotating pressure blocks (20) are threadedly engaged.

4. A surgical navigation guide based on hybrid augmented reality according to claim 1, characterized in that, The fixed assembly (13) includes a support slide column (27), a threaded rod (28), a first rotating rod (29), a first motor (30), and a first bevel gear set (31). The control cabinet (9) has a sliding groove at the bottom. The support slide column (27) is slidably connected to the inner side of the sliding groove. The threaded rod (28) is threadedly connected to the top of the support slide column (27). The first rotating rod (29) is rotatably connected to the inner side of the sliding groove, and the first rotating rod (29) is located at the top of the threaded rod (28). The first motor (30) is installed on the outer side of the control cabinet (9). The output end of the first motor (30) passes through the control cabinet (9) and extends to the inner side of the sliding groove, and is fixedly connected to the first rotating rod (29). The first bevel gear set (31) is provided on the inner side of the sliding groove, and the first rotating rod (29) and the threaded rod (28) are rotatably connected through the first bevel gear set (31).

5. A surgical navigation guide based on hybrid augmented reality according to claim 1, characterized in that, The reclining adjustment assembly (5) includes a fixed base (32), a push assembly (33), a bed (34), a controller (35), a second rotating rod (36), and a second motor (37). The scanner (1) is fixedly connected to the fixed base (32) on the side near the positioning assembly (6). The push assembly (33) is installed on the top of the fixed base (32). The bed (34) is fixedly connected to the top of the push assembly (33). The controller (35) is installed on the end of the bed (34) away from the control cabinet (9). Two second rotating rods (36) are rotatably connected to the bottom of the side of the bed (34) away from the control cabinet (9). Both second rotating rods (36) penetrate the side wall of the bed (34) and extend to the outside of the bed (34). Two second motors (37) are installed on the outside of the bed (34). The positions of the two second motors (37) correspond to the positions of the two second rotating rods (36), and the output ends of the two second motors (37) are fixedly connected to the two second rotating rods (36).

6. A surgical navigation guide based on hybrid augmented reality according to claim 5, characterized in that, The reclining adjustment assembly (5) further includes a fixed plate (38), a third rotating rod (39), a fixed piece (40), a fourth rotating rod (41), a second bevel gear set (42), and a third bevel gear set (43). Two fixed plates (38) are fixedly connected to the inner side of the bed frame (34), and both fixed plates (38) are located at the top of the two second rotating rods (36). A third rotating rod (39) is rotatably connected to the inner side of each of the two fixed plates (38). Fixed pieces (40) are fixedly connected to both ends of the inner side of the bed frame (34), and every two fixed pieces (40) are... The first two rotating rods (36) are located at the top of each second rotating rod (36), and a fourth rotating rod (41) is rotatably connected between the adjacent ends of each pair of fixed plates (40). Two second bevel gear sets (42) and two third bevel gear sets (43) are provided on the inner side of the bed body (34). The two second rotating rods (36) are rotatably connected to the bottom of the two third rotating rods (39) through the two second bevel gear sets (42), and the tops of the two third rotating rods (39) are rotatably connected to the two fourth rotating rods (41) through the two third bevel gear sets (43).

7. A surgical navigation guide based on hybrid augmented reality according to claim 6, characterized in that, The reclining adjustment assembly (5) further includes a rotating connecting shaft (44), a fifth rotating rod (45), a rotating plate (46), a soft pad (47), and a third telescopic rod (48). The two fourth rotating rods (41) are rotatably connected to the middle of their outer sides by the rotating connecting shaft (44). The two rotating connecting shafts (44) are fixedly connected to the inner sides by three fifth rotating rods (45). The two rotating connecting shafts (44) are fixedly connected to the two opposite sides by the fifth rotating rods (45). The two rotating connecting shafts (44) are connected by another... The fifth rotating rod (45) is fixedly connected, and the three fifth rotating rods (45) and the two fourth rotating rods (41) are all set perpendicularly. Two rotating plates (46) are rotatably connected to the outside of each fifth rotating rod (45). A soft pad (47) is fixedly connected to the top of each rotating plate (46). Six third telescopic rods (48) are provided on the inner side of the bed (34), and each third telescopic rod (48) is located at the bottom of each rotating plate (46) and close to the inner side wall of the bed (34).

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