Orthopedic surgery positioning system based on mixed reality technology

Abstract

The invention relates to the technical field of orthopedic surgery, in particular to an orthopedic surgery positioning system based on a mixed reality technology. The image data acquisition module is used for acquiring orthopedic image data of a patient, and the image data comprises at least one of CT scanning data and MRI scanning data; the three-dimensional model construction module is connected with the image data acquisition module, acquires the orthopedic image data of the patient, and converts the orthopedic image data into a three-dimensional model of the bone of the patient according to the orthopedic image data; the mixed reality display equipment is in communication connection with the three-dimensional model building module and is used for carrying out mixed reality display on the three-dimensional model and a real scene of the surgical site of the patient, so that a doctor can visually observe the real scene and the three-dimensional model superimposed on the real scene at the same time; a positioning tracking module and a data processing unit. A three-dimensional, visual and accurate operation positioning and navigation method can be provided, so that the safety and the success rate of the orthopedic operation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of orthopedic surgery, and in particular to an orthopedic surgery positioning system based on mixed reality technology. Background Art

[0002] In traditional orthopedic surgery, doctors mainly rely on two-dimensional images (such as X-rays, CT scan images, etc.) and their own experience to judge the anatomical structure and pathological conditions of the surgical site, and to plan and operate the surgery. However, the anatomical structure of bones is complex, and there are blind spots in the human skeleton and muscle tissue that cannot be directly viewed, resulting in high surgical risks and difficulties. For example, in spinal surgery, the positional relationship between the vertebral body and the nerve root is difficult to visually judge through two-dimensional images. If you are not careful, you may damage the nerve root and cause serious complications. In addition, intraoperative navigation in orthopedic surgery mostly relies on imaging devices such as C-arms or O-arms. These devices generate radiation during use, posing a potential threat to the health of doctors and patients. Moreover, these imaging devices can only provide a limited field of view and clarity, and cannot fully and clearly display the three-dimensional structure of the surgical site. In the face of complex orthopedic surgeries, such as bone tumor resection and joint replacement, the limitations of traditional methods are more obvious, and the accuracy and safety of the surgery are difficult to be fully guaranteed. Therefore, there is a need for a three-dimensional, intuitive, and accurate surgical positioning and navigation method to improve the safety and success rate of orthopedic surgery. Summary of the invention

[0003] The present invention provides an orthopedic surgery positioning system based on mixed reality technology, which can intuitively provide doctors in surgery with a three-dimensional image of the patient's surgical site, thereby improving the safety and success rate of orthopedic surgery.

[0004] In order to solve the above technical problems, the present application provides the following technical solutions: an orthopedic surgery positioning system based on mixed reality technology, comprising: Image data acquisition module: used to acquire orthopedic image data of patients, wherein the image data includes at least one of CT scan data and MRI scan data; A three-dimensional model building module is connected to the image data acquisition module to obtain the orthopedic image data of the patient and convert the orthopedic image data into a three-dimensional model of the patient's bones; Mixed reality display device: connected to the three-dimensional model building module for mixed reality display of the three-dimensional model and the real scene of the patient's surgical site, so that the doctor can visually observe the real scene and the three-dimensional model superimposed thereon at the same time; A positioning tracking module: used to track the real-time position of the surgical instrument in the mixed reality display device and display it in the field of view of the mixed reality display device; the positioning tracking module includes a tracking marker set on the surgical instrument and a sensor array cooperating with the tracking marker; Data processing unit: connected to the three-dimensional model construction module, mixed reality display device and positioning tracking module respectively, used for processing and transmitting data and coordinating the work between the modules. The data processing unit includes a storage module with a preset surgical planning algorithm. The surgical planning algorithm is used to assist doctors in formulating surgical plans and planning surgical paths according to the three-dimensional model, and the surgical planning algorithm can be dynamically adjusted according to real-time information during the operation.

[0005] The basic principle and beneficial effects of this solution are: to convert the patient's orthopedic imaging data (such as CT scan data, MRI scan data, etc.) into a three-dimensional model, and to superimpose the three-dimensional model with the real scene of the patient's surgical site through a mixed reality display device, so that the doctor can visually observe the real scene and the superimposed three-dimensional model at the same time. At the same time, the system tracks the position and posture of the surgical instrument in real time through the positioning tracking module, and displays it in the field of view of the mixed reality display device to assist the doctor in performing precise surgical operations. The data processing unit is responsible for processing and transmitting data, coordinating the work between modules, and assisting doctors in formulating surgical plans and planning surgical paths according to the preset surgical planning algorithm, and can allow doctors to make dynamic adjustments based on real-time information during the operation.

[0006] This solution converts the patient's orthopedic imaging data into a three-dimensional model and overlays it with the real surgical scene. Doctors can have a more intuitive and comprehensive understanding of the patient's bone structure and pathological conditions, thereby achieving more accurate positioning and operation during the operation, reducing surgical errors, and improving the success rate and safety of the operation.

[0007] Enhanced surgical visualization: Mixed reality display devices enable doctors to visually observe the real scene and the three-dimensional model superimposed on it at the same time, enhancing the visualization of the surgery, allowing doctors to better plan the surgical path and operation steps, foresee possible problems during the operation in advance, and adjust the surgical strategy in time.

[0008] Improve surgical efficiency: The positioning tracking module can track the position and posture of surgical instruments in real time and display them in the field of view of the mixed reality display device, allowing doctors to more accurately grasp the status of surgical instruments, reduce the time of searching and adjusting surgical instruments, and thus improve the efficiency of the operation.

[0009] Assisted surgical planning and decision-making: The surgical planning algorithm in the data processing unit can assist doctors in formulating surgical plans and planning surgical paths based on three-dimensional models, and can make dynamic adjustments based on real-time information during the operation, providing doctors with scientific surgical planning and decision-making support, reducing surgical risks and improving surgical quality.

[0010] Promoting remote collaboration and teaching: The system can also be combined with the remote collaboration module to achieve real-time communication and collaboration between doctors in different locations. By sharing surgical image data, three-dimensional models and surgical planning information, remote doctors can participate in the surgical process, provide expert opinions and guidance, and promote the optimal allocation of medical resources and the development of medical education.

[0011] Furthermore, the tracking marker is an optical marker, and the sensor array includes a plurality of optical sensors, which are capable of receiving light signals reflected or emitted by the optical marker to determine the position and posture information of the surgical instrument.

[0012] Beneficial effects: The optical tracking method has high precision and real-time performance, and can accurately capture the dynamic changes of surgical instruments, allowing doctors to more accurately grasp the position and direction of surgical instruments during surgery, thereby improving the accuracy and stability of surgical operations and reducing surgical errors and accidental risks.

[0013] Furthermore, the mixed reality display device is a head-mounted display device, which has adjustable display parameters, including at least one of brightness, contrast, and viewing angle range, to adapt to different surgical environments and doctors' visual needs.

[0014] Beneficial effects: The head-mounted display device has adjustable display parameters, including brightness, contrast, and viewing angle range, to adapt to different surgical environments and the visual needs of doctors. This adjustable display device can flexibly adjust the display effect according to the light changes in the surgical environment and the doctor's personal visual habits, ensuring that doctors can obtain a clear and comfortable visual experience under various surgical conditions, helping doctors to concentrate on surgical operations and improve the efficiency and quality of surgery.

[0015] Furthermore, it also includes a human-computer interaction module, which is connected to the data processing unit and is used by doctors to input instructions and obtain system feedback information. The human-computer interaction module includes but is not limited to at least one of a voice recognition device and a touch control panel.

[0016] Beneficial effects: The human-computer interaction module is connected to the data processing unit and is used by doctors to input instructions and obtain system feedback information, including voice recognition devices, touch control panels, etc. This diverse human-computer interaction method enables doctors to interact with the system more conveniently, quickly input surgical instructions and obtain system feedback, reducing the time and energy consumption of doctors operating equipment during surgery, improving the fluency and efficiency of surgery, and also reducing the surgical risks caused by operational errors.

[0017] Furthermore, the data processing unit also includes a data encryption module for encrypting the patient's image data and surgical plan data.

[0018] Furthermore, the three-dimensional model construction module can generate multiple three-dimensional models of different accuracy levels based on the patient's orthopedic imaging data, and the doctor can select the appropriate model accuracy for surgical planning and operation according to the complexity and accuracy requirements of the operation.

[0019] Beneficial effects: The 3D model construction module can generate multiple 3D models of different accuracy levels based on the patient's orthopedic imaging data. Doctors can choose the appropriate model accuracy for surgical planning and operation according to the complexity and accuracy requirements of the operation. This multi-precision model selection allows doctors to flexibly select models according to specific surgical needs, which can not only meet the needs of complex surgeries for high-precision models, but also avoid the waste of computing resources caused by using overly high-precision models in simple surgeries, improve the applicability and efficiency of the system, and also reduce the difficulty and time cost of surgical planning.

[0020] Furthermore, the mixed reality display device also includes an augmented reality interface, which can display real-time physiological parameter monitoring data, surgical instrument usage status information and surgical navigation prompt information during the operation, so as to help doctors better understand the operation progress and adjust the surgical strategy.

[0021] Beneficial effects: The augmented reality interface can display real-time physiological parameter monitoring data, surgical instrument usage status information, and surgical navigation prompts during the operation. This augmented reality interface provides doctors with rich real-time surgical information, allowing them to fully understand the patient's physiological state and the status of surgical instruments, and adjust surgical strategies and operations in a timely manner, thereby improving the safety and accuracy of the operation. It also provides doctors with more intuitive surgical navigation and reduces the difficulty and risk of surgery.

[0022] Furthermore, the positioning and tracking module also includes a calibration module for calibrating the position and posture of the surgical instrument. The calibration module can automatically adjust the parameters of the tracking marker and sensor array according to the display error of the surgical instrument in the mixed reality display device to improve the accuracy and reliability of the positioning of the surgical instrument.

[0023] Furthermore, the data processing unit also includes a surgical risk assessment module, which can evaluate the risk factors that may occur during the operation based on the patient's imaging data, surgical plan and real-time information during the operation, and provide the doctor with corresponding risk warnings and suggestions to reduce surgical risks and improve the success rate of the operation.

[0024] Furthermore, the system also includes a remote collaboration module, which can realize real-time communication and collaboration between doctors in different locations. By sharing surgical image data, three-dimensional models and surgical planning information, remote doctors can participate in the surgical process and provide expert opinions and guidance to improve the quality and efficiency of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Schematic diagram of an orthopedic surgery positioning system based on mixed reality technology. DETAILED DESCRIPTION

[0026] The following is further described in detail through specific implementation methods: Embodiment 1 is as attached Figure 1 As shown, an orthopedic surgery positioning system based on mixed reality technology includes: Image data acquisition module: Advanced CT scanners and MRI scanners can be used to collect orthopedic imaging data of patients with high precision. For example, for a patient who needs a knee replacement surgery, a CT scanner is first used to scan the knee joint from multiple angles to obtain detailed bone structure imaging data; then an MRI scanner is used to obtain imaging information such as soft tissue and ligaments around the knee joint to ensure the comprehensiveness and accuracy of the imaging data.

[0027] 3D model building module: connected to the image data acquisition module, using high-performance computers and professional 3D modeling software. The collected CT and MRI image data are input into the computer, and the 2D image data is converted into a 3D model of the patient's knee joint bones through the software's image processing and 3D reconstruction algorithms. The model can clearly show the shape, size, joint surface and other detailed features of the bones, providing an intuitive basis for subsequent surgical planning.

[0028] Mixed reality display device: Use head-mounted mixed reality glasses, such as Microsoft HoloLens. The device has adjustable display parameters, including brightness, contrast, and viewing angle range. In the case of dim light in the operating room, the display brightness can be increased to ensure that the 3D model and the real scene are clearly visible; according to the doctor's visual habits, the contrast and viewing angle range can be adjusted to ensure that the doctor has a comfortable field of view and no blind spots when observing the surgical site.

[0029] Positioning and tracking module: It includes optical markers set on surgical instruments (such as bone saws, drills, etc.) and a sensor array composed of multiple optical sensors. The optical markers are small reflective balls fixed to the key parts of the surgical instruments; the optical sensors are installed on the ceiling and walls of the operating room, which can receive the light signals reflected by the reflective balls and accurately determine the position and posture information of the surgical instruments in real time.

[0030] Data processing unit: It consists of a central processing unit, a storage module, and a surgical planning algorithm. The central processing unit is responsible for processing and transmitting data from each module and coordinating the work between modules; the storage module is preset with a surgical planning algorithm, which assists doctors in formulating a knee replacement surgery plan based on a three-dimensional model and planning the surgical path, such as determining the precise position and angle of the bone saw cutting, the depth and direction of the drilling, etc., and can dynamically adjust the plan based on real-time information during the surgical process. The central processing unit uses an i5 12400f CPU and its related hardware with corresponding software to meet the data processing requirements of this solution.

[0031] Human-computer interaction module: connected to the data processing unit, including voice recognition device and touch control panel. Doctors can control the operation of the system through voice commands, such as displaying surgical plans, enlarging 3D models, etc. The touch control panel is used to manually input surgical parameters and obtain system feedback information, such as adjusting the details of the surgical path and checking the use status of surgical instruments.

[0032] Data encryption module: integrated in the data processing unit, it uses advanced encryption technology to encrypt the patient's imaging data and surgical plan data to ensure the security of data during transmission and storage, and prevent data leakage or illegal access.

[0033] Remote collaboration module: Through high-speed network connection, it can realize real-time communication and collaboration between doctors in different locations. During the operation, remote experts can share surgical image data, 3D models and surgical planning information, observe the progress of the operation in real time, and provide professional opinions and guidance, such as pointing out the anatomical structures that need to be paid attention to during the operation, and suggesting adjustments to the operation methods of surgical instruments, etc., to improve the quality and efficiency of the operation.

[0034] Implementation process of this plan: The surgeon first uses the image data acquisition module to perform CT and MRI scans on the patient to obtain image data of the knee joint. The 3D model construction module converts this data into a 3D model and displays it to the doctor through a mixed reality display device. The doctor wears head-mounted mixed reality glasses to observe the patient's knee joint 3D model, understand the bone structure and pathological conditions, and preliminarily plan the surgical plan, such as determining the model of the replacement joint, the location of cutting and drilling, etc.

[0035] The surgical planning algorithm in the data processing unit further refines the surgical plan based on the 3D model, planning detailed surgical paths and operation steps. The doctor views and adjusts the surgical plan through the human-computer interaction module to ensure that it meets the surgical requirements. At the same time, the system can simulate the surgical process in the mixed reality display device, allowing the doctor to rehearse the surgical operation in advance, familiarize himself with the use of surgical instruments and the anatomical structure of the surgical site, and reduce surgical risks.

[0036] After entering the operating room, the doctor wears head-mounted mixed reality glasses to display the patient's knee joint 3D model and the actual surgical site in mixed reality. The positioning tracking module tracks the position and posture of the surgical instrument in real time, superimposes the virtual image of the instrument on the real surgical site, and guides the doctor to perform precise operations. For example, when cutting with a bone saw, the system displays the cutting line and the real-time position of the bone saw. The doctor controls the bone saw according to the displayed information to ensure the accuracy and safety of the cutting.

[0037] During the operation, the data processing unit dynamically adjusts the surgical plan based on real-time information. For example, when implanting an artificial joint, the system monitors the matching and stability of the joint. If the joint position is found to be deviated or unstable, the surgical planning algorithm will adjust the implantation plan in time and guide the doctor to make adjustments. At the same time, the doctor can obtain system feedback in real time through the human-computer interaction module, such as the use status of surgical instruments, the progress of the operation, etc., so as to make timely decisions.

[0038] The remote collaboration module enables orthopedic experts from other hospitals to participate in the surgical process in real time. Experts observe the progress of the operation through shared imaging data and 3D models, and provide professional opinions and guidance. For example, when dealing with complex ligament reconstruction, remote experts point out the ligament attachment points and tension adjustments that need attention, helping doctors complete the operation smoothly.

[0039] After the operation, the system records detailed surgical data, including the use of surgical instruments, operation time, and execution of surgical plans. Doctors can analyze these data to evaluate the effect and quality of the operation, summarize experience and lessons, and provide reference for subsequent operations. At the same time, the encrypted surgical data is stored in the hospital's database to ensure the privacy and security of patient information.

[0040] The orthopedic surgery positioning system based on mixed reality technology in this solution converts the patient's orthopedic imaging data into a three-dimensional model and displays it superimposed with the real surgical scene. It uses the positioning tracking module to track the position and posture of the surgical instrument in real time. Combined with the surgical planning algorithm and dynamic adjustment function of the data processing unit, it achieves high-precision positioning, visual planning and real-time navigation of the surgery, significantly improving the safety, accuracy and efficiency of the surgery. At the same time, the system's human-computer interaction module, data encryption module and remote collaboration module further enhance the convenience of surgery, data security and the ability to share medical resources, effectively reducing the difficulty of surgery and the workload of doctors, and providing strong technical support for the precision and intelligence of orthopedic surgery.

[0041] Embodiment 2 The difference between the second embodiment and the first embodiment is that: it also includes a second position sensor, and the second position sensor is integrated in the tip part of the surgical instrument (for example, the frontmost tip of the scalpel, that is, the place where the surgical instrument is closest to the surgical area). The second position sensor can choose to use an electromagnetic positioning system. The electromagnetic positioning system achieves high-precision three-dimensional positioning through the cooperation of a magnetic field generator and a sensor. For example, the MAGPILOT electromagnetic positioning system of AIMUE has the following characteristics: High precision: supports 5DOF or 6DOF posture measurement with high accuracy. Miniaturization: The sensor size is fine and easy to integrate into surgical tools. Real-time navigation: It provides rich interfaces and can be integrated with the surgical navigation system to achieve real-time navigation. Alternatively, a linear magnetostrictive displacement sensor can be used to determine the position of the knife tip. The data processing unit constructs a spatial coordinate system of the surgical area, obtains the position of the surgical instrument's tip through a second position sensor, and then obtains the position of the surgical instrument outside the patient's body through a positioning tracking module (a TOF (Time-of-Flight) sensor is selected to determine the distance by measuring the flight time of a light pulse, and has the following characteristics:), that is, the data processing module is used to obtain the position signal of the surgical instrument inside the patient's body and the position signal of the surgical instrument outside the patient's body. The data processing module displays these two position signals in a spatial coordinate system, and at the same time matches the three-dimensional model with the patient's surgical position (the data processing module obtains the position information of the surgical site of the patient in the operating room, including but not limited to positioning through an image or position sensor, and then matches the three-dimensional model with the patient in the spatial coordinate system. During surgery, the data processing module connects the two position signals on the surgical instrument to determine the direction of the surgical instrument, and then obtains the specific direction and position of the surgical instrument in the patient's body; the data processing module also obtains the displacement information of the second position sensor in real time, and calculates the displacement speed of the surgical instrument. When the surgeon operates the surgical instrument to the resection area based on surgical experience, the speed will be reduced near the resection area. If the displacement speed of the surgical instrument decreases by more than a threshold value per unit time (for example, during resection surgery, after a hole is opened in the patient's surgical area, the surgical instrument is inserted from the hole to the surgical area. Before reaching the resection position, the instrument moves faster, and when it is about to reach the resection position, the doctor will slow down), an amplification signal is issued. The data processing module displays the image of the position in the three-dimensional model synchronously with the position of the second position sensor, and the displayed image changes as the position of the second position sensor moves; after the data processing module sends an amplification signal, the data processing module partially amplifies the image in the three-dimensional model corresponding to the position of the surgical instrument, and the amplified area is centered on the position of the second position sensor and the area within the threshold range is enlarged, for example, an area with a diameter of 1 mm is enlarged (the range of the enlarged area can be adjusted according to actual applications).

[0042] Embodiment 3 The difference between the third embodiment and the second embodiment is that the data processing module is also used to establish an interval area between the resection area and the area where the doctor operates the surgical instrument to slow down, and the data processing module is used to shorten the distance from the surgical instrument to the resection area in the three-dimensional image, and the shortened display value is half of the actual value. When the surgeon manipulates the surgical instrument closer to the end point of the shortened distance, the slower the surgical instrument moves. When the speed is reduced to a preset threshold, the mixed reality glasses remind the surgeon through a red screen or sound, and the data processing module restores the shortened display area in the three-dimensional model at this time, that is, the position of the surgical instrument at this time is the midpoint of the distance between the doctor's deceleration position and the actual surgical resection position, and the doctor continues to operate the surgical instrument forward to the resection area at a relatively low speed to start the operation. This solution eliminates the situation where the image is suddenly enlarged, which easily causes the doctor to have visual errors and mistakenly think that there is still a long distance from the actual resection area. By means of virtual shortening of the distance, the doctor can approach the resection area at a relatively low speed, that is, the setting of the interval area gives an intraoperative reminder, and also allows the doctor to adapt to the enlarged image to prevent operational errors. In this solution, in order for doctors to obtain more fields of view, image magnification is performed only after the doctor slows down, which can also reduce the doctor's visual fatigue. This solution integrates a high-precision second position sensor at the tip of the surgical instrument, combined with a TOF sensor and a data processing module, to achieve accurate monitoring and real-time navigation of the position of the surgical instrument inside and outside the patient. The data processing module updates the image display in the three-dimensional model in real time based on the displacement speed and position signal, intelligently amplifies the image close to the resection area, and reminds the doctor to slow down in advance by virtually shortening the distance, effectively preventing misoperation, reducing visual fatigue, and improving the accuracy, safety and efficiency of the operation, significantly improving the success rate of the operation and the doctor's operating experience.

[0043] The above are only embodiments of the present invention. The invention is not limited to the fields involved in this implementation case. The common sense such as the known specific structures and characteristics in the scheme is not described in detail here. The ordinary technicians in the relevant field know all the common technical knowledge in the technical field to which the invention belongs before the application date or the priority date, can obtain all the existing technologies in the field, and have the ability to apply the conventional experimental means before that date. The ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the practicality of the patent. The protection scope required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to explain the content of the claims.

Claims

1. An orthopedic surgery positioning system based on mixed reality technology, characterized in that: include: Image data acquisition module: used to acquire orthopedic image data of patients, wherein the image data includes at least one of CT scan data and MRI scan data; A three-dimensional model building module is connected to the image data acquisition module to obtain the orthopedic image data of the patient and convert the orthopedic image data into a three-dimensional model of the patient's bones; Mixed reality display device: connected to the three-dimensional model building module for mixed reality display of the three-dimensional model and the real scene of the patient's surgical site, so that the doctor can visually observe the real scene and the three-dimensional model superimposed thereon at the same time; A positioning tracking module: used to track the real-time position of the surgical instrument in the mixed reality display device and display it in the field of view of the mixed reality display device; the positioning tracking module includes a tracking marker set on the surgical instrument and a sensor array cooperating with the tracking marker; Data processing unit: connected to the three-dimensional model construction module, mixed reality display device and positioning tracking module respectively, used for processing and transmitting data and coordinating the work between the modules. The data processing unit includes a storage module with a preset surgical planning algorithm. The surgical planning algorithm is used to assist doctors in formulating surgical plans and planning surgical paths based on the three-dimensional model.

2. The orthopedic surgery positioning system based on mixed reality technology according to claim 1, characterized in that: The tracking marker is an optical marker, and the sensor array includes a plurality of optical sensors. The optical sensors are capable of receiving light signals reflected or emitted by the optical marker to determine the position and posture information of the surgical instrument.

3. The orthopedic surgery positioning system based on mixed reality technology according to claim 1, characterized in that: The mixed reality display device is a head-mounted display device having adjustable display parameters, including at least one of brightness, contrast, and viewing angle range.

4. The orthopedic surgery positioning system based on mixed reality technology according to claim 1, characterized in that: It also includes a human-computer interaction module, which is connected to the data processing unit and is used by doctors to input instructions and obtain system feedback information. The human-computer interaction module includes but is not limited to at least one of a voice recognition device and a touch control panel.

5. The orthopedic surgery positioning system based on mixed reality technology according to claim 1, characterized in that: The data processing unit also includes a data encryption module for encrypting the patient's image data and surgical plan data.

6. The orthopedic surgery positioning system based on mixed reality technology according to claim 1, characterized in that: The three-dimensional model building module can generate a plurality of three-dimensional models of different accuracy levels according to the orthopedic imaging data of the patient.

7. The orthopedic surgery positioning system based on mixed reality technology according to claim 1, characterized in that: The mixed reality display device also includes an augmented reality interface, which is used to display real-time physiological parameter monitoring data, surgical instrument usage status information and surgical navigation prompt information during the operation.

8. The orthopedic surgery positioning system based on mixed reality technology according to claim 1, characterized in that: The positioning and tracking module also includes a calibration module for calibrating the position and posture of the surgical instrument. The calibration module can automatically adjust the parameters of the tracking marker and the sensor array according to the display error of the surgical instrument in the mixed reality display device.

9. The orthopedic surgery positioning system based on mixed reality technology according to claim 1, characterized in that: The data processing unit also includes a surgical risk assessment module, which can assess the risk factors that may occur during the operation based on the patient's imaging data, surgical plan and real-time information during the operation, and provide corresponding risk warnings and suggestions to the doctor.

10. The orthopedic surgery positioning system based on mixed reality technology according to claim 1, characterized in that: The system also includes a remote collaboration module that enables real-time communication and collaboration between doctors in different locations by sharing surgical image data, three-dimensional models, and surgical planning information.

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