Remote operation control system platform

Abstract

The invention relates to a remote operation control system platform which comprises the following modules: (1) an operation microscope system, (2) an operation navigation system, (3) a signal remote transmission system, (4) an operation console and (5) a programmable intelligent center control system. And a dynamic registration subsystem, a cross-domain error controller and a self-adaptive force feedback device. A plurality of means are integrated, intraoperative deformation (the error is smaller than or equal to 0.1 mm) is compensated through in-vivo marker and optical coherence tomography fusion positioning, the problem of synchronization failure (the synchronization precision is + / -2ms) of traditional PTP in public network transmission is solved through FL-PTP based on federal learning, tissue stiffness is modeled in real time, and the real-time performance of the system is improved. And misoperation (such as tumor boundary softening) of the instrument caused by tissue degeneration is avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical equipment and relates to a remote surgery control system platform. Background Art

[0002] In the existing technology, surgical navigation technology has been relatively mature, surgical robot technology has also developed to a high level, and remote information transmission technology is also relatively mature. However, how to integrate them together and solve the cross-domain operation error accumulation problem unique to remote surgery (such as network jitter causing instrument drift), and the navigation inaccuracy problem caused by real-time tissue deformation compensation during surgery (such as brain displacement) has not been effectively solved in this field. Summary of the Invention

[0003] The present invention provides a remote surgical control system platform that integrates multiple methods. Through in vivo marker + optical coherence tomography fusion positioning, it compensates for intraoperative deformation (error ≤ 0.1mm). Adaptive clock synchronization based on federated learning (FL-PTP) solves the synchronization failure problem of traditional PTP in public network transmission (synchronization accuracy ±2ms). Real-time modeling of tissue stiffness avoids instrument misoperation caused by tissue degeneration (such as softening of tumor boundaries).

[0004] The specific technical solutions are as follows:

[0005] The present invention provides a remote surgery control system platform, comprising the following modules:

[0006] (1) Surgical microscope system, including: camera, camera control arm, and microscope fixing platform;

[0007] (2) surgical navigation system, including: image acquisition system, positioning and tracking system, data processing and navigation software, patient reference frame, surgical instrument adapter, display and interaction system and robot assistance + force feedback system; the image acquisition system includes: CT and MRI for obtaining preoperative images, C-arm X-ray machine, ultrasound, optical coherence tomography (OCT) for obtaining intraoperative images, and image fusion software;

[0008] (3) Signal remote transmission system, including dual-channel redundant wireless network, using RTMP / WebRTC / ROS2 DDS protocol; router / switch, supporting QoS priority transmission control signal;

[0009] (4) surgical console, including: surgical instrument entity, signal receiving and decoding system, sensor feedback system, and local security module;

[0010] (5) Programmable intelligent center control system, including: pressure sensors at various locations, temperature sensors, camera image sensors, voice receiving and responding devices, command output devices, programmable intelligent center, and servo detection system.

[0011] Also includes:

[0012] Dynamic registration subsystem: Biodegradable Mg-Ca alloy micro-markers implanted in the patient's target tissue collaborate with intraoperative OCT to generate deformation compensation signals;

[0013] Cross-domain error controller: A clock synchronizer based on the federated learning framework FL-PTP, which predicts network jitter using an LSTM network.

[0014] Adaptive force feedback device: constructs a tissue stiffness model in real time based on intraoperative ultrasound elastography data and dynamically outputs tactile warning thresholds.

[0015] Furthermore, the biodegradable Mg-Ca alloy material has a degradation rate of ≤0.01 mm / day in a body fluid environment; the surface of the alloy micro-marker is coated with a PLGA coating, and its degradation rate matches the tissue healing cycle.

[0016] Furthermore, the FL-PTP clock synchronizer predicts network jitter through a local LSTM network, aggregates parameters on the cloud side to generate clock corrections, and the synchronization accuracy satisfies:

[0017]

[0018] Where B is the bandwidth, P is the signal power, and N0 is the noise density; the LSTM delay prediction unit updates the network jitter parameter every 100ms.

[0019] Furthermore, the force feedback system of the surgical navigation system includes a three-level tactile warning mechanism:

[0020] Level 1: 5-10Hz low-frequency vibration of the operating handle;

[0021] Level 2: resistance torque increases by 30%-50%;

[0022] Level 3: forced locking of device displacement;

[0023] The alarm trigger is based on the storage modulus G' calculated in real time by ultrasound elastography:

[0024]

[0025] Activated when ΔG′>15%.

[0026] Furthermore, the camera supports 4k, and the number is 3 groups or more; the camera control arm uses a universal snake system, and each camera control arm is matched with each camera as a set; the microscope fixing platform is a bracket system, which is placed on the side of the surgical field of the patient undergoing surgery.

[0027] Furthermore, the positioning and tracking system adopts optical tracking, electromagnetic tracking or robotic arm assistance according to the specific usage scenario; the data processing and navigation software is used to process image data, calculate spatial coordinates, and visualize the navigation interface, and is integrated into the programmable intelligent central control system; the patient reference frame is fixed to the patient's bones or head to provide a stable coordinate reference; the surgical instrument adapter is used to convert conventional surgical instruments into navigation-compatible tools, and by installing optical reflective balls or electromagnetic sensors, the instrument geometric parameters, including length and tip offset, are preset to achieve precise adaptation and positioning.

[0028] Furthermore, the display and interaction system is used to provide real-time navigation feedback to the surgeon, and the equipment includes: a main console display for displaying 3D images, instrument positions and surgical path planning; an augmented reality (AR) system that supports a head-mounted display to project virtual markers onto the surgical field; and a touch / voice interaction device that can maintain a sterile environment during surgery and avoid intraoperative contamination.

[0029] Furthermore, the robot-assisted + force feedback system, in which the robot-assisted device is used for real-time image updates during surgery, includes: AI-driven ultrasound-CT fusion; the force feedback device is used to prevent the instrument from accidentally touching the dangerous area. The workflow includes: A. Preoperative: CT / MRI scanning → 3D modeling → surgical path planning; B. Intraoperative: patient registration → instrument tracking → real-time navigation, alignment error monitoring; C. Postoperative: verification of surgical accuracy and data archiving.

[0030] Furthermore, the signal receiving and decoding system includes a demodulation module and an embedded controller; the sensor feedback system includes a state sensor and an environmental sensor.

[0031] Furthermore, the display interaction device supports AR head display to project virtual markers; the virtual markers and micro-marker positions are superimposed and displayed, and the projection error satisfies:

[0032]

[0033] Δθ is the viewing angle deviation, d is the projection distance, k light is the ambient light intensity correction factor.

[0034] Technical effects:

[0035] This device targets a large patient population. Nearly all primary care hospitals require a surgical terminal (patient-side), while all major hospitals require the operator-side (doctor-side) of this system platform. Therefore, the scope and number of applications of this device are expected to be very large in the foreseeable future. The system platform is designed to be placed within the hospital's operating room, with different operating rooms equipped with different types of operating platforms. This is consistent with the supporting facilities currently available in hospital operating rooms, for example: neurosurgery operating rooms are equipped with specialized microscopes for neurosurgery, ophthalmology operating rooms with specialized microscopes for ophthalmology, and orthopedic operating rooms with specialized arthroscopic systems. It utilizes in-vivo markers and optical coherence tomography for fusion positioning, compensating for intraoperative deformation (error ≤ 0.1mm). Federated learning-based adaptive time synchronization (FL-PTP) addresses the synchronization issues of traditional PTP transmission over public networks (synchronization accuracy ±2ms). Real-time modeling of tissue stiffness prevents instrument misoperation due to tissue degeneration (e.g., softening of tumor boundaries). BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic diagram of the structure of the five basic modules of the remote surgery control system platform of the present invention;

[0037] Figure 2 A schematic diagram of a surgical microscope system of the remote surgical control system platform of the present invention;

[0038] Reference numerals:

[0039] 1. Surgical microscope system; 2. Surgical navigation system; 3. Signal remote transmission system; 4. Surgical operating table; 5. Programmable intelligent central control system; 11. Camera; 12. Camera control arm; 13. Microscope fixing platform. DETAILED DESCRIPTION

[0040] The present invention is described in detail below with reference to the various embodiments shown in the accompanying drawings, but it should be noted that these embodiments are not limitations of the present invention, and any equivalent transformations or substitutions in functions, methods, or structures made by ordinary technicians in this field based on these embodiments are all within the scope of protection of the present invention.

[0041] like Figure 1-2 As shown, a remote surgical control system platform includes the following modules:

[0042] (1) A surgical microscope system 1, comprising: a camera 11, a camera control arm 12, and a microscope fixing platform 13;

[0043] (2) surgical navigation system 2, including: image acquisition system, positioning and tracking system, data processing and navigation software, patient reference frame, surgical instrument adapter, display and interaction system and robot assistance + force feedback system; the image acquisition system includes: CT and MRI for obtaining preoperative images, C-arm X-ray machine, ultrasound, optical coherence tomography (OCT) for obtaining intraoperative images, and image fusion software;

[0044] (3) Signal remote transmission system 3, including dual-channel redundant wireless network, using RTMP / WebRTC / ROS2 DDS protocol; router / switch, supporting QoS priority transmission control signal;

[0045] (4) surgical console 4, including: surgical instrument entity, signal receiving and decoding system, sensor feedback system, local security module;

[0046] (5) Programmable intelligent center control system 5, including: pressure sensors at various locations, temperature sensors, image sensors of cameras, voice receiving and responding devices, command output devices, programmable intelligent center, and servo detection system.

[0047] Also includes:

[0048] Dynamic registration subsystem: Biodegradable Mg-Ca alloy micro-markers implanted in the patient's target tissue collaborate with intraoperative OCT to generate deformation compensation signals;

[0049] Cross-domain error controller: A clock synchronizer based on the federated learning framework FL-PTP, which predicts network jitter through an LSTM network;

[0050] Adaptive force feedback device: constructs a tissue stiffness model in real time based on intraoperative ultrasound elastography data and dynamically outputs tactile warning thresholds.

[0051] Furthermore, the biodegradable Mg-Ca alloy material has a degradation rate of ≤0.01 mm / day in a body fluid environment; the surface of the alloy micro-marker is coated with a PLGA coating, and its degradation rate matches the tissue healing cycle.

[0052] Furthermore, the FL-PTP clock synchronizer predicts network jitter through a local LSTM network, aggregates parameters on the cloud side to generate clock corrections, and the synchronization accuracy satisfies:

[0053]

[0054] Where B is the bandwidth, P is the signal power, and N0 is the noise density; the LSTM delay prediction unit updates the network jitter parameter every 100ms.

[0055] Furthermore, the force feedback system of the surgical navigation system includes a three-level tactile warning mechanism:

[0056] Level 1: 5-10Hz low-frequency vibration of the operating handle;

[0057] Level 2: resistance torque increases by 30%-50%;

[0058] Level 3: forced locking of device displacement;

[0059] The alarm trigger is based on the storage modulus G' calculated in real time by ultrasound elastography:

[0060]

[0061] Activated when ΔG′>15%.

[0062] Furthermore, the camera supports 4k, and the number is 3 groups or more; the camera control arm uses a universal snake system, and each camera control arm is matched with each camera as a set; the microscope fixing platform is a bracket system, which is placed on the side of the surgical field of the patient undergoing surgery.

[0063] Furthermore, the positioning and tracking system adopts optical tracking, electromagnetic tracking or robotic arm assistance according to the specific usage scenario; the data processing and navigation software is used to process image data, calculate spatial coordinates, and visualize the navigation interface, and is integrated into the programmable intelligent central control system; the patient reference frame is fixed to the patient's bones or head to provide a stable coordinate reference; the surgical instrument adapter is used to convert conventional surgical instruments into navigation-compatible tools, and by installing optical reflective balls or electromagnetic sensors, the instrument geometric parameters, including length and tip offset, are preset to achieve precise adaptation and positioning.

[0064] Furthermore, the display and interaction system is used to provide real-time navigation feedback to the surgeon, and the equipment includes: a main console display for displaying 3D images, instrument positions and surgical path planning; an augmented reality (AR) system that supports a head-mounted display to project virtual markers onto the surgical field; and a touch / voice interaction device that can maintain a sterile environment during surgery and avoid intraoperative contamination.

[0065] Furthermore, the robot-assisted + force feedback system, in which the robot-assisted device is used for real-time image updates during surgery, includes: AI-driven ultrasound-CT fusion; the force feedback device is used to prevent the instrument from accidentally touching the dangerous area. The workflow includes: A. Preoperative: CT / MRI scanning → 3D modeling → surgical path planning; B. Intraoperative: patient registration → instrument tracking → real-time navigation, alignment error monitoring; C. Postoperative: verification of surgical accuracy and data archiving.

[0066] Furthermore, the signal receiving and decoding system includes a demodulation module and an embedded controller; the sensor feedback system includes a state sensor and an environmental sensor.

[0067] Furthermore, the display interaction device supports AR head display to project virtual markers; the virtual markers and micro-marker positions are superimposed and displayed, and the projection error satisfies:

[0068]

[0069] Δθ is the viewing angle deviation, d is the projection distance, k light is the ambient light intensity correction factor.

[0070] Example usage process: Gastric cancer surgery

[0071] The patient was diagnosed with advanced gastric cancer and urgently needed surgical resection. Due to the local spread of the tumor, surgery was extremely difficult. The patient was frail and unable to travel long distances for medical attention, so the procedure was performed in the operating room of a hospital in a third-tier city. The renowned surgeon who could perform the procedure was in Beijing and was unable to travel elsewhere in the near future. After seeing the patient, the surgery was to be performed in the operating room of a Grade A hospital in Beijing.

[0072] The patient lies supine on the operating table. The surgical microscope system includes: a camera 11, a camera control arm 12, and a microscope fixing platform 13. Figure 2 shown.

[0073] Given that the camera systems of mainstream surgical microscopes currently have a pixel count of 4K (8.3 million pixels), with 8K gradually entering the market, the camera should be at least 8.3 million pixels, ideally 8K (33.17 million pixels) to meet the surgeon's requirements for visual clarity and minimize the negative impact of changing surgical techniques. Possible options include: Zeiss RESIGHT 500: supports 4K video with an optical resolution of 1.2μm; Leica M844: Optional 8K camera, but 4K is still the mainstream; Topcon OMS-800: Full HD / 4K compatible, emphasizing color reproduction.

[0074] In order to make the surgical field of view clearer and more complete, the number of surgical microscope cameras and camera control arms should be 3 or more, so as to display the surgical field of view from different angles and positions. These multiple camera systems can switch images at any time.

[0075] Currently, higher pixels and AI assistance: 8K+AI real-time image processing (such as bleeding suppression and tissue layer display). In addition, as the 3D imaging system gradually improves, this system platform can also be further developed and updated.

[0076] At present, some existing microscopes already support 3D photography, such as Zeiss ARTEVO, but they require dual lenses to work together and have higher pixel requirements.

[0077] The camera control arm utilizes a flexible arm / articulating arm system. Because this system incorporates locking mechanisms (such as knobs and buckles) that secure it after bending and prevent springback, it is now commonly used in industrial robotic arms and automated equipment. Because this system is deployed externally, not as an implant, it is not subject to biocompatibility or biotoxicity requirements. Furthermore, due to the need for precise positioning, malleable surgical tubes cannot be used.

[0078] The microscope fixing platform is a bracket system that is placed on the side of the surgical field of the patient undergoing surgery. Figure 2 This placement can be adjusted according to the operating room and surgeon's habits to better facilitate the completion of the surgery.

[0079] A surgical navigation system (SNS) is an intelligent medical device that uses real-time image guidance to help doctors precisely position surgical instruments and patient anatomy. It is widely used in precision surgery fields such as neurosurgery, orthopedics, and otolaryngology. Its core components can be divided into the following seven modules: ① Image acquisition system, ② Positioning and tracking system, ③ Data processing and navigation software, ④ Patient reference frame (dynamic reference datum), ⑤ Surgical instrument adapter, ⑥ Display and interaction system, and ⑦ Robotic assistance + force feedback system.

[0080] The image acquisition system is used to obtain preoperative and intraoperative anatomical imaging data of the patient. The key equipment required includes: A. CT and MRI (providing high-resolution 3D data) for preoperative imaging; B. C-arm X-ray machines (such as O-arms), ultrasound, and optical coherence tomography (OCT) for intraoperative imaging; and C. Image fusion software for aligning and integrating multimodal images (such as CT+MRI). The hardware equipment described in this section should be the equipment originally configured by the medical institution performing remote surgery, and the software should be integrated into the programmable intelligent central control system.

[0081] Positioning and tracking systems are used to track the dynamic changes in the position of surgical instruments and patient anatomy in real time. Depending on the specific use case, these systems can employ A. optical tracking (currently the mainstream), B. electromagnetic tracking, or C. robotic arm assistance.

[0082] A. Optical tracking is currently the mainstream tracking system, using an infrared camera (such as NDI Polaris) to capture reflective markers on the instrument. Its advantage is high precision (error < 1mm), but its disadvantage is that it requires direct vision without obstruction.

[0083] B. Electromagnetic tracking uses electromagnetic fields for positioning (such as Ascension trakSTAR). Its advantage is that it has no line of sight restrictions and is suitable for scenarios such as endoscopy. However, its disadvantage is that it is susceptible to interference from metal.

[0084] Among them, C. Robotic arm assistance can directly feedback the posture and position of the instrument, and has been widely used, such as the Da Vinci robot.

[0085] Data processing and navigation software, used for processing image data, calculating spatial coordinates, and visualizing navigation interfaces, is integrated into the programmable intelligent central control system (5) according to claim 1. Its core algorithm is divided into: the first step, image segmentation, used to identify key anatomical structures (such as tumors and blood vessels); the second step, registration: aligning the patient's actual position with the image data (based on surface markers or anatomical features); the third step, real-time rendering: 3D visualization of instrument paths and risk areas (such as brainstem and optic nerve).

[0086] Patient reference frames (dynamic reference datums) are fixed to the patient's bones or head to provide a stable coordinate reference. Available options include: rigid mounts for orthopedics (e.g., spinal surgery) or neurosurgery (head frames); and skin labels for non-invasive positioning (e.g., sinus surgery).

[0087] Surgical instrument adapters are used to convert conventional surgical instruments (such as scalpels, periosteal elevators, surgical drills, and probes) into navigation-compatible tools. These adapters utilize optical reflectors or electromagnetic sensors to preset instrument geometry (such as length and tip offset) for precise positioning. This surgical platform system requires multiple adapters to operate simultaneously, and the surgical assistant must readily change instruments based on the surgeon's needs.

[0088] The display and interaction system provides real-time navigation feedback to the surgeon. This equipment should include: A. A console display: This displays 3D images, instrument positions, and the planned surgical path; B. An augmented reality (AR) system: This should support a head-mounted display (such as HoloLens) that projects virtual markers onto the surgical field; and C. A touch / voice interface: This maintains a sterile environment during surgery, allowing the surgeon to issue commands instantly without touching the device, thus preventing contamination.

[0089] A robotic-assisted + force feedback system uses a robotic-assisted device for real-time intraoperative image updates, such as AI-driven ultrasound-CT fusion, and a force feedback device to prevent instruments from accidentally contacting hazardous areas. A typical workflow includes: A. Preoperative: CT / MRI scan → 3D modeling → surgical path planning; B. Intraoperative: Patient registration → Instrument tracking → Real-time navigation (registration error monitoring); C. Postoperative: Verify surgical accuracy and archive data.

[0090] Different types of surgeries require different system accuracy. For example, neurosurgery requires sub-millimeter accuracy and needs to avoid functional areas during surgical operations.

[0091] The surgical console is the surgical execution side of this patented system and includes: ① surgical instrument entity, ② signal receiving and decoding system, ③ sensor feedback system, and ④ local security module.

[0092] The signal receiving and decoding system includes A. a demodulation module and B. an embedded controller. The A. demodulation module converts the received signal into control instructions, while the B. embedded controller interprets the instructions and drives the actuators (such as servo motors and hydraulic valves).

[0093] A. State sensors in the sensor feedback system include encoders, gyroscopes, and force / torque sensors. B. Environmental sensors include cameras, LiDAR, infrared, and ultrasonic sensors, which are used for remote monitoring and closed-loop control.

[0094] The local safety module can use a mature watchdog timer to detect system anomalies and initiate an emergency shutdown. In addition, an offline emergency response strategy is required to enable safe mode entry at any time when communication is interrupted.

[0095] The servo detection system is the synchronization and timing control center of this patented system. It must be able to perform high-precision clock synchronization to ensure that the control and feedback time are aligned.

[0096] The 3D surgical microscope system can further improve resolution, perform stereoscopic imaging, and increase operational flexibility, making it more suitable for surgical platforms such as neurosurgery, vascular surgery, and ophthalmology that require extremely precise operations.

[0097] The 3D objective lens, located on the surgical side of the system, uses dual cameras to synchronously capture images for the left and right eyes. These images undergo 3D processing and are transmitted remotely to the surgeon's location. The surgeon, wearing 3D glasses, can perform the surgery in a stereoscopic environment. Multi-channel output is also available, allowing multiple viewers to view the images, making it suitable for educational demonstrations.

[0098] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0099] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0100] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A remote surgery control system platform, characterized in that: Includes the following modules: (1) Surgical microscope system, including: camera, camera control arm, and microscope fixing platform; (2) surgical navigation system, including: image acquisition system, positioning and tracking system, data processing and navigation software, patient reference frame, surgical instrument adapter, display and interaction system and robot assistance + force feedback system; the image acquisition system includes: CT and MRI for obtaining preoperative images, C-arm X-ray machine, ultrasound, optical coherence tomography (OCT) for obtaining intraoperative images, and image fusion software; (3) Signal remote transmission system, including dual-channel redundant wireless network, using RTMP / WebRTC / ROS2 DDS protocol; router / switch, supporting QoS priority transmission control signal; (4) surgical console, including: surgical instrument entity, signal receiving and decoding system, sensor feedback system, and local security module; (5) Programmable intelligent center control system, including: pressure sensors at various locations, temperature sensors, camera image sensors, voice receiving and responding devices, command output devices, programmable intelligent center, and servo detection system; Also includes: Dynamic registration subsystem: Biodegradable Mg-Ca alloy micro-markers implanted in the patient's target tissue collaborate with intraoperative OCT to generate deformation compensation signals; Cross-domain error controller: A clock synchronizer based on the federated learning framework FL-PTP, which predicts network jitter through an LSTM network; Adaptive force feedback device: constructs a tissue stiffness model in real time based on intraoperative ultrasound elastography data and dynamically outputs tactile warning thresholds.

2. The remote surgery control system platform according to claim 1, wherein: The biodegradable Mg-Ca alloy material has a degradation rate of ≤0.01mm / day in a body fluid environment; the surface of the alloy micro-marker is coated with PLGA, and its degradation rate matches the tissue healing cycle.

3. The remote surgery control system platform according to claim 1, wherein: The FL-PTP clock synchronizer predicts network jitter through a local LSTM network and aggregates parameters on the cloud to generate clock corrections. The synchronization accuracy meets the following requirements: Where B is the bandwidth, P is the signal power, and N0 is the noise density; the LSTM delay prediction unit updates the network jitter parameter every 100ms.

4. The remote surgery control system platform according to claim 1, wherein: The force feedback system of the surgical navigation system includes a three-level tactile warning mechanism: Level 1: 5-10Hz low-frequency vibration of the operating handle; Level 2: resistance torque increases by 30%-50%; Level 3: forced locking of device displacement; The alarm trigger is based on the storage modulus G' calculated in real time by ultrasound elastography: Activated when ΔG′>15%.

5. The remote surgery control system platform according to claim 1, wherein: The camera supports 4k, and the number is 3 groups or more; the camera control arm uses a universal snake system, and each camera control arm is matched with each camera as a set; the microscope fixing platform is a bracket system, which is placed on the side of the surgical field of the patient undergoing surgery.

6. The remote surgery control system platform according to claim 1, wherein: The positioning and tracking system adopts optical tracking, electromagnetic tracking or robotic arm assistance according to the specific usage scenario; the data processing and navigation software is used to process image data, calculate spatial coordinates, and visualize the navigation interface, and is integrated into the programmable intelligent central control system; the patient reference frame is fixed to the patient's bones or head to provide a stable coordinate reference; the surgical instrument adapter is used to convert conventional surgical instruments into navigation-compatible tools. By installing optical reflective balls or electromagnetic sensors, the instrument geometric parameters, including length and tip offset, are preset to achieve precise adaptation and positioning.

7. The remote surgery control system platform according to claim 6, wherein: The display and interaction system is used to provide real-time navigation feedback to the surgeon. The equipment includes: a main console display for displaying 3D images, instrument positions and surgical path planning; an augmented reality (AR) system that supports a head-mounted display to project virtual markers onto the surgical field; and a touch / voice interaction device that can maintain a sterile environment during surgery and avoid intraoperative contamination.

8. The remote surgery control system platform according to claim 7, wherein: The robot-assisted + force feedback system, in which the robot-assisted device is used for real-time image updates during surgery, includes: AI-driven ultrasound-CT fusion; the force feedback device is used to prevent the instrument from accidentally touching dangerous areas. The workflow includes: A. Preoperative: CT / MRI scanning → 3D modeling → surgical path planning; B. Intraoperative: patient registration → instrument tracking → real-time navigation, alignment error monitoring; C. Postoperative: verification of surgical accuracy and data archiving.

9. The remote surgery control system platform according to claim 1, wherein: The signal receiving and decoding system includes a demodulation module and an embedded controller; the sensor feedback system includes a state sensor and an environment sensor.

10. The remote surgery control system platform according to claim 1, wherein: The display interaction device supports AR head display to project virtual markers; the virtual markers and micro-marker positions are superimposed and displayed, and the projection error satisfies: Δθ is the viewing angle deviation, d is the projection distance, k light is the ambient light intensity correction factor.

Images