Catheter device with AR / MR augmented reality navigation function

Abstract

The invention belongs to the technical field of medical instruments, and particularly relates to a catheter device with an AR / MR augmented reality navigation function, a visual catheter assembly comprises a handle, one end of the handle is fixedly connected with a hollow sheath tube, the other end of the handle is fixedly connected with a first mounting frame, four first infrared reflection tracking balls are mounted at the top end of the first mounting frame, and a second infrared reflection tracking ball is mounted at the top end of the first mounting frame. A micro camera is installed at one end of the interior of the hollow sheath tube, an LED lamp is installed on the micro camera, and a transparent observation cover is installed at one end of the exterior of the hollow sheath tube; according to the application, the visual catheter with the navigation function is combined with the cooperation of the optical tracker, the three-dimensional C-arm X-ray machine and the multiple groups of infrared reflection tracking balls, and the virtual-real space registration algorithm is combined, so that precise correspondence among the patient focus, the surgical instrument and the virtual three-dimensional model is realized; a doctor can accurately grasp the spatial position, direction and depth of a surgical tool in the body of a patient in real time, and the positioning precision of puncture and catheter placement is greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, specifically referring to a catheter device with AR / MR augmented reality navigation function. Background Technology

[0002] Spinal surgery is a surgical treatment for various diseases of the spine, such as spinal fractures, spinal deformities, and herniated discs. Its aim is to relieve patients' pain and restore the normal structure and function of the spine. The surgical procedure is delicate and complex, requiring extremely high precision. Because numerous important nerves and blood vessels are distributed around the spine, even slight errors can lead to serious complications, affecting the patient's postoperative quality of life.

[0003] Traditional spinal surgery has many limitations in clinical application. During the operation, surgeons mainly rely on their own experience and preoperative imaging data to plan the surgical path and locate the lesion. However, due to the complex and variable anatomy of the spine and significant individual differences, it is difficult to achieve precise localization based solely on experience, resulting in large localization errors. Such errors can easily damage surrounding nerves and blood vessels, causing irreversible harm to the patient. Moreover, to ensure the accuracy of the surgical procedure, surgeons often need to repeatedly perform intraoperative fluoroscopy to confirm the location, which not only increases the operation time but also exposes patients and medical staff to radiation for extended periods, posing radiation risks. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a conduit device with AR / MR augmented reality navigation functionality.

[0005] The technical solution adopted by the present invention is as follows: The present invention provides a catheter device with AR / MR augmented reality navigation function, including a trolley, an optical tracker, a three-dimensional C-arm X-ray machine and AR / MR glasses. An image workstation is installed on the trolley, and a display is installed on the image workstation. The display is wired to the image workstation. It also includes a reference frame and a registration auxiliary block. A puncture catheter assembly module is set on the image workstation. The registration auxiliary block includes a horizontal plate. Four fifth infrared reflection tracking balls are installed at the lower end of the horizontal plate. A vertical plate is fixedly connected to the top of the horizontal plate. Five steel balls are embedded in the vertical plate.

[0006] Furthermore, the reference frame includes a horizontal block and a second holding block. The first holding block is slidably fitted onto the horizontal block. One side of the first holding block has a first vertically oriented first notch. A first circular hole is formed on the first holding block, and the first notch and the first circular hole are connected through each other. A pin is slidably fitted into the first circular hole. A first threaded hole is formed on the inner sidewall of the first notch. A first set screw is slidably fitted onto the adjacent side of the first holding block. One end of the first set screw is fixedly connected to a first rotary knob, and the other end of the first set screw is located in the first threaded hole. The first set screw and the first threaded hole are threadedly connected. One end of the rear sidewall of the horizontal block is fixedly connected to one end of a first connecting shaft, and the other end of the first connecting shaft is fixedly connected to the outer sidewall of a first rotating steel ball. A second vertical notch is formed on the sidewall of the second holding block. The second holding block has a first spherical groove at its upper end and a second spherical groove at its lower end. The first spherical groove and the second notch are connected through each other. A first rotating steel ball is rotatably disposed in the second spherical groove, and a second rotating steel ball is rotatably disposed in the first spherical groove. A second connecting shaft is fixedly connected to the top of the second rotating steel ball. A second screw hole is provided on the inner side wall of the second notch. A second set screw is slidably sleeved on the adjacent side wall of the second holding block. A second rotary knob is fixedly connected to one end of the second set screw, and the other end of the second set screw is disposed in the second screw hole. The second set screw and the second screw hole are threadedly connected. A second mounting bracket is fixedly connected to the top of the second connecting shaft. Four third infrared reflective tracking balls are provided on the top of the second mounting bracket.

[0007] Furthermore, the puncture catheter assembly module includes a puncture cannula, a puncture needle, and a visual catheter assembly.

[0008] Furthermore, one end of the puncture cannula is connected to the puncture tube head, one end of the first connecting tube is connected to the outer side wall of the puncture tube head, and a second connecting tube is connected to the other outer side wall of the puncture tube head. The puncture cannula is used to establish a passage and for water inlet and outlet. The top end of the puncture needle is fixedly connected to the base, and the top end of the base is fixedly connected to the third mounting bracket. A fourth infrared reflective tracking ball is installed on each branch of the third mounting bracket.

[0009] Furthermore, the visual catheter assembly includes a handle, one end of which is fixedly connected to a hollow sheath, and the other end of which is fixedly connected to a first mounting bracket. Four first infrared reflective tracking balls are mounted on the top of the first mounting bracket. A miniature camera is mounted inside one end of the hollow sheath, and an LED light is mounted on the miniature camera. A transparent observation cover is mounted outside one end of the hollow sheath, and a hydrophobic coating is applied to the outer wall of the transparent observation cover. The visual catheter assembly is also provided with auxiliary components.

[0010] Furthermore, the auxiliary component includes a signal transmission line, one end of which is connected to a miniature camera, and the other end of which is connected to a connector plug. The connector plug is connected to an image workstation or a display mechanism. The display mechanism includes a housing, one side of which is fitted with an independent display. The side wall of the housing has a power interface, a memory card interface, an HDMI interface, and a USB interface. The interior of the housing contains a circuit board, and the other side of the housing has a plug socket.

[0011] Furthermore, the auxiliary component includes a cavity, which is located within a first mounting bracket. A battery and a wireless communication module are installed inside the cavity. A unipolar electrocoagulation head terminal is installed at the other end of the side wall of the hollow sheath. A unipolar electrocoagulation head is fixedly installed on the outer wall of the transparent observation cover. A unipolar electrocoagulation connecting wire is connected to the unipolar electrocoagulation head and is used to pass through the unipolar electrocoagulation head terminal.

[0012] Furthermore, the battery powers the miniature camera, the LED light, and the wireless communication module. The miniature camera is wirelessly connected to the wireless communication module, and the wireless communication module is wirelessly connected to the display.

[0013] Furthermore, the AR / MR glasses are wirelessly connected to an image workstation.

[0014] The beneficial effects achieved by the present invention using the above structure are as follows: (1) By using a navigation-enabled visual catheter, combined with the coordinated operation of an optical tracker, a 3D C-arm X-ray machine, and multiple sets of infrared reflection tracking balls, and using a virtual-real spatial registration algorithm, a precise correspondence between the patient's lesion, surgical instruments, and the virtual 3D model can be achieved. This allows doctors to accurately and in real time grasp the spatial position, direction, and depth of surgical instruments within the patient's body, significantly improving the positioning accuracy of puncture and catheter insertion. It can provide timely and effective path guidance for the two key intraoperative operations: intraoperative puncture and intraoperative observation of lesion information.

[0015] (2) AR / MR glasses are used to integrate the patient’s three-dimensional anatomical model, planned path and surgical instrument position with the real field of vision to form an augmented reality effect of “what you see is what you wear”, which significantly reduces the spatial imagination burden of doctors, reduces the risk of misjudgment, and improves the safety and success rate of puncture and interventional procedures for complex lesions.

[0016] (3) The hollow sheath integrates a miniature camera and an LED light source at the front end, enabling doctors to observe the real tissue structure near the lesion in real time during catheter advancement. This can help doctors perform "dual real-time observation" in open and minimally invasive surgeries, that is, simultaneously observe the tissue information of the real lesion at the front end and the position information of the instrument in the anatomical structure of the lesion, ensuring the real-time presentation of the microscopic "small map" and the precise guidance of the macroscopic "large map".

[0017] (4) A transparent observation cover is set outside the miniature camera and LED light source, which not only expands the field of view, but also effectively reduces the obstruction caused by the adhesion of blood, body fluid or tissue debris through the hydrophobic coating. Even if there is local contamination, the tissue structure can still be observed through the uncontaminated area, which significantly improves the continuity and reliability of intraoperative imaging.

[0018] (5) The reference frame can be firmly fixed near the patient's lesion and the position and posture of the third infrared reflection tracking ball can be flexibly adjusted to ensure the stability and tracking accuracy of the intraoperative reference coordinates, adapt to the surgical needs of different body positions and different lesion locations, and enhance the system's versatility and clinical practical value. Attached Figure Description

[0019] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the conduit device with AR / MR augmented reality navigation function of the present invention; Figure 2 For reference, see the main view of the frame; Figure 3 This is a top view of the reference frame; Figure 4 This is a schematic diagram of the internal structure of the second reinforcement block; Figure 5 This is a schematic diagram of the internal structure of the first reinforcement block; Figure 6 This is a schematic diagram of the puncture needle structure; Figure 7 A schematic diagram of the registration auxiliary block structure; Figure 8 This is a schematic diagram of the structure of the first embodiment of the visual catheter assembly; Figure 9 This is a schematic diagram of the structure of the second embodiment of the visual catheter assembly; Figure 10 This is a partial structural schematic diagram of the second embodiment of the visual catheter assembly; Figure 11A three-dimensional view of the puncture cannula; Figure 12 This is a schematic diagram of the display mechanism.

[0021] Among them, 1. trolley, 2. monitor, 3. image workstation, 4. optical tracker, 5. 3D C-arm X-ray machine, 6. reference frame, 7. puncture cannula, 8. cavity, 9. handle, 10. first mounting bracket, 11. puncture needle, 12. transparent observation cover, 13. LED light, 14. miniature camera, 15. monopolar electrocautery head, 16. monopolar electrocautery head terminal, 17. hollow sheath, 18. first connecting tube, 19. second connecting tube, 20. battery, 21. wireless communication module, 22. first infrared reflection tracking ball, 23. AR / MR glasses, 24. puncture cannula head, 25. horizontal block, 26. first clamping block, 27. first round hole, 28. insert pin, 29. first incision groove, 30. first rotary knob, 31. first set screw, 32. first screw hole, 3 3. Second bearing block; 34. First spherical groove; 35. Second spherical groove; 36. Second notched groove; 37. First connecting shaft; 38. Second connecting shaft; 39. Second set screw; 40. Second screw hole; 41. Second mounting bracket; 42. Third infrared reflection tracking ball; 43. Signal transmission line; 44. Base; 45. Third mounting bracket; 46. Fourth infrared reflection tracking ball; 47. First rotating steel ball; 48. Second rotating steel ball; 49. Second rotary knob; 50. Connecting plug; 51. Single-pole electrocoagulation connecting wire; 52. Registration auxiliary block; 53. Horizontal plate; 54. Vertical plate; 55. Steel ball; 56. Fifth infrared reflection tracking ball; 57. Housing; 58. Independent display; 59. Memory card interface; 60. HDMI interface; 61. Power interface; 62. USB interface. Detailed Implementation

[0022] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the specific embodiments. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this patent, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this patent.

[0023] Example 1 like Figures 1-8 , Figures 11-12As shown, the present invention proposes a catheter device with AR / MR augmented reality navigation function, including a trolley 1, an optical tracker 4, a three-dimensional C-arm X-ray machine 5, and AR / MR glasses 23. An image workstation 3 is installed on the trolley 1, and a display 2 is installed on the image workstation 3. The display 2 is wired to the image workstation 3. It also includes a reference frame 6 and a registration auxiliary block 52. A puncture catheter assembly module is set on the image workstation 3. The registration auxiliary block 52 includes a horizontal plate 53. Four fifth infrared reflection tracking balls 56 are installed at the lower end of the horizontal plate 53. A vertical plate 54 is fixedly connected to the top of the horizontal plate 53. Five steel balls 55 are embedded in the vertical plate 54.

[0024] The reference frame 6 includes a horizontal block 25 and a second holding block 33. A first holding block 26 is slidably fitted onto the horizontal block 25. One side of the first holding block 26 has a vertical first notch 29. A first circular hole 27 is formed on the first holding block 26. The first notch 29 and the first circular hole 27 are connected through each other. A pin 28 is slidably fitted into the first circular hole 27. A first screw hole 32 is formed on the inner side wall of the first notch 29. A first set screw 31 is slidably fitted onto the adjacent side of the first holding block 26. One end of the first set screw 31 is fixedly connected to a first rotary knob 30, and the other end of the first set screw 31 is located in the first screw hole 32. The first set screw 31 and the first screw hole 32 are threadedly connected. One end of the rear side wall of the horizontal block 25 is fixedly connected to one end of a first connecting shaft 37. The other end of the first connecting shaft 37 is fixedly connected to the outer side wall of a first rotating steel ball 47. A second vertical notch 36 is formed on the side wall of the second holding block 33. The upper end of the second support block 33 has a first spherical groove 34, and the lower end of the second support block 33 has a second spherical groove 35. The first spherical groove 34 and the second notch groove 36 are connected through each other. The second spherical groove 35 and the second notch groove 36 are also connected through each other. A first rotating steel ball 47 is rotatably provided in the second spherical groove 35, and a second rotating steel ball 48 is rotatably provided in the first spherical groove 34. The top end of the second rotating steel ball 48 is fixedly connected to a second connecting shaft 38. A second screw hole 40 is provided on the inner side wall of the second notch groove 36. A second set screw 39 is slidably sleeved on the adjacent side wall of the second support block 33. One end of the second set screw 39 is fixedly connected to a second rotary knob 49, and the other end of the second set screw 39 is provided in the second screw hole 40. The second set screw 39 and the second screw hole 40 are threadedly connected. The top end of the second connecting shaft 38 is fixedly connected to a second mounting bracket 41. Four third infrared reflective tracking balls 42 are provided on the top end of the second mounting bracket 41.

[0025] The puncture catheter assembly module includes a puncture cannula 7, a puncture needle 11, and a visual catheter assembly.

[0026] One end of the puncture cannula 7 is connected to the puncture head 24. One end of the first connecting tube 18 is connected to the outer side wall of the puncture head 24. The other outer side wall of the puncture head 24 is connected to the second connecting tube 19. The puncture cannula 7 is used to insert the puncture needle 11. The top end of the puncture needle 11 is fixedly connected to the base 44. The top end of the base 44 is fixedly connected to the third mounting bracket 45. The branches of the third mounting bracket 45 are respectively equipped with the fourth infrared reflective tracking ball 46.

[0027] The visual catheter assembly includes a handle 9, one end of which is fixedly connected to a hollow sheath 17, and the other end of which is fixedly connected to a first mounting bracket 10. Four first infrared reflective tracking balls 22 are mounted on the top of the first mounting bracket 10. A miniature camera 14 is mounted inside one end of the hollow sheath 17, and an LED light 13 is mounted on the miniature camera 14. A transparent observation cover 12 is mounted on the outer end of the hollow sheath 17. The outer wall of the transparent observation cover 12 is coated with a hydrophobic coating. The visual catheter assembly is also equipped with auxiliary components.

[0028] The auxiliary components include a signal transmission line 43, one end of which is connected to a miniature camera 14, and the other end of which is connected to a connector 50. The connector 50 is connected to the image workstation 3 or the display mechanism. The display mechanism includes a housing 57, with an independent display 58 mounted on one side of the housing 57. The side wall of the housing 57 has a power interface 61, a memory card interface 59, an HDMI interface 60, and a USB interface 62. A circuit board is set inside the housing 57, and a plug socket is provided on the other side of the housing 57.

[0029] AR / MR glasses 23 wirelessly connect to image workstation 3.

[0030] In practical use, during surgery, the patient lies prone on the operating table. The reference frame 6 is inserted near the lesion using pins 28, and the registration aid block 52 is placed above the lesion area. Then, the first rotary knob 30 is tightened, and the first set screw 31 enters the first screw hole 32. The deformation generated by the first clamping block 26 fixes the pins 28, and the position of the third infrared reflection tracking ball 42 on the reference frame 6 is adjusted so that it can be tracked by the optical tracker 4. Then, the second rotary knob 49 is tightened, and the deformation generated by the second clamping block 33 fixes the first rotating steel ball 47 and the second rotating steel ball 48. The imaging workstation 3 acquires the reference frame 6 and the registration aid block 52 through the optical tracker 4. The position data of block 52 is obtained, and the reference frame 6 is set as the coordinate origin of all tool positions. The three-dimensional C-arm X-ray machine 5 acquires the image data of the patient's lesion site, including the steel ball 55 on the registration auxiliary block 52, and sends it to the image workstation 3 via network transmission. The image workstation 3 performs three-dimensional reconstruction on the received patient image data, displays the bone model of the patient's lesion site and the model of the steel ball 55 on the registration auxiliary block 52, and performs surgical planning. The surgical path is planned on the three-dimensional model of the patient image by the image workstation 3, that is, the position, angle and depth of the surgical tools to enter during the operation are planned, and the surgical planning information is sent to the image workstation 3.

[0031] Manually select the steel ball 55 of the registration auxiliary block 52 in the 3D image model to obtain the position of the steel ball point in the virtual space; then the image workstation 3 automatically obtains the position of these 5 steel ball 55 points in the real space through the optical tracker 4;Finally, the registration algorithm is used to calculate the transformation between the positions of the 55 points of the steel ball in the virtual space and the positions of the 55 points of the steel ball in the real space. This transformation is then applied to all tool models in the virtual space to achieve system registration. After registration, the positional relationship between the reference frame model and the patient's 3D model in the virtual space can be determined. The imaging workstation 3 will map the patient's 3D model and surgical tools in the virtual space to the patient's lesion area and the position of the surgical tools in the real space. That is, the position of the surgical tools relative to the patient's lesion area in the real space will be fed back to the virtual space in real time. The relative positions of the surgical tool model and the patient's 3D model in the virtual space are consistent with those in reality. This is because the patient's 3D model contains surgical planning information. Therefore, the imaging workstation 3 can guide the doctor's surgical operation in the real space based on the planning information in the virtual space. The imaging workstation 3 sends the relevant navigation information to the AR / MR glasses 23 through wireless transmission. The AR / MR glasses 23 will present the relevant information in the doctor's field of vision and overlay and merge the relevant information with the real space to give the doctor a "what you see is what you wear" effect. At the same time, the AR / MR glasses 23 will display in real time the human tissue structure image of the puncture site captured by the miniature camera 14 of the hollow sheath 17. During the operation, the doctor wears the AR / MR glasses 23. First, the doctor uses the surgical tool combination of puncture needle 11 and puncture cannula 7 to perform puncture operation on the patient's lesion site. The imaging workstation 3 transmits the relevant navigation information to the AR / MR glasses 23 through the virtual space. The optical tracker 4 can monitor the position of surgical instruments in real time. Simultaneously, the scene displayed in the AR / MR glasses 23 guides the surgeon based on surgical planning information, directing the insertion position, direction, and depth of the surgical instruments. After inserting the puncture needle 11, the surgeon removes the puncture cannula 7 while keeping it stationary, then places the hollow sheath 17 inside. The miniature camera 14 displays a real-time image of the internal organs near the catheter tip, allowing the surgeon to observe the lesion area in real time. Finally, because the imaging workstation 3 can track the position of the hollow sheath 17 in real time, the surgeon not only observes the image of the tip of the hollow sheath 17 but also knows its precise location within the lesion area, enabling more accurate surgical intervention. During the relevant manual operation in the lesion area, the miniature camera 14 and the LED 13 light are located at the front end of the hollow sheath 17. The miniature camera 14 and the LED 13 are powered through the signal transmission line 43. At the same time, the image information collected by the miniature camera 14 is sent to the image workstation 3 through the signal transmission line 43 for image display. The image information collected by the hollow sheath 17 is displayed in real time. If the miniature camera 14 is directly installed at the head of the hollow sheath 17, on the one hand, the human tissue will directly wrap the LED 13 light source during puncture, making it difficult for the LED 13 light source to provide an effective lighting space for the miniature camera 14. On the other hand, since the miniature camera 14 is in direct contact with the surrounding tissue, the image range it acquires is extremely small, so its actual auxiliary role is relatively limited.On the other hand, if the LED13 light source and the miniature camera 14 are contaminated by foreign objects, they will no longer be able to observe the surrounding structure. Therefore, the present invention adds a transparent observation cover 12 to the LED13 light source and the miniature camera 14. The transparent observation cover 12 is a hemispherical cover or a semi-ellipsoidal cover. A hydrophobic coating is provided on the outer wall of the transparent observation cover 12. The transparent observation cover 12 is sealed to the LED13 light source and the miniature camera 14. The transparent observation cover 12 will provide the LED13 light source and the miniature camera 14 with a larger observation range, so that the range of images acquired is larger and the auxiliary effect is more obvious. Secondly, the outer wall of the transparent observation cover 12 is coated with a hydrophobic coating containing water-based components, making it difficult for foreign objects to adhere to the focusing observation cover. Even if some of the focusing observation cover is adhered, the operator can still observe the general structure of the surrounding area through the part of the focusing observation cover that is not adhered to by foreign objects. The first infrared reflection tracking ball 22 is fixed to the tail end of the hollow sheath 17 and can be specifically identified by the optical tracker 4, so that the position of the tip of the hollow sheath 17 can be known in real time through optical tracking during use. The above is the overall workflow of the present invention. This step can be repeated for the next use.

[0032] Example 2 The difference between this embodiment and Embodiment 1 is: Figures 9-10 As shown, the auxiliary components include a cavity 8, which is located within the first mounting bracket 10. A battery 20 and a wireless communication module 21 are installed inside the cavity 8. A unipolar electrocoagulation head terminal 16 is installed at the other end of the side wall of the hollow sheath 17. A unipolar electrocoagulation head 15 is fixedly installed on the outer wall of the transparent observation cover 12. A unipolar electrocoagulation connecting wire 51 is connected to the unipolar electrocoagulation head 15 and is used to pass through the unipolar electrocoagulation head terminal 16.

[0033] The battery 20 powers the miniature camera 14, the LED light 13, and the wireless communication module 21. The miniature camera 14 is wirelessly connected to the wireless communication module 21, and the wireless communication module 21 is wirelessly connected to the display 2.

[0034] In practical use, this application designs the monopolar electrocoagulation head 15 at the front end of the transparent observation cover 12. If a bleeding point is found, current is applied to the rear end, and a closed loop is formed with the external electrodes to achieve the effect of electrocoagulating the bleeding point. The eyepiece collects the image information transmitted by the objective lens, converts the image information into a digital signal, and transmits it to the wireless communication module 21. The wireless communication module 21 transmits the digital signal to the display 2 and the image workstation 3 for image display. In order to improve the timeliness of image information transmission and reduce the safety risks caused by image transmission delay, the wireless communication module 21 adopts a 5G communication module. Taking advantage of the low latency of 5G, the image information collected by the catheter is displayed in real time. The above is the overall workflow of this invention. This step can be repeated next time it is used.

[0035] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A duct device with AR / MR augmented reality navigation function, comprising a trolley (1), an optical tracker (4), a three-dimensional C-arm X-ray machine (5), and AR / MR glasses (23), wherein an image workstation (3) is mounted on the trolley (1), a display (2) is mounted on the image workstation (3), and the display (2) is wiredly connected to the image workstation (3), characterized in that: It also includes a reference frame (6) and a registration auxiliary block (52). The imaging workstation (3) is equipped with a puncture catheter assembly module. The registration auxiliary block (52) includes a horizontal plate (53). Four fifth infrared reflection tracking balls (56) are installed at the lower end of the horizontal plate (53). A vertical plate (54) is fixedly connected to the top of the horizontal plate (53). Five steel balls (55) are embedded on the vertical plate (54). The puncture catheter assembly module includes a visual catheter assembly. The visual catheter assembly includes a handle (9). One end of the handle (9) is fixedly connected to an empty... The hollow sheath (17) has a first mounting bracket (10) fixedly connected to the other end of the handle (9). Four first infrared reflection tracking balls (22) are installed on the top of the first mounting bracket (10). A miniature camera (14) is installed inside one end of the hollow sheath (17). An LED light (13) is installed on the miniature camera (14). A transparent observation cover (12) is installed on the outer end of the hollow sheath (17). A hydrophobic coating is applied to the outer wall of the transparent observation cover (12). An auxiliary component is also provided on the visual catheter assembly.

2. The conduit device with AR / MR augmented reality navigation function according to claim 1, characterized in that: The reference frame (6) includes a horizontal block (25) and a second holding block (33). The first holding block (26) is slidably sleeved on the horizontal block (25). The first holding block (26) has a first vertical groove (29) on one side and a first circular hole (27) on the first holding block (26). The first groove (29) and the first circular hole (27) are connected through each other. A pin (28) is slidably sleeved in the first circular hole (27). A first screw hole (32) is opened on the inner sidewall of the first groove (29). The adjacent side of the first holding block (26) is slidably sleeved. The first set screw (31) is connected to the first set screw (31). One end of the first set screw (31) is fixedly connected to the first rotary knob (30). The other end of the first set screw (31) is located in the first screw hole (32). The first set screw (31) and the first screw hole (32) are threaded together. One end of the rear side wall of the horizontal block (25) is fixedly connected to one end of the first connecting shaft (37). The other end of the first connecting shaft (37) is fixedly connected to the outer side wall of the first rotating steel ball (47). A second vertical groove (36) is opened on the side wall of the second holding block (33). The upper end of the second supporting block (33) has a first spherical groove (34), and the lower end of the second supporting block (33) has a second spherical groove (35). The first spherical groove (34) and the second slit groove (36) are connected through each other. The second spherical groove (35) and the second slit groove (36) are connected through each other. A first rotating steel ball (47) is rotatably arranged in the second spherical groove (35), and a second rotating steel ball (48) is rotatably arranged in the first spherical groove (34). The top end of the second rotating steel ball (48) is fixedly connected to a second connecting shaft (38). The second slit groove... A second screw hole (40) is opened on the inner side wall of (36), and a second set screw (39) is slidably sleeved on the adjacent side wall of the second holding block (33). One end of the second set screw (39) is fixedly connected to the second rotary knob (49), and the other end of the second set screw (39) is set in the second screw hole (40). The second set screw (39) and the second screw hole (40) are threadedly connected. The top end of the second connecting shaft (38) is fixedly connected to the second mounting bracket (41), and four third infrared reflective tracking balls (42) are set at the top end of the second mounting bracket (41).

3. The conduit device with AR / MR augmented reality navigation function according to claim 2, characterized in that: The puncture catheter assembly module includes a puncture cannula (7), a puncture needle (11), and a visual catheter assembly.

4. The conduit device with AR / MR augmented reality navigation function according to claim 3, characterized in that: One end of the puncture cannula (7) is connected to the puncture head (24), and one end of the first connecting tube (18) is connected to the outer side wall of the puncture head (24). The other outer side wall of the puncture head (24) is connected to the second connecting tube (19). The puncture cannula (7) is used to establish a passage and for water inlet and outlet. The top end of the puncture needle (11) is fixedly connected to the base (44). The top end of the base (44) is fixedly connected to the third mounting bracket (45). The branches of the third mounting bracket (45) are respectively equipped with fourth infrared reflective tracking balls (46).

5. The conduit device with AR / MR augmented reality navigation function according to claim 1, characterized in that: The auxiliary component includes a signal transmission line (43), one end of which is connected to a miniature camera (14), and the other end of which is connected to a connector (50). The connector (50) is connected to an image workstation (3) or a display mechanism. The display mechanism includes a housing (57), on one side of which an independent display (58) is installed. A power interface (61), a memory card interface (59), an HDMI interface (60), and a USB interface (62) are provided on the side wall of the housing (57). A circuit board is provided inside the housing (57), and a plug socket is provided on the other side of the housing (57).

6. The conduit device with AR / MR augmented reality navigation function according to claim 1, characterized in that: The auxiliary components include a cavity (8) which is located inside the first mounting bracket (10). A battery (20) and a wireless communication module (21) are installed inside the cavity (8). A unipolar electrocoagulation head terminal (16) is installed at the other end of the side wall of the hollow sheath (17). A unipolar electrocoagulation head (15) is fixedly installed on the outer wall of the transparent observation cover (12). A unipolar electrocoagulation connecting wire (51) is connected to the unipolar electrocoagulation head (15). The unipolar electrocoagulation connecting wire (51) is used to pass through the unipolar electrocoagulation head terminal (16).

7. The conduit device with AR / MR augmented reality navigation function according to claim 6, characterized in that: The battery (20) powers the miniature camera (14), the LED light (13) and the wireless communication module (21). The miniature camera (14) is wirelessly connected to the wireless communication module (21), and the wireless communication module (21) is wirelessly connected to the display (2).

8. The conduit device with AR / MR augmented reality navigation function according to claim 1, characterized in that: The AR / MR glasses (23) are wirelessly connected to the image workstation (3).

Images