An extended reality-based three-dimensional visualization auxiliary diagnosis device for lung tumors

Abstract

The application relates to the technical field of auxiliary diagnosis devices, in particular to a lung tumor three-dimensional visualization auxiliary diagnosis device based on extended reality, which comprises a base frame, a mechanical arm rotating base is fixedly installed at the upper end of a side bed mounting support, and an imaging positioning mechanism is fixedly installed at the upper end of the mechanical arm rotating base; the calibration frame rotating mechanism comprises a lower rotating support seat rotatably installed at the upper end of a calibration frame mounting cross beam, a supporting column is fixedly installed at the upper end of the lower rotating support seat, a supporting groove is fixedly installed on one side of the supporting column, and a limiting mechanism is fixedly installed at the upper end of the supporting groove. The device integrates a calibration mechanism and an imaging mechanical arm, relies on binocular and infrared collection of a chest cavity real scene, superimposes a CT tumor model virtual and real scene after unification of coordinates, realizes lung tumor extended reality three-dimensional visualization auxiliary diagnosis, can lock the calibration frame to correct imaging deviation, is easy to disinfect and transport, reduces lesion misjudgment, and improves diagnosis and treatment research and judgment efficiency.

Description

Technical Field

[0001] This invention relates to the field of auxiliary diagnostic devices, and in particular to an auxiliary diagnostic device for lung tumors based on extended reality three-dimensional visualization. Background Technology

[0002] Lung cancer is one of the malignant tumors with the highest incidence and mortality rates worldwide. Early screening for lung tumors, preoperative pathway planning, and precise intraoperative localization guidance for lung biopsy and ablation minimally invasive surgery are core aspects of improving patient survival rates and reducing surgical complications. Currently, lung tumor diagnosis mainly relies on thin-section CT images. The traditional method of interpreting images involves doctors browsing two-dimensional tomographic images frame by frame on a medical monitor, using spatial imagination to reconstruct the three-dimensional relationship between lesions and bronchi and pulmonary vessels. This method is highly dependent on the doctor's clinical experience. For complex cases such as pulmonary nodules and central lung cancer, there are problems such as large deviations in spatial structure judgment, long time consumption for lesion localization, and a long learning curve for young doctors, making it difficult to meet the needs of efficient and accurate clinical diagnosis and treatment.

[0003] With the development of medical image post-processing technology, 3D reconstruction technology based on CT images has been gradually applied in clinical practice. It can reconstruct 3D visualization models from 2D tomographic data, which reduces the spatial imagination burden on doctors to some extent. However, current 3D reconstruction results are mostly displayed on 2D flat screens, which still cannot present the true spatial depth and three-dimensional structure. It lacks the ability to track the chest wall in real time during surgery and register virtual and real coordinates, and cannot establish a unified surgical navigation spatial benchmark. Doctors may have cognitive biases in judging the extent of tumor invasion and the direction of blood vessels, which leads to the inaccuracy of intraoperative puncture positioning and restricts the efficiency and safety of the operation.

[0004] The existing technology has the following shortcomings: 1. Existing extended lung tumor diagnostic equipment lacks an integrated medical carrier. Imaging, beds, and calibration components are scattered and lack a unified spatial calibration structure. This makes it impossible to achieve accurate coordinate matching between the real scene and the lesion model. The overlay of extended reality is prone to offset, and the fit of the 3D visualization model is poor, which seriously affects the diagnostic accuracy.

[0005] 2. Traditional equipment relies solely on flat-panel displays to show 3D reconstructed images, lacking the ability to fuse real-world scenes and without a chest cavity real-world acquisition module. It cannot achieve extended reality visualization by overlaying virtual and real images. Doctors can only rely on experience and spatial imagination to reconstruct the three-dimensional structure of lesions. When faced with complex pulmonary nodules or central tumors, spatial misjudgment is very likely to occur, prolonging the lesion assessment time.

[0006] 3. Existing equipment lacks human-machine adaptation and hospital infection control design, and lacks lifting and segmented beds and adjustable imaging robotic arms, limiting the operating posture; the equipment has many gaps and exposed cables, making transportation and disinfection inconvenient, and cannot be flexibly adapted to the use of intraoperative navigation applications in multiple scenarios such as operating rooms and consultation rooms, resulting in high clinical deployment and maintenance costs. Summary of the Invention

[0007] The purpose of this invention is to address the shortcomings of the prior art by proposing a three-dimensional visualization-assisted diagnostic device for lung tumors based on extended reality.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a three-dimensional visualization-assisted diagnostic device for lung tumors based on extended reality, comprising a base frame, an equipment storage tray fixedly installed on the upper end of the base frame, a scissor lift plate fixedly installed on the upper end of the base frame, a calibration frame mounting beam fixedly installed on one side of the lower surface of the scissor lift plate, a calibration frame rotating mechanism rotatably installed on the upper end of the calibration frame mounting beam, a side bed mounting bracket fixedly installed on one side of the lower surface of the base frame, a robotic arm rotating base fixedly installed on the upper end of the side bed mounting bracket, and an imaging positioning mechanism fixedly installed on the upper end of the robotic arm rotating base; The calibration frame rotation mechanism includes a lower slewing support seat rotatably mounted on the upper end of the calibration frame mounting beam. A support column is fixedly mounted on the upper end of the lower slewing support seat. A bracket is fixedly mounted on one side of the support column. A limit mechanism is fixedly mounted on the upper end of the bracket.

[0009] As a preferred technical solution of the present invention, the calibration frame rotation mechanism further includes an L-shaped calibration cantilever rotatably mounted on the upper end of the support column. A top reference mark is fixedly installed on the upper end of the L-shaped calibration cantilever, and a front end mounting plate is snapped onto the lower end of the L-shaped calibration cantilever. A synchronous clamping mechanism is fixedly installed on one side of the front end mounting plate.

[0010] As a preferred technical solution of the present invention, the synchronous clamping mechanism includes a sensor clamp fixedly mounted on a front mounting plate. Three equidistant support rods are fixedly mounted on one side surface of the front mounting plate. A fixed plate is fixedly mounted on the end of each support rod away from the front mounting plate. A movable plate is slidably mounted on two of the support rods. Two pull rods are installed through the movable plate near the fixed plate. A ruler seat is mounted on the pull rod. A handwheel handle is rotatably mounted through the fixed plate. The handwheel handle is coaxially connected to a screw rod. The screw rod is threadedly engaged with the movable plate.

[0011] As a preferred technical solution of the present invention, a clamp is fixedly installed on the upper end of the sensor clamp, and the clamp is slidably installed on one end of the lower surface of the L-shaped calibration cantilever.

[0012] As a preferred technical solution of the present invention, the limiting mechanism further includes a bracket fixedly installed on the side of the supporting column, an upper card seat corresponding to the bracket is fixedly installed on one side surface of the L-shaped calibration cantilever, a rotation limiting rod is slidably installed on the upper end of the upper card seat, and a limiting groove corresponding to the rotation limiting rod is opened on the upper surface of the supporting column.

[0013] As a preferred technical solution of the present invention, a bed frame support frame is fixedly installed between the base frame and the scissor lift plate. Two symmetrical drive assemblies are fixedly installed at the lower end of the scissor lift plate. A segmented bed board assembly is rotatably installed at the output end of one drive assembly, and a bed tailboard is rotatably installed at the output end of the other drive assembly. A mattress is fixedly installed at the upper end of the segmented bed board assembly and the bed tailboard.

[0014] As a preferred technical solution of the present invention, the imaging positioning mechanism includes a multi-joint robotic arm fixedly installed on the upper end of the robotic arm rotating base, an end-effector fixedly installed on one side of the multi-joint robotic arm, an infrared positioning sensing unit fixedly installed at the lower end of the end-effector fixedly installed, and a binocular camera module fixedly installed on one side of the end-effector fixedly installed.

[0015] As a preferred technical solution of the present invention, the rotating limiting rod slides vertically along the limiting groove. When the rotating limiting rod is engaged with the upper end of the upper card seat, it separates from the bracket. When the rotating limiting rod moves downward and is engaged with the inside of the bracket, it is engaged with the lower end of the upper card seat.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. This device integrates a calibration mechanism and an imaging robotic arm to build an integrated hardware support for intraoperative positioning and navigation in extended reality. It completes three-dimensional visualization rendering of lesions based on real-scene acquisition. The device acquires real-scene images of the human chest cavity through binocular cameras and infrared sensors, and uses reference markers to unify spatial coordinates. It overlays the virtual tumor model reconstructed from CT two-dimensional tomography onto the patient's real body surface, breaking through the limitations of traditional two-dimensional imaging on the screen. It intuitively shows the three-dimensional adjacent relationship between lesions and blood vessels and bronchi, greatly reducing the burden of intraoperative deduction for doctors and improving the efficiency of intraoperative lesion positioning and judgment.

[0017] 2. The calibration frame with switchable locking states in this solution can correct imaging coordinate deviations, ensuring that the extended reality 3D visualization model closely matches the actual human body structure and reducing errors in the diagnosis of complex lung lesions. The entire device can be flexibly transported to consultation, surgery, and other scenarios. Its structure is easy to disinfect, adaptable to multiple scenarios for assisted diagnosis, effectively shortening the clinical learning cycle for young physicians and assisting in early screening and preoperative planning of lung tumors. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of a three-dimensional visualization-assisted diagnostic device for lung tumors based on extended reality according to the present invention. Figure 2 This is a schematic diagram of another perspective of the structure of a three-dimensional visualization-assisted diagnostic device for lung tumors based on extended reality according to the present invention; Figure 3 This is a schematic diagram of the scissor lift plate structure of a three-dimensional visualization-assisted diagnostic device for lung tumors based on extended reality according to the present invention. Figure 4 This is a schematic diagram of the multi-joint robotic arm structure of a three-dimensional visualization-assisted diagnostic device for lung tumors based on extended reality according to the present invention. Figure 5 This invention relates to a three-dimensional visualization-assisted diagnostic device for lung tumors based on extended reality. Figure 4 Enlarged view of point A in the middle; Figure 6 This is a schematic diagram of the calibration frame rotation mechanism of a three-dimensional visualization-assisted diagnostic device for lung tumors based on extended reality according to the present invention. Figure 7 This is a schematic diagram of the synchronous clamping mechanism of a three-dimensional visualization-assisted diagnostic device for lung tumors based on extended reality according to the present invention. Figure 8 This is a schematic diagram of the synchronous clamping mechanism of a three-dimensional visualization-assisted diagnostic device for lung tumors based on extended reality, according to another perspective of the present invention. Figure 9 This is a schematic diagram of the limiting mechanism of a three-dimensional visualization-assisted diagnostic device for lung tumors based on extended reality, according to the present invention.

[0019] The components represented by each number in the attached diagram are listed below: 1. Base frame; 2. Scissor lift plate; 3. Mattress; 4. Side bed mounting bracket; 5. Calibration frame mounting beam; 6. Equipment storage tray; 7. Segmented bed board assembly; 8. Bed endplate; 9. Bed frame support frame; 10. Drive assembly; 101. Robotic arm rotation base; 102. Multi-joint robotic arm; 103. End effector clamping connector; 104. Infrared positioning sensor unit; 105. Binocular camera module. ; 201. Lower slewing support; 202. Support column; 203. L-shaped calibration cantilever; 204. Top reference mark point; 205. Upper clamping seat; 206. Rotation limit rod; 207. Limiting groove; 208. Support groove; 301. Handwheel handle; 302. Fixing plate; 303. Support rod; 304. Pull rod; 305. Movable plate; 306. Ruler base; 307. Sensor clamp; 308. Clamping device; 309. Screw; 310. Front mounting plate. Detailed Implementation

[0020] The following description is intended to disclose the invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0021] like Figures 1-9 The device shown is a three-dimensional visualization-assisted diagnostic device for lung tumors based on extended reality. It includes a base frame 1, an equipment storage tray 6 fixedly installed on the upper end of the base frame 1, a scissor lift plate 2 fixedly installed on the upper end of the base frame 1, a calibration frame mounting beam 5 fixedly installed on one side of the lower surface of the scissor lift plate 2, a calibration frame rotating mechanism rotatably installed on the upper end of the calibration frame mounting beam 5, a side bed mounting bracket 4 fixedly installed on one side of the lower surface of the base frame 1, a robotic arm rotating base 101 fixedly installed on the upper end of the side bed mounting bracket 4, and an imaging positioning mechanism fixedly installed on the upper end of the robotic arm rotating base 101. The calibration frame rotation mechanism includes a lower slewing support 201 rotatably mounted on the upper end of the calibration frame mounting beam 5. A support column 202 is fixedly mounted on the upper end of the lower slewing support 201. A bracket 208 is fixedly mounted on one side of the support column 202. A limit mechanism is fixedly mounted on the upper end of the bracket 208.

[0022] The calibration frame rotation mechanism also includes an L-shaped calibration cantilever 203 rotatably mounted on the upper end of the support column 202. The upper end of the L-shaped calibration cantilever 203 is fixedly mounted with a top reference mark point 204, and the lower end of the L-shaped calibration cantilever 203 is snapped with a front mounting plate 310. A synchronous clamping mechanism is fixedly mounted on one side of the front mounting plate 310.

[0023] The synchronous clamping mechanism includes a sensor clamping 307 fixedly mounted on a front mounting plate 310. Three equally spaced support rods 303 are fixedly mounted on one side surface of the front mounting plate 310. A fixed plate 302 is fixedly mounted on the end of the support rods 303 away from the front mounting plate 310. A movable plate 305 is slidably mounted on the two support rods 303. Two pull rods 304 are installed through the movable plate 305 near the fixed plate 302. A ruler base 306 is mounted on the pull rods 304. A handwheel handle 301 is rotatably mounted through the fixed plate 302. The handwheel handle 301 is coaxially connected to a screw 309. The screw 309 is threadedly engaged with the movable plate 305.

[0024] A clip 308 is fixedly installed on the upper end of the sensor clamp 307, and the clip 308 is slidably installed on one end of the lower surface of the L-shaped calibration cantilever 203.

[0025] The limiting mechanism also includes a slot 208 fixedly installed on the side of the support column 202. An upper bracket 205 corresponding to the slot 208 is fixedly installed on one side surface of the L-shaped calibration cantilever 203. A rotation limiting rod 206 is slidably installed on the upper end of the upper bracket 205, and a limiting groove 207 corresponding to the rotation limiting rod 206 is opened on the upper surface of the support column 202.

[0026] A bed frame support frame 9 is fixedly installed between the base frame 1 and the scissor lift plate 2. Two symmetrical drive assemblies 10 are fixedly installed at the lower end of the scissor lift plate 2. A segmented bed board assembly 7 is rotatably installed at the output end of one drive assembly 10, and a bed tailboard 8 is rotatably installed at the output end of the other drive assembly 10. A mattress 3 is fixedly installed at the upper end of the segmented bed board assembly 7 and the bed tailboard 8.

[0027] The imaging positioning mechanism includes a multi-joint robotic arm 102 fixedly mounted on the upper end of the robotic arm rotating base 101. An end-effector connector 103 is fixedly mounted on one side of the multi-joint robotic arm 102. An infrared positioning sensor unit 104 is fixedly mounted on the lower end of the end-effector connector 103. A binocular camera module 105 is fixedly mounted on one side of the end-effector connector 103.

[0028] The rotating limit rod 206 slides vertically along the limit groove 207. When the rotating limit rod 206 is engaged with the upper end of the upper card seat 205, it separates from the bracket 208. When the rotating limit rod 206 moves downward and is engaged with the inside of the bracket 208, it is engaged with the lower end of the upper card seat 205.

[0029] Working Principle: This device uses the base frame 1 as the foundation for the entire machine. The equipment storage tray 6, fixedly installed above it, centrally houses the main control computing unit, image processing module, and communication interface, forming the data hub of the entire system. A bed frame support frame 9 is fixedly installed between the base frame 1 and the scissor lift plate 2 to enhance structural rigidity. The object to be tested lies flat on the mattress 3, which is fixed to the upper ends of the segmented bed board assembly 7 and the bed tailboard 8. Two symmetrically installed drive assemblies 10 at the lower end of the scissor lift plate 2 drive the segmented bed board assembly 7 and the bed tailboard 8 to rotate independently. Combined with the lifting adjustment of the scissor lift plate 2 itself, the upper body of the object to be tested can be presented at various angles and heights, ensuring that the target area is within the optimal working field of view of the imaging positioning system, providing a stable spatial pose foundation for subsequent multi-source data acquisition.

[0030] In the global calibration stage of surgical navigation, the calibration frame mounting beam 5, fixed to one side of the lower surface of the scissor lift plate 2, serves as the mounting base for the calibration frame rotation mechanism. The operator first rotates the lower rotary support 201 horizontally relative to the calibration frame mounting beam 5, causing the support column 202 to rotate synchronously. Then, the L-shaped calibration cantilever 203, rotatably mounted on the upper end of the support column 202, is rotated around its hinge point to a horizontal working position. Once in position, the upper retainer 205, mounted on the side surface of the L-shaped calibration cantilever 203, moves with the cantilever to a position corresponding to the slot 208 on the side of the support column 202. At this point, the operator slides the rotating limit rod 206, which is slidably mounted on the upper end of the upper bracket 205, down along the limiting groove 207 opened on the upper surface of the support column 202, so that the lower end of the rotating limit rod 206 is inserted into the slot 208, while the upper part of the rotating limit rod 206 is engaged with the lower end of the upper bracket 205, thereby reliably locking the L-shaped calibration cantilever 203 to the support column 202. The top reference mark point 204 fixed to the upper end of the L-shaped calibration cantilever 203 maintains a constant absolute spatial position in this state, serving as the global origin for all subsequent spatial coordinate transformations. After the calibration work is completed, the rotating limit rod 206 is pushed upward along the limiting groove 207, causing it to disengage from the slot 208 and engage with the upper end of the upper bracket 205, thus releasing the lock and flipping the L-shaped calibration cantilever 203 downward to the storage state, achieving flexible switching between the working and storage modes.

[0031] During the real-world data acquisition phase, the side bed mounting bracket 4, fixedly installed on one side of the lower surface of the base frame 1, provides rigid support for the robotic arm rotary base 101. The robotic arm rotary base 101 drives the upper multi-joint robotic arm 102 to achieve horizontal full-circumference rotation. The multi-joint robotic arm 102, with its multiple degrees of freedom working in coordination, precisely delivers the end effector 103, fixedly installed on its side, to the predetermined image acquisition pose above the target area of ​​the object to be inspected. The infrared positioning sensor unit 104, fixedly installed at the lower end of the end effector 103, emits infrared signals to preset marker points on the surface of the object to be inspected and receives reflected echoes, calculating in real time the three-dimensional spatial coordinates of each marker point in the global coordinate system with the top reference marker point 204 as the origin. At the same time, the binocular structured camera module 105, fixedly installed on one side of the end effector 103, projects structured light stripes onto the surface of the object to be inspected and synchronously acquires stereo images through the left and right optical lenses. After the internal embedded processor executes the stereo matching algorithm, it outputs a high-precision surface depth map and color texture map of the target area. The aforementioned spatial coordinate data and image data are transmitted via cable to the main control computing unit on the device storage tray 6.

[0032] In terms of assisting in rapid sensor clamping, this device achieves flexible expansion of external detection equipment through a synchronous clamping mechanism. A clamping element 308 is slidably engaged at one end of the lower surface of the L-shaped calibration cantilever 203. The clamping element 308 is fixedly installed on the upper end of the sensor clamp 307. The horizontal position of the sensor clamp 307 can be flexibly adjusted by sliding the clamping element 308 along the L-shaped calibration cantilever 203. The sensor clamp 307 is fixedly installed on the front mounting plate 310. Three equidistant support rods 303 are fixedly installed on one side surface of the front mounting plate 310. The ends of the support rods 303 away from the front mounting plate 310 are all fixedly connected to a fixing plate 302. Movable plates 305 are slidably installed on two support rods 303. Two pull rods 304 are threaded through the side of the movable plate 305 closest to the fixing plate 302, and a ruler base 306 is mounted on the pull rods 304. A handwheel handle 301 is rotatably mounted through the fixed plate 302. The handwheel handle 301 is coaxially connected to a screw 309, and the screw 309 forms a threaded transmission engagement with the movable plate 305. During operation, rotating the handwheel handle 301 drives the screw 309 to rotate, which, through the threaded engagement, causes the movable plate 305 to slide axially along the support rod 303. This, in turn, causes the pull rod 304 and the ruler base 306 to move synchronously, achieving rapid clamping and positioning of external additional detection elements. This allows the additional elements to work collaboratively with the infrared positioning sensing unit 104, further enriching the sources of real-world spatial data acquisition.

[0033] After acquiring all the aforementioned data, the main control computing unit first performs voxel reconstruction on the pre-imported 3D tomographic image data, such as cross-sectional sequence images. After processing such as filtering, segmentation, and surface rendering, a triangular mesh virtual model of the target area is generated, and the structural feature parameters of the model are automatically extracted. Subsequently, the computing unit uses the world coordinates of the top reference marker point 204 as a unified spatial anchor point, and performs joint spatial calibration on the surface marker coordinates provided by the infrared positioning sensing unit 104 and the surface depth map output by the binocular structure camera module 105 to construct a transformation matrix from the tomographic image coordinate space to the real-world coordinate space.

[0034] Finally, the graphics rendering engine renders the fused data field in real time as an extended reality visualization—a virtual, semi-transparent 3D model superimposed on the real target area image captured by the binocular camera module 105 with correct spatial depth, perspective ratio, and occlusion relationships, and presented to the operator through an external display terminal. The operator uses interactive devices to rotate the fused scene at any angle, perform multi-plane sectioning, adjust transparency, and measure spatial distances, intuitively observing the relative positional relationship between the virtual model and the real surface, and assessing the correspondence between the internal structure and external contour of the target area. All annotations, measurement data, and spatial markers generated by the interactive operations are recorded as structured data, which can be archived to an external information system for subsequent analysis. After the diagnostic task is completed, the multi-joint robotic arm 102 automatically retracts to the side of the side bed mounting bracket 4, and the calibration frame rotation mechanism folds and stores under the scissor lift plate 2. The entire machine has a compact structure with no exposed cable gaps, facilitating surface cleaning and transfer between different work areas, achieving a closed-loop workflow from data acquisition, spatial registration, model reconstruction to extended reality visualization-assisted analysis.

[0035] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A three-dimensional visualization-assisted diagnostic device for lung tumors based on extended reality, comprising a base frame (1), characterized in that: The base frame (1) is fixedly installed with an equipment storage tray (6) at the upper end. The base frame (1) is fixedly installed with a scissor lift plate (2) at the upper end. The scissor lift plate (2) is fixedly installed with a calibration frame mounting beam (5) on one side of its lower surface. The calibration frame mounting beam (5) is rotatably installed with a calibration frame rotating mechanism at its upper end. The base frame (1) is fixedly installed with a side bed mounting bracket (4) on one side of its lower surface. The side bed mounting bracket (4) is fixedly installed with a robotic arm rotating base (101) at its upper end. The robotic arm rotating base (101) is fixedly installed with an imaging positioning mechanism at its upper end. The calibration frame rotation mechanism includes a lower slewing support (201) rotatably mounted on the upper end of the calibration frame mounting beam (5). A support column (202) is fixedly mounted on the upper end of the lower slewing support (201). A bracket (208) is fixedly mounted on one side of the support column (202). A limit mechanism is fixedly mounted on the upper end of the bracket (208).

2. The three-dimensional visualization-assisted diagnostic device for lung tumors based on extended reality according to claim 1, characterized in that: The calibration frame rotation mechanism also includes an L-shaped calibration cantilever (203) rotatably mounted on the upper end of the support column (202). The upper end of the L-shaped calibration cantilever (203) is fixedly mounted with a top reference mark point (204), and the lower end of the L-shaped calibration cantilever (203) is snapped with a front end mounting plate (310). A synchronous clamping mechanism is fixedly mounted on one side of the front end mounting plate (310).

3. The three-dimensional visualization-assisted diagnostic device for lung tumors based on extended reality according to claim 2, characterized in that: The synchronous clamping mechanism includes a sensor clamp (307) fixedly mounted on a front mounting plate (310). Three equidistant support rods (303) are fixedly mounted on one side surface of the front mounting plate (310). A fixed plate (302) is fixedly mounted on the end of the support rod (303) away from the front mounting plate (310). A movable plate (305) is slidably mounted on the two support rods (303). Two pull rods (304) are installed through the movable plate (305) on the side near the fixed plate (302). A ruler seat (306) is mounted on the pull rod (304). A handwheel handle (301) is rotatably mounted through the fixed plate (302). The handwheel handle (301) is coaxially connected to a screw (309). The screw (309) is threadedly driven into the movable plate (305).

4. The three-dimensional visualization-assisted diagnostic device for lung tumors based on extended reality according to claim 3, characterized in that: The sensor clamp (307) is fixedly mounted with a clip (308) at its upper end, and the clip (308) is slidably mounted on one end of the lower surface of the L-shaped calibration cantilever (203).

5. The three-dimensional visualization-assisted diagnostic device for lung tumors based on extended reality according to claim 1, characterized in that: The limiting mechanism also includes a slot (208) fixedly installed on the side of the support column (202). An upper bracket (205) corresponding to the slot (208) is fixedly installed on one side surface of the L-shaped calibration cantilever (203). A rotation limiting rod (206) is slidably installed on the upper end of the upper bracket (205), and a limiting groove (207) corresponding to the rotation limiting rod (206) is opened on the upper surface of the support column (202).

6. The three-dimensional visualization-assisted diagnostic device for lung tumors based on extended reality according to claim 1, characterized in that: A bed frame support frame (9) is fixedly installed between the base frame (1) and the scissor lift plate (2). Two symmetrical drive assemblies (10) are fixedly installed at the lower end of the scissor lift plate (2). A segmented bed board assembly (7) is rotatably installed at the output end of one drive assembly (10), and a bed tailboard (8) is rotatably installed at the output end of the other drive assembly (10). A mattress (3) is fixedly installed at the upper end of the segmented bed board assembly (7) and the bed tailboard (8).

7. The three-dimensional visualization-assisted diagnostic device for lung tumors based on extended reality according to claim 1, characterized in that: The imaging positioning mechanism includes a multi-joint robotic arm (102) fixedly installed on the upper end of the robotic arm rotating base (101). An end-effector connector (103) is fixedly installed on one side of the multi-joint robotic arm (102). An infrared positioning sensor unit (104) is fixedly installed at the lower end of the end-effector connector (103). A binocular camera module (105) is fixedly installed on one side of the end-effector connector (103).

8. The three-dimensional visualization-assisted diagnostic device for lung tumors based on extended reality according to claim 5, characterized in that: The rotating limiting rod (206) slides vertically along the limiting groove (207). When the rotating limiting rod (206) is engaged with the upper end of the upper card seat (205), it separates from the bracket (208). When the rotating limiting rod (206) moves downward and is engaged with the lower end of the upper card seat (205), it is engaged with the lower end of the upper card seat (205).

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