阅读说明：本技术 一种应用混合现实技术的手术室 (A kind of operating room using mixed reality technology ) 是由 刘志伟 仇胥斌 谢锋 于 2019-08-28 设计创作，主要内容包括：本发明涉及手术室的配置和控制,更具体地说,涉及一种可以高效应用混合现实技术的手术室。它的组成包括：手术室,基础手术设施和手术器械,所述手术室为立方体结构,墙壁上有若干个均匀分布的定位装置,手术室正中心安装有可自动升降的手术台,所述手术台的正上方安装有机械臂,机械臂上安装有摄像装置或激光传感器或这两种的组合,手术台上方分别安装手术灯和光源装置,手术室内还放置有移动机械臂,显示器,服务器,MR智能设备。本发明可以使三维模型与患者病灶处的匹配快速、精准,并可以实时获取患者位置信息,提高混合现实技术在临床手术中应用的便捷度。(The present invention relates to the configuration of operating room and controls, can be with the operating room of efficient application mixed reality technology more specifically to one kind.Its composition includes: operating room, basis operation facility and surgical instrument, the operating room is cube structure, there are several equally distributed positioning devices on wall, operating room center be equipped with can automatic lifting operating table, mechanical arm is installed right above the operating table, photographic device or laser sensor or the combination of both are installed on mechanical arm, operating lamp and light supply apparatus are installed respectively above operating table, mobile mechanical arm is also placed in operating room, display, server, MR smart machine.The present invention can make the matching of threedimensional model and patient's affected area quickly, precisely, and can obtain patient position information in real time, improve the convenient degree that mixed reality technology is applied in clinical operation.)

1. a kind of operating room using mixed reality technology, composition includes: operating room, basis operation facility and surgical instrument, It is characterized by:

The operating room is the cube structure of standard, is provided with several equally distributed positioning on the wall of the operating room Device, the region that region existing for the positioning device can be seen for single visual angle；

The position of the floor of operating room center be equipped with can automatic lifting operating table, each edge of the operating table Be evenly distributed with several pattern in 2 D code or induction chip, it is described can automatic lifting operating table connection operating table control it is single Member；

Mechanical arm is installed right above the operating table, be equipped on the mechanical arm photographic device or laser sensor or this Two kinds of combination, the mechanical arm connect mechanical arm control unit；

Operating lamp is installed respectively above the operating table and light supply apparatus, the operating lamp, the light supply apparatus are separately connected lamp Light control unit；

It is also placed with mobile mechanical arm in the operating room, operation ancillary equipment, the shifting are installed on the mobile mechanical arm Dynamic mechanical arm connects mechanical arm control unit；

Display is also equipped in the operating room, the display communicates to connect server；

It further include MR smart machine in the operating room, the MR smart machine communicates to connect the display, the clothes respectively Business device and MR smart machine control unit；

The photographic device being mounted on the mechanical arm being suspended at the top of operating room or laser sensor communicate to connect institute respectively State display, the MR smart machine and the server；

The operation ancillary equipment being mounted on mobile mechanical arm communicates to connect the display, the MR smart machine respectively With the server；

The light control unit, the operating table control unit, the mechanical arm control unit and the MR smart machine control Unit processed is separately connected integrated control unit, and the integrated control unit connects server.

2. a kind of operating room using mixed reality technology according to claim 1, which is characterized in that the positioning device Including positioning unit, two dimensional code or induction chip are distributed on the positioning unit.

3. a kind of operating room using mixed reality technology according to claim 1, which is characterized in that described to rise automatically The operating table of drop includes that table top, elevating mechanism, driving mechanism, laser range sensor and operating table control unit form, described Table top connects elevating mechanism, and laser range sensor is equipped on the elevating mechanism, and the elevating mechanism connects the driving Mechanism, the driving mechanism include stepper motor, the elevating mechanism, the driving mechanism and the laser range sensor point The operating table control unit is not connected by control circuit.

4. a kind of operating room using mixed reality technology according to claim 1, which is characterized in that the mechanical arm is extremely It is few to be made of the mechanical arm unit of 2 six degree of freedoms.

5. a kind of operating room using mixed reality technology according to claim 1, which is characterized in that on the mechanical arm The photographic device of installation includes the group of high definition camera device or depth of field photographic device or high definition camera device and depth of field photographic device It closes, the operation ancillary equipment installed on the mobile mechanical arm includes photographic device or laser sensor or the combination of both.

6. a kind of operating room using mixed reality technology according to claim 1, which is characterized in that the mechanically moving Arm is by that can do the mobile mechanism of horizontal displacement on ground and at least be made of the mechanical arm unit of 1 Three Degree Of Freedom or six degree of freedom Mechanical arm structure composition, it is described machinery arm configuration be mounted in the mobile mechanism.

7. a kind of operating room using mixed reality technology according to claim 1, which is characterized in that in the operating room It is additionally provided with automatic modeling work station, the output end of the automatic modeling work station connects output device, input terminal and hospital Image data generating device by network connection, the automatic modeling work station include image identification unit, image processing unit, Threedimensional model generation unit and threedimensional model amending unit, described image recognition unit connects described image processing unit, described Image processing unit connects the threedimensional model generation unit, and the threedimensional model generation unit connects the threedimensional model amendment Unit, the threedimensional model amending unit connect output device, and the output device is mobile phone, MR smart machine, display, puts down The combination of one or more of plate, computer.

8. a kind of operating room using mixed reality technology according to claim 1, which is characterized in that the MR is intelligently set The standby combination including the MR helmet or MR glasses or both.

9. a kind of operating room using mixed reality technology according to claim 1, which is characterized in that the communication connection Communication mode include: broadband, optical fiber, WIFI, bluetooth, NFC, Ethernet, any one or more group in 4G, 5G and GPRS It closes.

Technical field

The present invention relates to the configuration of operating room and controls, can be with efficient application mixed reality more specifically to one kind The operating room of technology.

Background technique

MR mixed reality technology is the innovative technology in a forward position, it also begins to take shape in the application of medical field, but simultaneously Immature, MR mixed reality technology is in implementing operation in application, there is also more defects: depositing first is that obtaining patient position information In trueness error；Second is that model cannot with the evolution of patient Auto-matching；For example, first allowing MR intelligent at the time of surgery, Equipment identification positioning object, thus realize the three-dimensional modeling of body foci's organ and the preliminary matches of patient, but this mode Positioning is also needed with additional controller to the lesion organ shown in MR smart machine in practical application there is also trueness error Threedimensional model carry out subtle adjusting, by manual adjusting controller, threedimensional model is allowed precisely to match with patient's affected area, when Patient position changes, it is also necessary to readjust MR smart machine, make threedimensional model and patient's physical location in equipment Match, this operation needs doctor to require to carry out model adjusting when wearing MR smart machine every time, causes waste of time, instead Trouble is brought to operation；Another way is the positioning object that can be identified by camera identification camera, to obtain The position coordinates of patient, then by being contacted with the foundation of the space coordinate of threedimensional model, asked to solve model with what patient positioned Topic, there is certain restrictions in this method, firstly, it is necessary to the identifiable positioning object of fixing camera with patient in use Body, the aseptic of this positioning object, the accuracy of position distribution can all have a negative impact to operation and accurate positioning.Application Number for 201910073233.7 " operation guiding system and its equipment, method and storage medium based on MR " disclose one kind three The method for tieing up image and patient's affected area precise positioning, it is multiple by multiple key point location arrangements in patient's affected area Probe with infrared light inductor as label, then obtains the coordinate origin data set for corresponding to affected area by camera unit, To obtain 3-dimensional image coordinate model, then the corresponding physical coordinates information of MR projecting cell and human eye calibration information are obtained, makes MR The 3-dimensional image information that projecting cell shows with patient's affected area superposition in live outdoor scene and is registrated in real time.

This method needs artificial multiple key points in patient's affected area to arrange probe, for key point searching, Determining and probe arrangement is determined by artificially, have it is many for example: key position determines whether accurately, operation light Irradiation whether will affect camera unit to the position acquisition of probe, whether probe can occur positional shift etc. in the course of surgery Uncertain factor, the 3-dimensional image information that these factors all can cause MR projecting cell to show and patient's affected area in live outdoor scene Superposition and real-time registration effect, cannot fundamentally solve the above problems.

Summary of the invention

The present invention can effectively solve the problem that existing to solve the above problems, provide a kind of operating room using mixed reality technology There are threedimensional model and patient's affected area in technology in MR smart machine to position not accurate problem, the present invention uses following technology Scheme is realized:

A kind of operating room using mixed reality technology, composition includes: operating room, basis operation facility and surgical instrument, institute The cube structure that operating room is standard is stated, is provided with several equally distributed positioning devices on the wall of the operating room, The region that region existing for the positioning device can be seen for single visual angle；

The position of the floor of operating room center be equipped with can automatic lifting operating table, each edge of the operating table Be evenly distributed with several pattern in 2 D code or induction chip, it is described can automatic lifting operating table connection operating table control it is single Member；

Mechanical arm is installed right above the operating table, be equipped on the mechanical arm photographic device or laser sensor or this Two kinds of combination, the mechanical arm connect mechanical arm control unit；

Operating lamp is installed respectively above the operating table and light supply apparatus, the operating lamp, the light supply apparatus are separately connected lamp Light control unit；

It is also placed with mobile mechanical arm in the operating room, operation ancillary equipment, the shifting are installed on the mobile mechanical arm Dynamic mechanical arm connects mechanical arm control unit；

Display is also equipped in the operating room, the display communicates to connect server；

It further include MR smart machine in the operating room, the MR smart machine communicates to connect the display, the clothes respectively Business device and MR smart machine control unit；

The photographic device being mounted on the mechanical arm being suspended at the top of operating room or laser sensor communicate to connect institute respectively State display, the MR smart machine and the server；

The operation ancillary equipment being mounted on mobile mechanical arm communicates to connect the display, the MR smart machine respectively With the server；

The light control unit, the operating table control unit, the mechanical arm control unit and the MR smart machine control Unit processed is separately connected integrated control unit, and the integrated control unit connects server.

Preferably, the positioning device includes positioning unit, and two dimensional code or induction chip are distributed on the positioning unit.

Preferably, it is described can automatic lifting operating table include table top, elevating mechanism, driving mechanism, laser ranging sensing Device and operating table control unit composition, the table top connect elevating mechanism, and laser ranging sensing is equipped on the elevating mechanism Device, the elevating mechanism connect the driving mechanism, and the driving mechanism includes stepper motor, the elevating mechanism, the drive Motivation structure passes through control circuit with the laser range sensor respectively and connects the operating table control unit.

Preferably, the mechanical arm is at least made of the mechanical arm unit of 2 six degree of freedoms.

Preferably, the photographic device installed on the mechanical arm includes high definition camera device or depth of field photographic device or high definition The combination of photographic device and depth of field photographic device, the operation ancillary equipment installed on the mobile mechanical arm include photographic device or Laser sensor or the combination of both.

Preferably, the mobile mechanical arm by can ground do horizontal displacement mobile mechanism and at least by 1 three freely The mechanical arm structure composition of the mechanical arm unit of degree or six degree of freedom composition, the machinery arm configuration are mounted on the mobile mechanism On.

Preferably, automatic modeling work station, the output end of the automatic modeling work station are additionally provided in the operating room The image data generating device of connection output device, input terminal and hospital passes through network connection, the automatic modeling work station packet Image identification unit, image processing unit, threedimensional model generation unit and threedimensional model amending unit are included, described image identification is single Member connection described image processing unit, described image processing unit connect the threedimensional model generation unit, the threedimensional model Generation unit connects the threedimensional model amending unit, and the threedimensional model amending unit connects output device, the output dress It is set to the combination of one or more of mobile phone, MR smart machine, display, plate, computer.

Preferably, the MR smart machine includes the combination of the MR helmet or MR glasses or both.

Preferably, the communication mode of the communication connection include: broadband, optical fiber, WIFI, bluetooth, NFC, Ethernet, 4G, Any one or more in 5G and GPRS combines.

Beneficial effect

1, operating room of the invention is designed using cube structure, obtains space coordinate in a short time convenient for MR smart machine, Model being tentatively set in space environment is carried out, server is also convenient for and quickly calculates the patient position seat acquired by photographic device Identification and processing speed of the server to location information can be improved in mark, this spatial design, shortens the model orientation time, real The quick positioning of existing model, the present invention is compared with comparing patent, in locating speed and positioning method, effect, more intelligent, Facilitation and precision, it is possible to prevente effectively from manual operation bring error.

2, the present invention places two dimensional code or induction chip in the edge of operating table, in conjunction with 0.1mm precision may be implemented The operating table of automatic lifting can further realize the precise positioning of model Yu patient's affected area.

3, the present invention at the top of operating room by hanging multiple sixdegree-of-freedom simulations, and installation camera shooting dress on the robotic arm It sets or laser sensor, acquires patient position information in real time, after doctor replaces MR smart machine, photographic device or laser sensing Device can carry out real-time update positioning to patient position, quickly, accurately match automatically with patient's affected area convenient for threedimensional model, The doctor for wearing MR smart machine does not have to debug repeatedly again, improves the degree easy to use of equipment, makes MR smart machine and operation Cooperation it is more smooth, succinct.

4, the present invention is widely used convenient for operation, can be used for newly-built operating room and uses, can also be to existing operating room It is transformed.

Detailed description of the invention

Attached drawing 1 is schematic structural view of the invention；

Attached drawing 2 is control flow schematic diagram of the present invention；

Attached drawing 3 is the mechanical arm cellular construction schematic diagram that the present invention is suspended at the top of operating room；

Attached drawing 4 is the structural schematic diagram of mobile mechanical arm of the present invention；

Attached drawing 5 be the present invention can automatic lifting operating table structural schematic diagram；

Attached drawing 6 is the structural schematic diagram that the present invention is distributed pattern in 2 D code every a positioning units；

Attached drawing 7 is the structural schematic diagram that the present invention is distributed pattern in 2 D code every two positioning units；

Attached drawing 8 is the structural schematic diagram that the present invention is made of pattern in 2 D code positioning unit；

In attached drawing 1-8,1- operating room, 2- operating table, 3- mechanical arm, 4- mobile mechanical arm, 5- display, 6- server, 7- operating lamp, 8- light supply apparatus, 11- positioning unit, 12- two dimensional code, 21- table top, 22- elevating mechanism, 23- laser ranging sensing Device, 24- driving device, 33- bolt, 34- clamp device, 35- photographic device, 41- mobile mechanism, 42- machinery arm unit.

Specific embodiment