CN215688397U

CN215688397U - Main control trolley and operation navigation system

Info

Publication number: CN215688397U
Application number: CN202122150793.3U
Authority: CN
Inventors: 唐运先; 蔡广杰; 叶泽群; 陈园园
Original assignee: Hefei Meyer Optoelectronic Technology Inc
Current assignee: Hefei Meyer Optoelectronic Technology Inc
Priority date: 2021-09-07
Filing date: 2021-09-07
Publication date: 2022-02-01
Anticipated expiration: 2031-09-07

Abstract

The utility model discloses a master control trolley, which comprises: the system comprises an industrial personal computer, a first display, a screen cutting device and a mechanical arm system; a first input interface of the screen cutter is connected with the industrial personal computer, and a second input interface of the screen cutter is connected with the mechanical arm system; the output interface of the screen cutter is connected with the first display; in a first state, the screen switching device acquires navigation video data sent by the industrial personal computer through a first input interface and sends the navigation video data to a first display for display; and in a second state, the screen cutting device acquires control data sent by the mechanical arm system through the second input interface and sends the control data to the first display for display. Through setting up screen cutting device and first display, be applied to the operation navigation of correlation technique in, increased the display that shows operation navigation image, reduced the display position to the design of operation process to and the restriction of operation process, improved operation efficiency.

Description

Main control trolley and operation navigation system

Technical Field

The utility model relates to the technical field of medical treatment, in particular to a master control trolley and an operation navigation system.

Background

In the related art, the surgical navigation system usually includes a main control trolley, a positioning and tracking system, an imaging system and a mechanical arm system, wherein the imaging system mainly includes a CT device, a display is usually set in the positioning and tracking system to display the surgical navigation image in real time, during the surgical procedure, a doctor can only perform the surgical operation through the display image of the display, and the design of the surgical procedure is easily limited by the position of the display, resulting in the reduction of the surgical efficiency.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the present invention is directed to a main control trolley and a surgical navigation system, which are capable of increasing the display of the main control trolley to display a surgical navigation image and a control interface of a robotic system, thereby improving the surgical efficiency.

The utility model provides a master control trolley, which comprises: the system comprises an industrial personal computer, a first display, a screen cutting device and a mechanical arm system; a first input interface of the screen cutter is connected with the industrial personal computer, and a second input interface of the screen cutter is connected with the mechanical arm system; the output interface of the screen cutter is connected with the first display; in a first state, the screen switching device acquires navigation video data sent by the industrial personal computer through a first input interface and sends the navigation video data to the first display for display; and in a second state, the screen cutting device acquires control data sent by the mechanical arm system through a second input interface and sends the control data to the first display for display.

Through setting up screen cutting ware and first display for two kinds of interfaces of display can be switched to first display, not only can show operation navigation image, can also show the control interface of arm system moreover when needs. The operation navigation system is applied to the operation navigation system in the related technology, the display for displaying the operation navigation image is added, the design of the position of the display on the operation process is reduced, the limitation of the operation process is reduced, and the operation efficiency is improved.

Meanwhile, the control interface of the mechanical arm system is an uncommon interface in the operation process, and the control interface of the mechanical arm system can be displayed through the first display when needed, so that the control interface display of the mechanical arm system can be omitted, and the utilization rate of the display is improved.

Optionally, the main control trolley further comprises a first wireless communication module, and the industrial personal computer is connected with the first wireless communication module. The first wireless communication module can transmit information to an external device having a wireless communication module, and can also receive information transmitted by the external device through the wireless communication module.

Optionally, the main control trolley further comprises a first screen sharing device; the first screen sharing device is connected with the industrial personal computer.

Optionally, the main control trolley further comprises a UPS power supply and a power module, wherein the UPS power supply is respectively the industrial personal computer, the first display, the power module and the mechanical arm system.

Optionally, the main control trolley further comprises a tool identification module and a second wireless communication module, the tool identification module is connected with the second wireless communication module, and the first wireless communication module is in communication connection with the second wireless communication module; the industrial personal computer sends a tool query instruction to the tool identification module through the first wireless communication module and the second wireless communication module; the tool identification module is used for identifying tool information and sending the identified tool information to the industrial personal computer through the second wireless communication module and the first wireless communication module after receiving a tool query instruction; wherein the tool is for attachment to an end of a robotic arm system.

In a second aspect, an embodiment of the present invention provides a surgical navigation system, including: the system comprises a main control trolley and a positioning and tracking device; the master control trolley comprises: the system comprises an industrial personal computer, a first display, a screen cutting device and a mechanical arm system; a first input interface of the screen cutter is connected with the industrial personal computer, and a second input interface of the screen cutter is connected with the mechanical arm system; the output interface of the screen cutter is connected with the first display; in a first state, the screen switching device acquires navigation video data sent by the industrial personal computer through a first input interface and sends the navigation video data to the first display for display; in a second state, the screen cutting device acquires control data sent by the mechanical arm system through a second input interface and sends the control data to the first display for display; the positioning and tracking device comprises a visual tracking camera connected with the industrial personal computer, and the visual tracking camera is used for acquiring a real-time image of a surgical site and sending the real-time image to the industrial personal computer; the mechanical arm system is connected with the industrial personal computer and used for positioning a surgical site according to the control data, acquiring real-time position data and sending the real-time position data to the industrial personal computer; the industrial personal computer processes the real-time image and the control data to acquire navigation video data.

Optionally, the main control trolley further comprises the first wireless communication module, and the industrial personal computer is connected with the first wireless communication module; the positioning and tracking device further comprises a third wireless communication module, and the visual tracking camera is connected with the third wireless communication module; and the first wireless communication module is wirelessly connected with the third wireless communication module to realize wireless connection between the industrial personal computer and the visual tracking camera.

Optionally, the main control trolley further comprises a first screen sharing device; the first screen sharing device is connected with the industrial personal computer; the positioning and tracking device further comprises a second display and a second screen co-displayer, and the second display is connected with the second screen co-displayer; the first screen sharing device is connected with the second screen sharing device, so that the navigation video data sequentially pass through the industrial personal computer, the first screen sharing device and the second screen sharing device and are transmitted to the second display device to be displayed.

Optionally, the main control trolley further comprises a UPS power supply and a power supply module, and the UPS power supply respectively supplies power to the industrial personal computer, the first display, the power supply module, and the mechanical arm system; and/or the positioning and tracking device further comprises a network power supply, and the network power supply at least supplies power to part of the positioning and navigation system.

Optionally, the main control trolley further comprises a tool identification module and a second wireless communication module, the tool identification module is connected with the second wireless communication module, and the first wireless communication module is in communication connection with the second wireless communication module; the industrial personal computer sends a tool query instruction to the tool identification module through the first wireless communication module and the second wireless communication module; the tool identification module is used for identifying tool information and sending the tool information to the industrial personal computer through the second wireless communication module and the first wireless communication module after receiving a tool query instruction; wherein the tool is for attachment to an end of a robotic arm system.

Optionally, the surgical navigation system further includes an imaging system, and the imaging system includes a CT device and a fourth wireless module connected to the CT device.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the utility model.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a first structural schematic diagram of a main control trolley provided in this embodiment;

fig. 2 is a schematic view of a second structure of the main control trolley according to the embodiment (a retracted state of the mechanical arm);

fig. 3 is a schematic structural diagram (a mechanical arm unfolding state) of the main control trolley provided in this embodiment;

fig. 4 is a schematic structural diagram of the positioning and tracking system provided in this embodiment;

fig. 5 is a schematic structural diagram of an image device according to the present embodiment;

fig. 6 is a surgical navigation interface provided in this embodiment.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

A master control cart and a surgical navigation system according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

Referring to fig. 1, the main control cart provided in this embodiment includes: the system comprises an industrial personal computer, a first display, a screen cutting device and a mechanical arm system;

a first input interface of the screen cutter is connected with the industrial personal computer, and a second input interface of the screen cutter is connected with the mechanical arm system; the output interface of the screen cutter is connected with the first display; in a first state, the screen switching device acquires navigation video data sent by the industrial personal computer through a first input interface and sends the navigation video data to a first display for display; and in a second state, the screen cutting device acquires control data sent by the mechanical arm system through the second input interface and sends the control data to the first display for display.

The screen cutter can be provided with two input interfaces, namely a first input interface and a second input interface, and one of the first input interface and the second input interface is enabled to be effective and the other input interface is disabled by switching the state of the screen cutter, namely switching between the first state and the second state, so that the screen cutter can obtain corresponding data from the enabled interface. In a first state, a first input interface of the screen cutter is effective, a second input interface of the screen cutter is ineffective, the industrial personal computer can send navigation video data to the screen cutter through the effective first input interface, and the mechanical arm system cannot send control data of the industrial personal computer to the screen cutter through the second input interface; under the second state, the second input interface of the screen cutting device is effective, the first input interface is invalid, the mechanical arm system can send control data to the screen cutting device through the effective second input interface, and the industrial personal computer cannot send the control data to the screen cutting device through the first input interface.

Based on the embodiment, the screen cutting device is arranged, and the state of the screen cutting device is switched, so that the screen cutting device can obtain navigation video data sent by the industrial personal computer, or can obtain control data sent by the mechanical arm system, and sends the control data to the first display for displaying, and the surgical navigation interface and the control interface of the mechanical arm can be switched and displayed on the first display as required.

The technical scheme is applied to the operation navigation system in the related technology, the display for displaying the operation navigation image is added, the design of the position of the display on the operation process is reduced, the limitation of the operation process is reduced, and the operation efficiency is improved.

Meanwhile, the control interface of the mechanical arm system is an uncommon interface in the operation process, and the control interface of the mechanical arm system can be displayed through the first display when needed, so that the control interface display of the mechanical arm system can be omitted, and the utilization rate of the display is improved. But also can be realized in the whole operation process

In practical application, the control of the mechanical arm system not only needs to be set through an interface corresponding to control data, but also needs to occasionally refer to navigation video data. Through the switching of the first state and the second state of the screen cutting device, the interface of the mechanical arm control device and the navigation video interface are switched, and when the mechanical arm system is controlled, the interface of the first display is flexibly switched between the control interface and the navigation video interface, so that the mechanical arm system is conveniently controlled.

In one embodiment, referring to fig. 2 and 3, the main control cart may include a case 11, an industrial personal computer, a first display 4, a screen cutter, and a robot arm system, the first display 4 and the robot arm 2 of the robot arm system may be fixed above the case 1, the case 1 may be movable, the robot arm may be unfolded, and may be folded on the case 1. Through this embodiment, industrial computer, display, mechanical arm system concentrate on an organic whole, and is convenient, simple, nimble.

The movable wheels are arranged below the case 1 and used for moving the main control trolley, in addition, only the electric push rod is arranged below the case 1, when the main control trolley needs to be fixed, the main control trolley can be lifted by lifting the electric push rod, the wheels are lifted off the ground, and the main control trolley can be fixed through the support of the electric push rod. For example, the number of the electric push rods can be 3 or four, and the plurality of electric push rods adopt a synchronous movement mode, so that the stability of the whole system in the operation process is effectively ensured.

In order to ensure the stability of the whole equipment in the movement process of the mechanical arm, the components in the case 1 can be arranged on one side far away from the mechanical movement area as much as possible.

With continued reference to fig. 2 and 3, the main control trolley further comprises an adjustable connecting member 3 for fixedly connecting the first display 4 and the chassis 1, the first display 4 has a mounting seat 41, the connecting member 3 comprises a connecting plate 31, a first connecting rod 32, a second connecting rod 33, a third connecting rod 34 and a fourth connecting rod 35, the ends of the first connecting rod 32, the second connecting rod 33, the third connecting rod 34 and the fourth connecting rod 35 are sequentially hinged, and the first connecting rod 32 and the second connecting rod 33 rotate relatively in a horizontal plane, so that the position of the first display 4 can be adjusted in a certain horizontal plane. Through the hinge joint between the connecting rods, the adjustment of the first display 1 at a plurality of positions is realized, and the position of the first display 1 can be conveniently adjusted according to the requirements of the operation process. In another embodiment, the adjustable connector 3 may be a purchased part, such as the display gimbal of Eggel, Inc., such as the one available under model number 45-486-.

The main control trolley further comprises a first wireless communication module, and the industrial personal computer is connected with the first wireless communication module. The wireless communication module can be a WIFI module, a Bluetooth module and the like. The wireless communication is set to realize the wireless communication between the industrial personal computer and external equipment or other modules in the main control trolley, and the bidirectional data transmission is realized.

The main control trolley also comprises a first screen sharing device; the first screen sharing device is connected with the industrial personal computer, and navigation video data can be sent to the external screen sharing device through the first screen sharing device, so that a display connected with the external screen sharing device displays the navigation video data. The navigation video data can be displayed on an external display by the arrangement, and the display is not limited by wired connection, so that the navigation video data can be observed by an operator at other positions except the main control trolley. Thereby improving the flexibility of the design of the device and the effectiveness of the spatial arrangement.

The main control trolley further comprises a UPS (Uninterruptible Power Supply) and a Power module, wherein the UPS respectively supplies Power to the industrial personal computer, the first display, the Power module and the mechanical arm system. The UPS is an UPS with an energy storage device and is mainly used for providing uninterrupted power supply for part of equipment with high requirements on power supply stability. The first screen sharing device can be powered by a power module.

The main control trolley also comprises a tool identification module and a second wireless communication module, the tool identification module is connected with the second wireless communication module, and the first wireless communication module is in communication connection with the second wireless communication module; the industrial personal computer sends a tool query instruction to the tool identification module through the first wireless communication module and the second wireless communication module;

the tool identification module is used for identifying tool information and sending the tool information to the industrial personal computer through the second wireless communication module and the first wireless communication module after receiving a tool query instruction; wherein the tool is for attachment to an end of a robotic arm system.

Specifically, the tool tail end is provided with a two-dimensional code for uniquely determining the tool model, the two-dimensional code can be a bar code, the tool identification module comprises an infrared scanner and a CPU, and the CPU is powered by an IO port of the mechanical arm and is respectively connected with a sensor of the infrared scanner and a second wireless module. When the tool approaches an infrared scanner of the automatic identification device, the infrared scanner transmits tool information into the CPU for processing; the industrial personal computer sends a tool identification instruction to the second wireless communication module through the first wireless communication module and transmits the tool identification instruction to the CPU, and the CPU receives the instruction and then sends tool information to the first wireless communication module through the second wireless communication module.

In another embodiment, the end of the tool is provided with an RFID tag for uniquely determining the model of the tool, the tool identification module comprises an RFID card reader and a CPU, and the CPU is powered by an IO port of the mechanical arm and is respectively connected with the RFID card reader and the second wireless module. When the tool approaches to an RFID card reader of the automatic identification device, the RFID card reader transmits tool information to a CPU for processing; the industrial personal computer sends a tool identification instruction to the second wireless communication module through the first wireless communication module and transmits the tool identification instruction to the CPU, and the CPU receives the instruction and then sends tool information to the first wireless communication module through the second wireless communication module.

Based on the same inventive concept as the main control trolley embodiment, the embodiment of the utility model provides a surgical navigation system.

Referring to fig. 2, 4 and 5, the present embodiment provides a surgical navigation system, including: the system comprises a main control trolley and a positioning and tracking device; master control platform truck includes: the system comprises an industrial personal computer, a first display, a screen cutting device and a mechanical arm system; a first input interface of the screen cutter is connected with the industrial personal computer, and a second input interface of the screen cutter is connected with the mechanical arm system; the output interface of the screen cutter is connected with the first display; in a first state, the screen switching device acquires navigation video data sent by the industrial personal computer through a first input interface and sends the navigation video data to a first display for display; in a second state, the screen cutting device acquires control data sent by the mechanical arm system through the second input interface and sends the control data to the first display for display; the positioning and tracking device comprises a visual tracking camera connected with an industrial personal computer, and the visual tracking camera is used for acquiring a real-time image of the surgical site and sending the real-time image to the industrial personal computer; the mechanical arm system is connected with the industrial personal computer and used for positioning the surgical site according to the control data, acquiring real-time position data and sending the real-time position data to the industrial personal computer; the industrial personal computer processes the real-time image and the control data to acquire navigation video data.

When the device is applied specifically, the main control trolley and the positioning and tracking device can be arranged separately, so that the flexibility of equipment design is improved. The navigation video data of the industrial personal computer is obtained by processing the industrial personal computer according to the obtained real-time image shot by the visual tracking camera and the position data of the mechanical arm. The screen cutter is provided with two input interfaces, namely a first input interface and a second input interface, and one of the first input interface and the second input interface is enabled and the other is disabled currently by switching the state of the screen cutter, namely switching between the first state and the second state, so that the screen cutter can obtain corresponding data from the enabled interface. In a first state, a first input interface of the screen cutter is effective, a second input interface of the screen cutter is ineffective, the industrial personal computer can send navigation video data to the screen cutter through the effective first input interface, and the mechanical arm system cannot send control data of the industrial personal computer to the screen cutter through the second input interface; under the second state, the second input interface of the screen cutting device is effective, the first input interface is invalid, the mechanical arm system can send control data to the screen cutting device through the effective second input interface, and the industrial personal computer cannot send the control data to the screen cutting device through the first input interface.

Based on the embodiment, the screen switching device is arranged to switch the state of the screen switching device, so that the screen switching device can obtain navigation video data sent by the industrial personal computer, or can obtain control data sent by the mechanical arm system, and sends the control data to the first display for displaying, and therefore the navigation data and the control data can be switched and displayed on the first display as required. For example, the navigation video data may be displayed via a surgical navigation software operator interface as shown in fig. 6.

In one embodiment, the main control trolley further comprises a first wireless communication module, and the industrial personal computer is connected with the first wireless communication module; the positioning and tracking device also comprises a third wireless communication module, and the visual tracking camera is connected with the third wireless communication module; through the wireless connection of the first wireless communication module and the third wireless communication module, the wireless connection between the industrial personal computer and the visual tracking camera is realized. The first wireless communication module of the main control trolley is connected with the third wireless communication module of the positioning and tracking device, so that the wireless connection between the main control trolley and the positioning and tracking device, namely the transmission of wireless data, is realized. The display of the setting positions of the main control trolley and the positioning and tracking device can be reduced by the arrangement, and the design flexibility is improved.

Further, the main control trolley also comprises a first screen sharing device; the first screen sharing device is connected with the industrial personal computer;

the positioning and tracking device further comprises a second display and a second screen sharing device, and the second display is connected with the second screen sharing device; the first screen sharing device is connected with the second screen sharing device, so that navigation video data are transmitted to the second display device to be displayed through the industrial personal computer, the first screen sharing device and the second screen sharing device in sequence. The navigation video data can be displayed on the second display of the positioning and tracking device without the limitation of wired connection, and the navigation video data can be conveniently observed by an operator at other positions outside the main control trolley. Thereby improving the flexibility of the design of the device and the effectiveness of the spatial arrangement.

Further, the main control trolley also comprises a UPS power supply and a power supply module, wherein the UPS power supply respectively supplies power to the industrial personal computer, the first display, the power supply module and the mechanical arm system; the UPS is an UPS with an energy storage device and is mainly used for providing uninterrupted power supply for part of equipment with high requirements on power supply stability.

Optionally, the positioning and tracking device further comprises a network power supply, and the network power supply supplies power to at least part of the positioning and navigation system.

In one embodiment, the main control trolley further comprises a tool identification module and a second wireless communication module, wherein the tool identification module is connected with the second wireless communication module, and the first wireless communication module is in communication connection with the second wireless communication module; the industrial personal computer sends a tool query instruction to the tool identification module through the first wireless communication module and the second wireless communication module; the tool identification module is used for identifying tool information and sending the tool information to the industrial personal computer through the second wireless communication module and the first wireless communication module after receiving a tool query instruction; wherein the tool is for attachment to an end of a robotic arm system. The tool tail end is provided with a two-dimensional code which uniquely determines the model of the tool and can be a bar code, the tool identification module comprises an infrared scanner and a CPU, and the CPU is powered by an IO port of the mechanical arm and is respectively connected with a sensor of the infrared scanner and a second wireless module. When the tool approaches an infrared scanner of the automatic identification device, the infrared scanner transmits tool information into the CPU for processing; the industrial personal computer sends a tool identification instruction to the second wireless communication module through the first wireless communication module and transmits the tool identification instruction to the CPU, and the CPU receives the instruction and then sends tool information to the first wireless communication module through the second wireless communication module.

In another implementation mode, the end of the tool is provided with an RFID tag for uniquely determining the model of the tool, the tool identification module comprises an RFID card reader and a CPU, and the CPU is powered by an IO port of the mechanical arm and is respectively connected with the RFID card reader and the second wireless module. When the tool approaches to an RFID card reader of the automatic identification device, the RFID card reader transmits tool information to a CPU for processing; the industrial personal computer sends a tool identification instruction to the second wireless communication module through the first wireless communication module and transmits the tool identification instruction to the CPU, and the CPU receives the instruction and then sends tool information to the first wireless communication module through the second wireless communication module.

The operation navigation system also comprises an imaging system, and the imaging system comprises CT equipment and a fourth wireless module connected with the CT equipment. Through fourth wireless module, CT equipment can be with the data transmission that its was shot to the industrial computer.

In one embodiment, the following functions are realized among the systems of the surgical navigation system:

step 1, the mechanical arm clamps a designated tool, and the mechanical arm and the patient are moved to the visual range of the visual tracking camera, and the visual tracking camera can acquire position data of the tail end of the mechanical arm and a small reflective ball (made of special materials and convenient for the visual tracking camera to recognize) clamped on the body of the patient.

And 2, shooting the relative position data of the ceramic ball (made of special materials and convenient for the CT system to identify) at the tail end of the mechanical arm and the wound of the patient by using the CT system.

And 3, transmitting the data in the steps 1 and 2 to an industrial personal computer through a third wireless module and a fourth wireless module (such as WiFi), and identifying the type of a tool placed at the tail end of the mechanical arm by an automatic tool identification system and transmitting the type of the tool to the industrial personal computer through a second wireless module (such as Bluetooth).

And 4, according to the data obtained in the step 3, the data can comprise CT data, navigation system data and tool data, and the mechanical arm is moved to the position of the wound of the patient by operating the navigation system operation interface (clicking to be in place) shown in the figure 6, and real-time tracking is started.

And 5, when the position of the patient is changed under any condition in the operation, the visual tracking camera reads the position data of the reflective small ball of the body of the patient and transmits the position data to the industrial personal computer through the second wireless module (such as WiFi), and then the corresponding relation of the wound position of the patient is obtained according to the position of the reflective small ball to guide the mechanical arm to move to a new position of the patient.

During the use of the steps, if relevant emergency situations (such as mechanical arm alarm and the like) occur or after-sales maintenance is carried out, the navigation system operation interface (displayed on the first display) is switched to the mechanical arm control interface through the switcher, and the alarm is eliminated. In order to ensure that a doctor can always check the operation interface of the navigation system, a second display is arranged in the positioning and integrating system, and navigation video data corresponding to the operation interface of the navigation system is sent to the second on-screen display through the first on-screen display and is always displayed on the second display.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the utility model. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the utility model have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the utility model, the scope of which is defined by the claims and their equivalents.

Claims

1. A master control trolley, characterized in that, master control trolley includes: the system comprises an industrial personal computer, a first display, a screen cutting device and a mechanical arm system;

a first input interface of the screen cutter is connected with the industrial personal computer, and a second input interface of the screen cutter is connected with the mechanical arm system;

the output interface of the screen cutter is connected with the first display;

in a first state, the screen switching device acquires navigation video data sent by the industrial personal computer through a first input interface and sends the navigation video data to the first display for display; and in a second state, the screen cutting device acquires control data sent by the mechanical arm system through a second input interface and sends the control data to the first display for display.

2. The master trolley according to claim 1, further comprising a first wireless communication module, wherein the industrial personal computer is connected with the first wireless communication module.

3. The master trolley of claim 1 further comprising a first screen assimilator; the first screen sharing device is connected with the industrial personal computer.

4. The master control trolley according to any one of claims 1 to 3, further comprising a UPS power supply and a power module, wherein the UPS power supply respectively supplies power to the industrial personal computer, the first display, the power module and the robot arm system.

5. The master trolley of any one of claims 1-3 further comprising a tool identification module and a second wireless communication module, the tool identification module being coupled to the second wireless communication module, the first wireless communication module being communicatively coupled to the second wireless communication module;

the industrial personal computer sends a tool query instruction to the tool identification module through the first wireless communication module and the second wireless communication module;

the tool identification module is used for identifying tool information and sending the identified tool information to the industrial personal computer through the second wireless communication module and the first wireless communication module after receiving a tool query instruction; wherein the tool is for attachment to an end of a robotic arm system.

6. A surgical navigation system, comprising: the system comprises a main control trolley and a positioning and tracking device;

the master control trolley comprises: the system comprises an industrial personal computer, a first display, a screen cutting device and a mechanical arm system;

the output interface of the screen cutter is connected with the first display;

in a first state, the screen switching device acquires navigation video data sent by the industrial personal computer through a first input interface and sends the navigation video data to the first display for display; in a second state, the screen cutting device acquires control data sent by the mechanical arm system through a second input interface and sends the control data to the first display for display;

the positioning and tracking device comprises a visual tracking camera connected with the industrial personal computer, and the visual tracking camera is used for acquiring a real-time image of a surgical site and sending the real-time image to the industrial personal computer;

the mechanical arm system is connected with the industrial personal computer and used for positioning a surgical site according to the control data, acquiring real-time position data and sending the real-time position data to the industrial personal computer;

the industrial personal computer processes the real-time image and the control data to acquire navigation video data.

7. The surgical navigation system of claim 6, wherein the master trolley further comprises the first wireless communication module, and the industrial personal computer is connected with the first wireless communication module;

the positioning and tracking device further comprises a third wireless communication module, and the visual tracking camera is connected with the third wireless communication module;

and the first wireless communication module is wirelessly connected with the third wireless communication module to realize wireless connection between the industrial personal computer and the visual tracking camera.

8. The surgical navigation system of claim 6, wherein the master trolley further includes a first screen-grabber; the first screen sharing device is connected with the industrial personal computer; the positioning and tracking device further comprises a second display and a second screen co-displayer, and the second display is connected with the second screen co-displayer;

the first screen sharing device is connected with the second screen sharing device, so that the navigation video data sequentially pass through the industrial personal computer, the first screen sharing device and the second screen sharing device and are transmitted to the second display device to be displayed.

9. The surgical navigation system according to any one of claims 6 to 8, wherein the master control trolley further comprises a UPS power supply and a power supply module, the UPS power supply respectively supplies power to the industrial personal computer, the first display, the power supply module and the robotic arm system;

and/or the presence of a gas in the gas,

the positioning and tracking device further comprises a network power supply which at least supplies power to part of the positioning and navigation system.

10. The surgical navigation system of any one of claims 6-8, wherein the master trolley further includes a tool identification module and a second wireless communication module,

the tool identification module is connected with the second wireless communication module, and the first wireless communication module is connected with the second wireless communication module in a communication way;