Image management module 

The interface provided by the module includes: file loading, file information acquisition, file information setting, file output, file closing, can process CT/MRI/CBCT and other medical image DICOM data, image data analysis and loading. Based on the image data obtained by the module, the developer can carry out the second development of image segmentation and image fusion.

Surgical planning module

This module mainly includes the related interfaces of two-dimensional image display, point selection and interaction, which can realize three-dimensional visualization, two-dimensional interface interaction and two-dimensional surface point selection (the selected points can be manual selection or automatic data generation), and developers can realize the secondary development of path planning according to needs.

Surgical navigation module

The interface provided by the module includes: the related interface of the positioning instrument control, the extraction of the marker ball, the space registration, the tool registration and the tool information reading, etc., to realize the registration of the image space and the actual space, the information acquisition of the end of the surgical tool and the navigation function.

Manipulator control module

At present, it supports robotic arms such as UR Great Family Siling and Bolo Stone. The interface provided by this module includes: robot arm control, robot arm calibration, robot arm navigation, coordinate conversion between locator and robot arm, and VTK three-dimensional coordinate and coordinate conversion between locator to realize the navigation function of robot arm.