With the rapid development of IoT, intelligence, functional safety and information security, a single operating system can no longer meet the diverse application requirements. In response to this challenge, the hybrid deployment of multiple operating systems on the same SoC platform has become a hot research direction. However, the current communication framework between multiple operating systems on the same hardware platform has limitations in concurrency and real-time performance, which limits the effective cooperation between different systems. Therefore, this study proposes an efficient hybrid multi-system communication framework based on TrustZone technology, called TZRT-RPC, which aims to optimize the real-time performance and concurrency of Remote Procedure Calls (RPCs) between different systems. By using SGI (Software Generated Interrupt) and Interrupt Handler RPC Servicing mechanism, the framework precisely controls the execution time of RPC service routines. Furthermore, by combining Scheduler Bypass and Dual Priority Ceiling strategy, TZRT-RPC reasonably distributes RPC requests to each core to achieve efficient concurrent processing of RPC requests. Experimental results show that TZRT-RPC can support high concurrent communication while ensuring real-time communication between systems.