CN115061269B

CN115061269B - Diopter adjustment device, method, observation console and computer equipment

Info

Publication number: CN115061269B
Application number: CN202210764210.2A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Shanghai Weimi Medical Instrument Co ltd
Current assignee: Shanghai Weimi Medical Instrument Co ltd
Priority date: 2022-06-30
Filing date: 2022-06-30
Publication date: 2025-02-25
Anticipated expiration: 2042-06-30
Also published as: CN115061269A

Abstract

The present application relates to a diopter adjustment device, method, observation console, computer equipment, storage medium and computer program product. The device includes: an optical path module, an image processing component and an image sensor; wherein the original image enters the human eye through the optical path module and forms an image on the retina; the light reflected on the retina enters the image sensor through the optical path module and forms an image by the image sensor; the image processing component is used to extract the imaged image of the image sensor, perform contrast analysis on the imaged image, and adjust the diopter of the optical path module according to the contrast of the imaged image, and repeat the above adjustment process until the contrast of the imaged image obtained after adjustment meets the preset conditions. Since automatic adjustment can be achieved, the operator's pre-operative preparation work can be reduced, thereby improving work efficiency and the operator's user experience, and can meet the user needs of users with different vision conditions.

Description

Diopter adjustment device, diopter adjustment method, observation control console and computer equipment

Technical Field

The present application relates to the field of computer data processing technology, and in particular, to a diopter adjustment device, a diopter adjustment method, an observation console, a computer device, a storage medium, and a computer program product.

Background

Minimally invasive surgery is a new technology for performing surgery in a human body by using modern medical instruments such as laparoscopes, thoracoscopes and related equipment. The minimally invasive surgery has the advantages of small trauma, light pain and less bleeding, so that the recovery time of a patient can be effectively reduced, discomfort can be avoided, and some harmful side effects of the traditional surgery can be avoided. The operator observes the tissue characteristics in the patient body through a two-dimensional or three-dimensional display device at the observation control console, and remotely controls the mechanical arm and the surgical tool on the robot to complete the operation of the operation. The display component of the existing surgical robot system can provide high-fidelity three-dimensional vision for operators and can provide accurate space distance for the operators.

However, during a surgical procedure, the operator needs to bring his eyes close to the viewing window of the viewing console in order to see the returned three-dimensional image. At present, many operators need to wear glasses to correct eyesight, and when the operators wear the glasses to perform operation, the glasses can press nose bridges. In the minimally invasive surgical process, the complex surgical environment and operation task require the operator to operate the robot for a long time to perform the surgical operation, and the operator feel tired and uncomfortable due to the long-time operation of wearing the glasses, so that the risk of errors of the minimally invasive surgical operation may be increased.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a diopter adjustment device, method, viewing console, computer device, storage medium, and computer program product that reduces the risk of surgery.

In one aspect, the present application provides a diopter adjustment device comprising:

The system comprises an optical path module, an image processing assembly and an image sensor, wherein an original image enters human eyes through the optical path module and is imaged on retina;

the image processing component is used for extracting an imaging image of the image sensor, carrying out contrast analysis on the imaging image, adjusting the diopter of the light path module according to the contrast of the imaging image, and repeating the adjusting process until the contrast of the imaging image obtained after the adjustment meets the preset condition.

In one embodiment, the light path module comprises a diopter adjusting component and a half-mirror, the original image sequentially penetrates through the diopter adjusting component and the half-mirror to enter the human eye, and light reflected on the retina is reflected to the image sensor through the half-mirror.

In one embodiment, the diopter adjustment assembly includes a fixed unit and a zoom unit for movement within a range of movement defined by the fixed unit to effect diopter adjustment.

In one embodiment, the zoom unit includes a magnification-varying group and a compensation group, the magnification-varying group and the compensation group being movable in the optical axis direction.

In one embodiment, the variable-magnification group and the compensation group move respectively, the variable-magnification group moves linearly in the moving range, and the compensation group moves non-linearly in the moving range.

In one embodiment, the zoom group and the compensation group synchronously move, a plurality of zoom positions are arranged in the moving range, and the zoom group and the compensation group synchronously switch and move at different zoom positions.

In one embodiment, the variable magnification group is a concave lens and the compensation group is a convex lens.

In one embodiment, the diopter adjustment assembly includes a liquid zoom lens.

In another aspect, the application also provides a viewing console further provided with a diopter adjustment device as mentioned in any of the various possible implementations of the diopter adjustment device described above.

In another aspect, the present application provides a method of diopter adjustment, the apparatus comprising:

acquiring an imaging image, wherein the imaging image is obtained by enabling an original image to enter a human eye through an optical path module, enabling light reflected on retina to enter an image sensor through the optical path module, and imaging by the image sensor;

And (3) diopter adjustment is carried out on the optical path module, contrast analysis is carried out on the imaging image obtained after adjustment, and the adjustment and analysis processes are repeatedly carried out until the contrast of the imaging image obtained after adjustment meets the preset condition.

In one embodiment, the optical path module comprises a variable magnification group and a compensation group, and the diopter adjustment of the optical path module comprises:

moving the zoom group in a linear manner within a first preset movement range so as to amplify imaging by a preset multiple;

and moving the compensation group in a nonlinear manner within a second preset movement range so that the imaging formed by the compensation group falls on the image plane at the specified position.

And in a preset moving range, the zoom group and the compensation group are synchronously switched and moved at different zoom positions.

In one embodiment, the optical path module includes a liquid zoom lens, and diopter adjustment of the optical path module includes:

By pressurizing two liquid media which are mutually insoluble in the liquid zoom lens, the curvature of a liquid interface formed between the two liquid media is changed.

In another aspect, the present application further provides a computer device, including a memory and a processor, where the memory stores a computer program, and the processor implements the steps in the diopter adjustment method when executing the computer program.

In another aspect, the present application also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the diopter adjustment method described above.

In another aspect, the application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the diopter adjustment method described above.

The diopter adjusting device, the diopter adjusting method, the observation control console, the computer equipment, the storage medium and the computer program product can realize the automatic diopter adjustment by the diopter adjusting device to get rid of wearing the glasses, so that the fatigue and discomfort of the operator due to wearing the glasses for a long time can be avoided, and the operation risk is further reduced. Secondly, because can realize automatically regulated to can reduce the preparation work that the art person carries out the operation before, and then can improve work efficiency and improve art person's use experience, and can satisfy different vision situation user's user demand. In addition, compared with the manual adjustment of diopter, the determination of the definition of the human eye 600 is not accurate enough, and the contrast obtained by contrast analysis can be used as a reference basis in the adjustment process to be used as an adjustment guide to realize automatic adjustment, so that the adjustment is more accurate relative to the manual adjustment. Finally, since closed-loop control of the adjustment process and the contrast analysis is adopted, and the adjustment process can be performed for a plurality of times and is provided with a termination condition, accurate adjustment can be realized.

Drawings

FIG. 1 is a schematic view of a diopter adjustment device according to one embodiment;

FIG. 2 is a schematic view of a diopter adjustment device according to another embodiment;

FIG. 3 is a schematic view of a diopter adjustment assembly according to one embodiment;

FIG. 4 is a schematic view of a diopter adjustment assembly according to another embodiment;

FIG. 5 is a schematic diagram of a process in which the variable magnification group and the compensation group are each moved in one embodiment;

FIG. 6 is a schematic diagram of a process for synchronizing movement of a variable magnification group and a compensation group in one embodiment;

FIG. 7 is a schematic view of a liquid zoom lens according to an embodiment;

FIG. 8 is a schematic view showing a structure of a liquid zoom lens according to still another embodiment;

FIG. 9 is a schematic diagram of a configuration of a viewing console in one embodiment;

FIG. 10 is a schematic diagram of the working principle of the stereoscopic monitor in one embodiment;

FIG. 11 is a schematic diagram of a process of transmitting images by a stereoscopic monitor in one embodiment;

FIG. 12 is a flow chart of a diopter adjustment method according to one embodiment;

FIG. 13 is a graph showing contrast variation during diopter adjustment in one embodiment;

FIG. 14 is a flow chart of a method of diopter adjustment according to yet another embodiment;

FIG. 15 is a block diagram of a diopter adjustment device according to one embodiment;

FIG. 16 is an internal block diagram of a computer device in one embodiment;

Reference numerals illustrate:

100. The optical path module, 200, the image processing component, 300, the image sensor, 400, the original image, 500, the display screen, 600, the human eye, 700, the retina, 110, the diopter adjusting component, 120, the semi-transparent semi-reflecting mirror, 130, the ocular, 1101, the fixing unit, 1102, the zooming unit, 11021, the magnification changing group, 11022, the compensating group, 710, the electrolyte, 720, oil drops, 730, the optical axis, 740, the transparent window, 750, the metal electrode, 760, the insulating material, 770, the metal electrode, 910, the trolley base, 920, the main control arm, 950, the stereoscopic monitor, 960, the stereoscopic monitor adjusting mechanism;

3-1, video input of a left endoscope, 3-2, video input of a right endoscope, 3-3, a left display screen, 3-4, a right display screen, 3-5, a left plane mirror, 3-6, a right plane mirror, 3-7, images of left and right parallax images in the plane mirror, 3-8, left eyes of an observer, 3-9, right eyes of the observer.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

In some embodiments, as shown in FIG. 1, a diopter adjustment device is provided, comprising an optical path module 100, an image processing assembly 200, and an image sensor 300, wherein an original image 400 enters a human eye 600 via the optical path module 100 and is imaged on a retina 700 of the human eye 600;

the image processing component 200 is configured to extract an imaging image of the image sensor 300, perform contrast analysis on the imaging image, adjust the diopter of the optical path module 100 according to the contrast of the imaging image, and repeat the above adjustment process until the contrast of the imaging image obtained after adjustment meets a preset condition.

The process of adjusting diopter by the diopter adjusting device will now be described with reference to fig. 1. Specifically, the original image 400 may be presented outside through the display screen 500, and may enter the human eye 600 via the optical path module 100. The original image 400 may be a conventional image, or may be a test chart specially used for testing contrast or definition, such as a resolution test card, and the type of the original image 400 is not specifically limited in the embodiment of the present application. Wherein, can use different types of resolution test cards as the image source, cooperate diopter adjustment and data acquisition, realize diopter automatic adjustment through the image processing assembly 200.

It can be appreciated that, by using the sample resolution test card as the original image 400, the contrast of different areas in the image is more obvious, so that the contrast analysis result obtained based on the imaging image is more accurate, and the diopter adjustment according to the contrast is more accurate.

The dotted lines in fig. 1 refer to light rays emitted when the original image 400 is presented outside through the display screen 500, and the light rays represented by the dotted lines are incident to the human eye 600 through the optical path module 100. It will be appreciated that the incident light rays will also reflect off of the retina 700 after imaging in the human eye 600. The solid line in fig. 1 refers to light reflected by the retina 700, and the image sensor 300 images light reflected by the retina 700. It will be appreciated that if the image sensor 300 is placed directly in the path of the light reflected from the retina 700, it will block the light emitted when the original image 400 is presented externally through the display 500. Thus, the propagation direction of the light reflected from the retina 700 may be changed by the light path module 100 in fig. 1.

After imaging the light reflected from the retina 700 by the image sensor 300, an imaged image may be obtained, so that the imaged image may be processed by the image processing assembly 200. The contrast may refer to a measurement of different brightness levels between the brightest white and darkest black of a bright-dark region in an image, where a larger difference range represents a larger contrast and a smaller difference range represents a smaller contrast. The image processing component performs contrast analysis by calculating a difference between a maximum gray value and a minimum gray value in the imaged image. Accordingly, the preset condition may be that the gray value difference is greater than a preset threshold. Of course, in the actual implementation process, the contrast may be calculated by other manners and other preset conditions may be set, which is not limited in particular by the embodiment of the present application.

It should be noted that, in fig. 1, there is a connection between the optical path module 100 and the image processing component 200, and the diopter of the optical path module 100 needs to be adjusted mainly by the image processing component 200. As to how to adjust the diopter of the optical path module 100, in practical implementation, a lens capable of electrically adjusting the focal length may be disposed in the optical path module 100, and the lens parameters may be adjusted by the image processing component 200 to achieve diopter adjustment. Of course, diopter adjustment of the optical path module 100 may also be implemented in other manners, which are not particularly limited by embodiments of the present application. In addition, in fig. 1, the image processing component 200 is connected to the display screen 500, mainly by adjusting the display parameters of the display screen 500 by the image processing component 200, so as to obtain a better display effect of the original image 400. Of course, in an actual implementation process, the display control of the display screen 500 by the image processing component 200 may not be required, which is not limited in particular in the embodiment of the present application.

Above-mentioned diopter adjusting device, because need be through wearing glasses with the art person of correcting vision, can realize the automatically regulated of diopter in order to break away from wearing glasses through diopter adjusting device to can avoid the art person to feel tired and uncomfortable because of wearing glasses for a long time, and then reduce the operation risk. Secondly, because can realize automatically regulated to can reduce the preparation work that the art person carries out the operation before, and then can improve work efficiency and improve art person's use experience, and can satisfy different vision situation user's user demand. In addition, compared with the manual adjustment of diopter, the determination of the definition of the human eye 600 is not accurate enough, and the contrast obtained by contrast analysis can be used as a reference basis in the adjustment process to be used as an adjustment guide to realize automatic adjustment, so that the adjustment is more accurate relative to the manual adjustment. Finally, since closed-loop control of the adjustment process and the contrast analysis is adopted, and the adjustment process can be performed for a plurality of times and is provided with a termination condition, accurate adjustment can be realized.

In some embodiments, as shown in fig. 2, the optical path module 100 includes a diopter adjustment assembly 110 and a half mirror 120, an original image 400 sequentially passes through the diopter adjustment assembly 110 and the half mirror 120 to enter the human eye 600, and light reflected on the retina 700 is reflected by the half mirror 120 to the image sensor 300.

Consider that it is desirable to provide a viewing portal, such as a viewing window, for the human eye 600. In fig. 2, the light path module may further include an eyepiece 130 for viewing access. In addition, the eyepiece 130 may have a function of magnifying the original image 400, which is not particularly limited in the embodiment of the present application. The half mirror 120 can realize that the light emitted when the original image 400 is presented outside through the display screen 500 can be transmitted and injected into the human eye 600. At the same time, it is also possible to realize that the light reflected from the retina 700 does not propagate therethrough, but is reflected to the image sensor 300 through the half mirror 120 as shown in fig. 2. Wherein the diopter of the diopter adjustment assembly 110 is adjustable through the image processing assembly 200. It should be noted that, when adjusting the diopter of the diopter adjustment assembly 110, the image processing assembly 200 may implement diopter adjustment by changing the position of the lens in the diopter adjustment assembly 110 in the optical axis direction. Specifically, the lens in the diopter adjustment assembly 110 may be moved directly in the optical axis direction to change the position of the lens. The position of the lens in the diopter adjustment assembly 110 in the optical axis direction may also be adjusted by rotating the turntable, which is not particularly limited in the embodiment of the present application.

In the above embodiment, the light path structure is optimized and the space is saved because the light beam incident on the same light path and the reflected light beam can be transmitted separately through the half mirror 120, that is, the light path and the reflected light path share the half mirror 120.

In some embodiments, as shown in FIG. 3, diopter adjustment assembly 110 includes a fixed unit 1101 and a zoom unit 1102 for movement within a range of movement defined by the fixed unit to effect diopter adjustment.

Specifically, the fixing unit 1101 is mainly for stable imaging, and allows the passing light to be condensed so that a real image can be formed on the retina 700 later. In fig. 3, the fixing unit 1101 takes the shape of a lenticular lens, mainly for the purpose of being able to collect light. In addition, the fixing units 1101 in fig. 3 are provided in two, mainly because of the symmetrical arrangement, the fixing stability can be improved. At the same time, the front fixing unit 1101 is also in the shape of a biconvex lens, so that incident light rays can be gathered as much as possible, and the subsequent imaging definition can be improved. It will be appreciated that. The arrangement of the fixing units 1101 in fig. 3 is merely exemplary, and in actual implementation, the number of the fixing units 1101 may be more than 2, and the types of components introduced as the fixing units 1101 may include not only a biconvex lens but also a meniscus lens, a plano-convex lens, a biconcave lens, a plano-concave lens, a convex-concave lens, and the like, which are not particularly limited in the embodiment of the present application.

Regarding the zoom unit 1102, the shape of the zoom unit 1102 as a biconcave lens is exemplarily shown in fig. 3. The biconcave lens is mainly used for improving the imaging magnification. Of course, in practical implementation, the number of the zoom units 1102 may be more than 1, and the types of components introduced as the zoom units 1102 may include not only biconcave lenses, but also meniscus lenses, plano-convex lenses, biconvex lenses, plano-concave lenses, convex-concave lenses, and the like, which are not particularly limited in the embodiment of the present application. It should be noted that, the fixing unit 1101 may be fixed along the optical axis direction, and the zooming unit 1102 may be moved along the optical axis direction, and the diopter adjustment of the diopter adjustment assembly 110 may be achieved by moving the zooming unit 1102.

In the above embodiment, since the fixing unit 1101 is employed, imaging stability can be improved. In addition, the effective range of movement of the zoom unit 1102 may be defined by the fixed unit 1101, thereby avoiding ineffective adjustment of the diopter adjustment assembly 110.

In some embodiments, as shown in fig. 4, the zoom unit 1102 includes a magnification-varying group 11021 and a compensation group 11022, the magnification-varying group 11021 and the compensation group 11022 being movable in the optical axis direction.

Specifically, the magnification-varying group 11021 and the compensation group 11022 are each movable in the optical axis direction. The variable magnification group 11021 shown in fig. 4 is a biconcave lens, and the compensation group 11022 is a biconvex lens. The variable magnification group is called a biconcave lens having a magnification function, and the compensation group is called a biconvex lens for compensating a focus deviation at the time of zooming, that is, for compensating a displacement amount of the image plane 800 of the system caused by a previous moving group (such as the variable magnification group 11021 in fig. 4) during the moving process. It should be noted that, in fig. 4, only one of the variable magnification group 11021 and the compensation group 11022 is shown by way of example, and in an actual implementation process, at least one of the variable magnification group 11021 and the compensation group 11022 may be provided, which is not limited in particular by the embodiment of the present application.

The types of components introduced into the variable magnification group 11021 may include not only biconcave lenses, such as plano-concave lenses, etc., but also more than one for the number of components introduced into the variable magnification group 11021, which is not particularly limited in the embodiment of the present application. The types of components introduced into the compensation group 11022 may be more than a biconvex lens, such as a plano-convex lens, etc., and the number of components introduced into the compensation group 11022 may be more than one, which is not particularly limited in the embodiment of the present application.

In the above-described embodiment, the imaging magnification can be enlarged by the magnification-varying group 11021, thereby making the imaging clearer. The compensation group 11022 can compensate the displacement of the system image plane 800 caused by the zoom group 11021 in the moving process, so as to ensure that the imaging can be performed in the human eye 600.

In some embodiments, the variable magnification group 11021 and the compensation group 11022 are each movable, the variable magnification group 11021 moves linearly within the range of movement, and the compensation group 11022 moves non-linearly within the range of movement.

Wherein, "the variable magnification group 11021 and the compensation group 11022 are respectively moved" mainly means that the variable magnification group 11021 and the compensation group 11022 may not be synchronously moved. The linear movement may refer to that the mapping relationship between the movement distance and the time t is a straight line, and the nonlinear movement may refer to that the mapping relationship between the movement distance and the time t is a curve, a curved surface or an uncertain relationship, which is not particularly limited in the embodiment of the present application. The magnification of the variable magnification group 11021 can be smoothly changed by linearly moving the variable magnification group 11021, so that the magnification can be conveniently regulated and controlled. The compensation group 11022 is made to perform nonlinear movement, mainly because the nonlinear movement can make the selection of the compensation displacement more, and flexible compensation can be realized to improve the imaging definition. The process of linearly moving the variable magnification group 11021 and non-linearly moving the compensation group 11022 can refer to fig. 5.

In the above embodiment, the adjustment and control of the magnification can be facilitated by the linear movement of the magnification changing group 11021. By non-linear movement of the compensation group 11022, more selectable values of the compensation displacement can be obtained, so that flexible compensation can be realized to improve imaging definition.

In some embodiments, the zoom group 11021 and the compensation group 11022 move synchronously, a plurality of zoom positions are arranged in the moving range, and the zoom group 11021 and the compensation group 11022 synchronously switch to move at different zoom positions.

Wherein, synchronous movement may refer to the relative distance between the variable magnification group 11021 and the compensation group 11022 remaining unchanged during movement. Specifically, both can move in the same direction and at the same speed in the zooming process. It can be understood that the displacement of the image plane 800 can be better compensated when the zoom group 11021 and the compensation group 11022 are generally moved to a plurality of specific positions. Thus, in the embodiment of the present application, a plurality of zoom positions may be set in advance within the movement range defined by the fixed unit 1101, and the zoom group 11021 and the compensation group 11022 may be an integral body due to the synchronous movement, and the integral body may be switched to move at different zoom positions to realize the shift zoom. The process of moving synchronously can refer to fig. 6, where the dashed box in fig. 6 is used to indicate that the variable magnification group 11021 and the compensation group 11022 move synchronously.

In the above embodiment, since the zoom group 11021 and the compensation group 11022 can be well compensated for the displacement of the image plane 800 when they are generally moved to several specific positions, by presetting a plurality of zoom positions, the adjustment range can be reduced to simplify the adjustment process while ensuring a good imaging effect, thereby reducing the adjustment cost and improving the adjustment efficiency. In addition, the movement mode and the structure mode are relatively simple, so that the machining cost is relatively low.

In some embodiments, the variable magnification group 11021 is a concave lens and the compensation group 11022 is a convex lens.

In the above embodiment, by setting the magnification-varying group 11021 as one concave lens and setting the compensation group 11022 as one convex lens, that is, by simple combination, a good imaging effect can be ensured, so that the hardware cost of diopter adjustment can be reduced.

In some embodiments, the diopter adjustment assembly includes a liquid zoom lens.

As shown in fig. 7, the left-hand filled liquid may be electrolyte 710 and the right-hand filled liquid may be oil droplets 720. The above-mentioned left-right filling is not divided into two cavity filling, but mainly because the electrolyte 710 is not compatible with the oil droplets 720, resulting in the formation of two separate spaces. The electrolyte 710 on the left may be water or other types of electrolytes, which are not particularly limited in the embodiment of the present application. In practical implementation, the oil drop 720 on the right side may be replaced by other oily nonpolar materials, which is not particularly limited in the embodiment of the present application. In the drawing, 740 denotes a transparent window, 750 denotes a metal electrode, 760 denotes an insulating material, and 770 denotes a metal electrode.

As can be seen from fig. 7, a symmetrical lens film is formed between the electrolyte 710 and the oil droplets 720, and the incident surface of the light incident on the lens film is concave, so that the light exhibits a divergent effect, i.e., the lens film functions as a concave lens, and the dashed line 730 in the figure indicates the optical axis. Fig. 7 is a view of the lens with no applied voltage, at which time the focal length of the lens is fixed. When voltage is applied to the lens, the electric quantity between the contact surfaces changes under the action of an electric field, so that an external force which can lead the original surface tension to be unbalanced is generated, and new balance is achieved under the action of the external force, thereby changing the curvature radius of the lens surface and further changing the focal length of the lens. The applied voltages are different, and the surface tension required for reaching a steady state between the two liquids and the wall is different. The curvature of the liquid interface and thus the focal length of the liquid lens can be varied by adjusting the applied voltage. The above-described process, namely the electrowetting effect (controlling the wetting properties of a liquid on a solid by varying the applied voltage at the solid-liquid interface), is applied in varying the curvature of the liquid surface.

With an applied voltage of 40 volts, the change of the liquid zoom lens and the change of the direction of light can be referred to in fig. 8. It should be noted that, in an actual implementation, one or more liquid zoom lenses may be disposed in the diopter adjustment assembly 110, which is not specifically limited in this embodiment of the present application. In addition, since the liquid zoom lens is packaged, the fixing unit 1101 may not be provided in the diopter adjustment assembly 110 in practical implementation.

In the above-described embodiments, since the liquid zoom lens does not need to adjust the lens position in the optical axis direction, the volume can be made smaller, which is advantageous in reducing the reference to the diopter adjustment means. In addition, the adjustment can be quickly realized by electrifying, so that the diopter adjustment efficiency can be improved. In addition, since there is no restriction of the movement range defined by the fixing unit 1101, a larger focusing distance can be provided.

The above embodiments mainly describe the structure of the diopter adjusting device, and in practical implementation, the diopter adjusting device can be used in any relevant product that needs to provide vision correction. For example, the diopter adjusting device provided by the embodiment of the application can be applied to a camera, and the diopter can be adjusted through the diopter adjusting knob, so that people with poor eyesight can see a clear view in the optical viewfinder. Of course, the vision testing system can also be applied to a vision testing system, and the diopter of the diopter adjusting device is adjusted, so that a person who performs vision testing can see the view provided in the vision testing system through the diopter adjusting device, and the myopia or hyperopia degree can be reversely estimated according to the adjusting parameters of the diopter adjusting device.

In embodiments of the present application, however, primarily considering that a surgeon operating minimally invasive surgery requires vision correction, the surgeon typically views the procedure at a viewing console, and thus in some embodiments, as shown in fig. 9, a viewing console is also provided that is further provided with a diopter adjustment device as provided in any of the diopter adjustment device embodiments described above.

Specifically, the viewing console used by the operator is the control center of the endoscopic surgical system and may include a trolley base 910, a master control arm 920, and a stereo monitor 950. Wherein stereoscopic monitor 950 provides stereoscopic images detected from the image system to the operator, and provides reliable image information for the operator to perform the surgical operation. During the operation, the operator sitting in front of the viewing console is located outside the sterile field, and the operator controls the surgical instrument and laparoscope by manipulating the master control arm 920. The operator views the returned intra-cavity image through the stereo monitor 950, and the main control arm adjusting mechanism 930 is operated by a double hand to complete various operation operations, and the stereo monitor 950 is adjusted in position through the stereo monitor adjusting mechanism 960 by adjusting the armrest adjusting mechanism 940 to provide supporting force for the hand.

The stereoscopic monitor 950 is the most main device for observing the focus and the robot moving in the patient by the operator, and the head of the operator can enter the position of the observation window of the stereoscopic monitor 950 and observe the image through the two windows. The diopter adjusting device provided by the embodiment of the application can be configured in the stereo monitor 950, and the window can be used as the eyepiece 130 in the diopter adjusting device. The stereoscopic monitor 950 can realize that when an operator observes an image through the observation window with naked eyes, the image presents a high-definition 3D display effect, and the full image can be seen within a certain distance from the lens. A photoelectric switch may also be provided on the stereoscopic monitor 950 to provide illumination.

The operation principle of the stereoscopic monitor 950 can be shown in fig. 10, and 3-1 and 3-2 in fig. 10 are video inputs of left and right binocular endoscopes, respectively. 3-3 and 3-4 are left and right display screens, 3-5 and 3-6 are left and right plane mirrors, respectively, 3-7 is an image of left and right parallax images in the plane mirrors, and 3-8 and 3-9 are left and right eyes of an observer, respectively.

The left and right parallax video real-time scene signals of the binocular endoscope are respectively input into left and right display screens 3-3 and 3-4 by 3-1 and 3-2. The positions of the left plane mirror 3-5 and the right plane mirror 3-6 are adjusted to enable images 3-7 of the left parallax image and the right parallax image in the plane mirrors to be overlapped. Because the left eye 3-8 and the right eye 3-9 of the observer can only see one path of images respectively, the human eye can obtain a stereoscopic effect by directly observing two paths of parallax images overlapped together in the plane mirror.

Among them, the process of generating a video implementation scene signal and transmitting the same to the left and right eyes through the stereoscopic monitor 950 may refer to fig. 11. In fig. 11, two separate left and right endoscope captured images can be obtained by capturing. Through a Video interface (e.g., S terminal, which is commonly referred to as a Separate Video) to an image server. The image server processes the two-way endoscopic image in real time to make it conform to the requirements of the stereoscopic monitor 950. The two displays in the stereoscopic monitor 950 respectively display two paths of endoscopic parallax images, and an observer observes a stereoscopic scene through the observation window of the stereoscopic monitor 950.

Above-mentioned observation control platform, owing to need through wearing glasses with the art person of correcting vision, can realize the automatically regulated of diopter in order to break away from wearing glasses through diopter adjusting device to can avoid the art person to feel tired and uncomfortable because of wearing glasses for a long time, and then reduce the operation risk. Secondly, because can realize automatically regulated to can reduce the preparation work that the art person carries out the operation before, and then can improve work efficiency and improve art person's use experience, and can satisfy different vision situation user's user demand. In addition, compared with the manual adjustment of diopter, the judgment of the definition of human eyes is not accurate enough, and the contrast obtained through contrast analysis can be used as a reference basis in the adjustment process to be used as an adjustment guide to realize automatic adjustment, so that the adjustment is more accurate relative to the manual adjustment. Finally, since closed-loop control of the adjustment process and the contrast analysis is adopted, and the adjustment process can be performed for a plurality of times and is provided with a termination condition, accurate adjustment can be realized.

The above embodiments are mainly described for a diopter adjustment device and a viewing console provided with a diopter adjustment device, and in some embodiments, as shown in fig. 12, a diopter adjustment method is provided. Taking the computer equipment (the computer equipment can be a terminal or a server specifically, the processing procedure can be realized by an image processing component in the computer equipment) as an example, the method comprises the following steps:

step 1202, an imaging image is acquired, wherein the imaging image is obtained by enabling an original image to enter a human eye through a light path module, enabling light reflected on a retina to enter an image sensor through the light path module, and imaging the original image through the image sensor.

Specifically, the original image generated by the image source is usually displayed on a display screen, and can sequentially pass through the diopter adjusting component, the half-mirror and the ocular lens, finally enter the human eye and be imaged on the retina. Light reflected from the retina is reflected to the image sensor through the ocular lens and the semi-transparent semi-reflective mirror, and the computer equipment can extract an imaging image acquired by the image sensor.

And 1204, diopter adjustment is performed on the optical path module, contrast analysis is performed on the imaging image obtained after adjustment, and the adjustment and analysis processes are repeatedly performed until the contrast of the imaging image obtained after adjustment meets the preset condition.

Specifically, the computer device analyzes the contrast of the imaged image while the image processing component controls the diopter adjustment mirror to adjust the diopter. The analysis process may be, among other things, calculating the contrast of the imaged image as a formula of contrast = (maximum value of luminance-minimum value of luminance)/(maximum value of luminance + minimum value of luminance). Wherein the range of the contrast is not more than 1.

The computer device repeats the analysis and adjustment process until the contrast of the adjusted imaging image meets the preset condition. The preset condition may be that the contrast ratio reaches the maximum. Specifically, if the contrast ratio continues to increase during adjustment of the diopter in a certain direction along the optical axis, when a certain value is reached and the contrast ratio starts to decrease, the contrast ratio can be considered to reach a peak value, that is, the value is the maximum contrast ratio. Specifically, reference is made to fig. 13 for a gradual decrease in contrast after the contrast reaches a peak during diopter adjustment. The lower column of images of the resolution test card in fig. 13 represents imaging effects at different diopters, and the upper column represents the corresponding contrast condition. Fig. 13 shows the process of gradually increasing and gradually decreasing the contrast from left to right, and the contrast reaches a peak in the middle drawing.

It should be noted that, in addition to continuously adjusting the diopter of the diopter adjustment component according to the above procedure, the diopter adjustment component is adjusted to the optimal position by contrast analysis in the actual implementation process, other ways may be used to find the optimal position of the diopter adjustment component. For example, the computer device may also control the image source to change the original image or move the position of the original image along the optical axis, calculate the best diopter of the current user, and directly adjust the diopter adjusting component to the best position according to the calculated value, so as to realize diopter automatic adjustment. It should be further noted that, in a practical implementation, the MTF (Modulation Transfer Function ) method or the SFR (Spatial Frequency Response, spatial frequency response) method may be used to find the optimal diopter position, which is not specifically limited by the embodiment of the present application.

Wherein the MTF may be a function of the ratio of the modulation degree between the actual image and the ideal image with respect to the spatial frequency. The greater the MTF, the sharper the image, the MTF is between 0 and 1. SFR is also called a hypotenuse method and mainly comprises two methods, namely a horizontal hypotenuse method and a vertical hypotenuse method. The width of the resolution test card is larger as a horizontal bevel edge, and the height is larger as a vertical bevel edge. The vertical hypotenuse may be used when testing sharpness in the horizontal direction, and the horizontal hypotenuse may be used when testing sharpness in the vertical direction.

According to the diopter adjusting method, as an operator who needs to wear the glasses to correct eyesight can automatically adjust diopter through the diopter adjusting device to get rid of wearing the glasses, fatigue and discomfort of the operator due to long-time wearing of the glasses can be avoided, and further operation risks are reduced. Secondly, because can realize automatically regulated to can reduce the preparation work that the art person carries out the operation before, and then can improve work efficiency and improve art person's use experience, and can satisfy different vision situation user's user demand. In addition, compared with the manual adjustment of diopter, the judgment of the definition of human eyes is not accurate enough, and the contrast obtained through contrast analysis can be used as a reference basis in the adjustment process to be used as an adjustment guide to realize automatic adjustment, so that the adjustment is more accurate relative to the manual adjustment. Finally, since closed-loop control of the adjustment process and the contrast analysis is adopted, and the adjustment process can be performed for a plurality of times and is provided with a termination condition, accurate adjustment can be realized.

In some embodiments, the optical path module includes a variable magnification group and a compensation group, and diopter adjustment of the optical path module includes:

And moving the compensation group in a nonlinear manner within a second preset movement range so that the imaging formed by the compensation group falls on an image plane at a specified position.

Specifically, the first preset moving range and the second preset moving range may be the same or different, which is not particularly limited in the embodiment of the present application. The linear movement may refer to that the mapping relationship between the movement distance and the time t is a straight line, and the nonlinear movement may refer to that the mapping relationship between the movement distance and the time t is a curve, a curved surface or an uncertain relationship, which is not particularly limited in the embodiment of the present application. The variable magnification group is enabled to linearly move, and the magnification of the variable magnification group can be changed smoothly, so that the magnification can be regulated and controlled conveniently. The compensation group is made to move in a nonlinear manner, and the compensation group is mainly made to move in a nonlinear manner, so that the compensation displacement amount can be selected to take more values, and flexible compensation can be realized to improve imaging definition.

In the above embodiment, the magnification can be easily controlled by linearly moving the magnification-changing group. By means of nonlinear movement of the compensation group, the selectable value of the compensation displacement can be more, and therefore flexible compensation can be achieved to improve imaging definition.

In some embodiments, the optical path module comprises a variable magnification group and a compensation group, and diopter adjustment of the optical path module comprises switching movement of the variable magnification group and the compensation group at different zoom positions synchronously within a preset movement range.

Wherein, synchronous movement may refer to the relative distance between the variable magnification group and the compensation group remaining unchanged during movement. Specifically, both can move in the same direction and at the same speed in the zooming process. It can be understood that the displacement of the image plane can be better compensated when the zoom group and the compensation group are usually moved to a plurality of specific positions. Therefore, in the embodiment of the application, a plurality of zoom positions can be set in advance in the moving range defined by the fixed unit, and the zoom group and the compensation group can be used as a whole due to synchronous movement, and the whole can be switched to move at different zoom positions so as to realize shift zooming. The process of moving synchronously can refer to fig. 6, and the dashed box in fig. 6 is used to indicate that the variable magnification group and the compensation group are moving synchronously.

In the above embodiment, since the zoom group and the compensation group can be well compensated for the displacement of the image plane when they are generally moved to several specific positions, by presetting a plurality of zoom positions, the adjustment range can be reduced to simplify the adjustment process while ensuring a good imaging effect, thereby reducing the adjustment cost and improving the adjustment efficiency. In addition, the movement mode and the structure mode are relatively simple, so that the machining cost is relatively low.

In some embodiments, the optical path module includes a liquid zoom lens and diopter adjustment of the optical path module includes varying a curvature of a liquid interface formed between two liquid media by pressurizing the two liquid media that are immiscible in the liquid zoom lens.

The pressurizing process may be controlled by a computer device, and the working process of the liquid zoom lens may be referred to the description of the previous embodiment, which is not repeated here. In the practical implementation process, multiple adjustments can be performed first, and then the contrast analysis is performed on multiple imaging images obtained by the multiple adjustments, so as to determine whether the position of the contrast peak (the maximum contrast) can be found in the multiple analysis results. If not, performing multiple adjustment and multiple analysis until the contrast peak position is found.

In particular, the process may refer to fig. 14, where in fig. 14, an original image may be played by an image source and an imaging image acquired by an image sensor by turning on a diopter adjustment related device, such as a viewing console. The computer equipment analyzes the image contrast based on the initial position of diopter adjustment, controls the diopter adjustment assembly to adjust diopter for a plurality of times before and after the initial position, and searches whether the contrast peak value position exists in the plurality of times of adjustment and corresponding analysis results. If not, the adjustment and analysis process is performed multiple times until the contrast peak position is found. After the contrast peak position is found, the contrast peak position can be recorded, the iterative loop process is ended, and the diopter adjusting component is adjusted to the position corresponding to the contrast peak position. At this time, the computer device may acquire the imaging image again based on the current diopter adjustment result, confirm it by the human eye, and end the closed-loop control process of diopter automatic adjustment.

In the above-described embodiments, since the liquid zoom lens does not need to adjust the lens position in the optical axis direction, the volume can be made smaller, which is advantageous in reducing the reference to the diopter adjustment means. In addition, the adjustment can be quickly realized by electrifying, so that the diopter adjustment efficiency can be improved. In addition, since there is no restriction of the movement range defined by the fixed unit, a larger focusing distance can be provided.

It should be understood that, although the steps in the flowcharts related to the above embodiments are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides a diopter adjusting device for realizing the diopter adjusting method. The implementation of the solution provided by the device is similar to that described in the above method, so specific limitations in one or more embodiments of the diopter adjustment device provided below may be found in the above limitations of diopter adjustment method, and will not be described here.

In some embodiments, as shown in fig. 15, a diopter adjustment device is provided, which may be a software module or a hardware module, or a combination of both, forming part of a computer device, and specifically includes an acquisition module 1502 and a diopter adjustment module 1504, wherein:

An acquisition module 1502, configured to acquire an imaging image, where the imaging image is obtained by an original image entering a human eye through an optical path module, and light reflected on a retina entering an image sensor through the optical path module and being imaged by the image sensor;

And the diopter adjusting module 1504 is used for diopter adjustment of the light path module, and contrast analysis of the imaging image obtained after adjustment, and the adjustment and analysis processes are repeatedly executed until the contrast of the imaging image obtained after adjustment meets the preset condition.

In some embodiments, the optical path module includes a variable magnification group and a compensation group, the diopter adjustment module 1504 is configured to move the variable magnification group in a linear manner within a first predetermined range of movement to magnify an image by a predetermined multiple, and to move the compensation group in a nonlinear manner within a second predetermined range of movement to cause an image formed via the compensation group to fall onto an image plane at a specified location.

In some embodiments, the optical path module comprises a variable magnification group and a compensation group, and the diopter adjustment module 1504 is used for synchronously switching the variable magnification group and the compensation group to move at different zooming positions within a preset movement range.

In some embodiments, the optical path module includes a liquid zoom lens and the diopter adjustment module 1504 is configured to change the curvature of a liquid interface formed between two liquid media by pressurizing the two liquid media that are not mutually compatible in the liquid zoom lens.

Above-mentioned diopter adjusting device, because need be through wearing glasses with the art person of correcting vision, can realize the automatically regulated of diopter in order to break away from wearing glasses through diopter adjusting device to can avoid the art person to feel tired and uncomfortable because of wearing glasses for a long time, and then reduce the operation risk. Secondly, because can realize automatically regulated to can reduce the preparation work that the art person carries out the operation before, and then can improve work efficiency and improve art person's use experience, and can satisfy different vision situation user's user demand. In addition, compared with the manual adjustment of diopter, the judgment of the definition of human eyes is not accurate enough, and the contrast obtained through contrast analysis can be used as a reference basis in the adjustment process to be used as an adjustment guide to realize automatic adjustment, so that the adjustment is more accurate relative to the manual adjustment. Finally, since closed-loop control of the adjustment process and the contrast analysis is adopted, and the adjustment process can be performed for a plurality of times and is provided with a termination condition, accurate adjustment can be realized.

For specific limitations on the diopter adjustment means, reference may be made to the limitations on the diopter adjustment method hereinabove, and no further description is given here. The various modules in the diopter adjustment device described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided, which may be a terminal or a server, and the internal structure of which may be as shown in fig. 16. The computer device includes a processor, a memory, an Input/Output interface (I/O) and a communication interface. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface is connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used to store the imaging image and diopter adjustment results. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a diopter adjustment method.

It will be appreciated by those skilled in the art that the structure shown in FIG. 16 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.

In an embodiment, there is also provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.

In one embodiment, a computer-readable storage medium is provided, storing a computer program which, when executed by a processor, implements the steps of the method embodiments described above.

In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magneto-resistive random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (PHASE CHANGE Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto. The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims

1. The diopter adjusting device is characterized by comprising an optical path module, an image processing assembly and an image sensor, wherein an original image enters human eyes through the optical path module and is imaged on retina;

The image processing component is used for extracting an imaging image of the image sensor, carrying out contrast analysis on the imaging image, adjusting diopter of the light path module according to the contrast of the imaging image, and repeating the adjustment process until the contrast of the imaging image obtained after adjustment meets a preset condition;

The optical path module comprises a diopter adjusting component and a half mirror, wherein the original image sequentially penetrates through the diopter adjusting component and the half mirror to enter a human eye, and light reflected on retina is reflected to the image sensor through the half mirror;

The diopter adjusting component comprises a fixing unit and a zooming unit, wherein the zooming unit is used for moving in a moving range defined by the fixing unit to realize diopter adjustment, the fixing unit is in a biconvex lens shape, the fixing unit is kept fixed along the optical axis direction, and the fixing unit is used for stabilizing imaging.

2. The diopter adjustment device according to claim 1, wherein the zoom unit includes a magnification-varying group and a compensation group, the magnification-varying group and the compensation group being movable in the optical axis direction.

3. The diopter adjustment device of claim 2, wherein the variable magnification group and the compensation group are each movable, wherein the variable magnification group moves linearly within the movement range, and wherein the compensation group moves non-linearly within the movement range.

4. The diopter adjustment device according to claim 2, wherein the magnification-varying group and the compensation group are synchronously moved, a plurality of zoom positions are provided in the movement range, and the magnification-varying group and the compensation group are synchronously switched to move at different zoom positions.

5. The diopter adjustment device of any one of claims 2-4, wherein the variable magnification group is a concave lens and the compensation group is a convex lens.

6. The diopter adjustment device of claim 1, wherein the diopter adjustment assembly comprises a liquid zoom lens.

7. A viewing console, characterized in that it is further provided with diopter adjustment means according to any one of the preceding claims 1 to 6.

8. A method of diopter adjustment comprising:

Acquiring an imaging image, wherein the imaging image is obtained by enabling an original image to enter a human eye through a light path module, enabling light reflected on retina to enter an image sensor through the light path module, and imaging by the image sensor;

The optical path module is used for carrying out diopter adjustment, carrying out contrast analysis on an imaging image obtained after adjustment, and repeatedly carrying out the adjustment and analysis until the contrast of the imaging image obtained after adjustment meets a preset condition, wherein the contrast analysis is used for calculating a difference value between a maximum gray value and a minimum gray value in the imaging image, the preset condition is that the gray value difference value is larger than a preset threshold value, the optical path module comprises a diopter adjustment component and a half mirror, the original image sequentially penetrates through the diopter adjustment component and the half mirror to enter a human eye, light reflected on a retina is reflected to the image sensor through the half mirror, diopter adjustment is achieved by changing the position of a lens in the diopter adjustment component in the optical axis direction when diopter of the diopter adjustment component is adjusted, the diopter adjustment component comprises a fixing unit and a zooming unit, the zooming unit is used for moving in a moving range defined by the fixing unit so as to achieve diopter adjustment, the fixing unit shows a biconvex shape, and the fixing unit is kept to be not fixed along the optical axis direction so as to stably image.

9. The method of claim 8, wherein the optical path module includes a variable magnification group and a compensation group, and wherein the diopter adjustment of the optical path module includes:

Moving the zoom group in a linear mode within a first preset moving range so as to amplify imaging by a preset multiple;

and moving the compensation group in a nonlinear manner within a second preset movement range so that an image formed by the compensation group falls on an image plane at a specified position.

10. The method of claim 8, wherein the optical path module includes a variable magnification group and a compensation group, and wherein the diopter adjustment of the optical path module includes:

And in a preset moving range, the zoom group and the compensation group are synchronously switched to move at different zooming positions.

11. The method of claim 8, wherein the optical path module comprises a liquid zoom lens, and wherein the diopter adjustment of the optical path module comprises:

By pressurizing two liquid media that are mutually insoluble in the liquid zoom lens, the curvature of the liquid interface formed between the two liquid media is changed.

12. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 8 to 11 when the computer program is executed.

13. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 8 to 11.

14. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the method of any of claims 8 to 11.