TW201720379A - Image acquisition apparatus and method for surgical operation - Google Patents

Abstract

The present invention provides an image acquisition apparatus and method for a surgical operation. The apparatus includes a wearable frame, a pair of rotational devices, a pair of optical modules, a pair of displays and a controller. The rotational devices respectively are disposed on the sides of the wearable frame, which, for example, is in the form of eyewear, and the optical modules are disposed in the rotational devices. The displays are held in the wearable frame. When the wearable frame is head-mounted by a user, the displays are positioned in front of the eyes of the user. The method includes the steps of: the optical module acquiring a reference image; the optical module acquiring an offset image in response to head movement; and the controller computing deviation and direction based on the offset image and adjusting the optical modules reversely, in order for the optical modules to acquire a calibrated image correspondingly with the reference image.

Description

Surgical image capturing device and image capturing method thereof

The invention relates to a surgical image capturing device and an image capturing method thereof, in particular to a surgical image capturing device capable of performing image correction and an image correcting method thereof.

Due to advances in optical imaging techniques, microsurgery has been manipulated in large numbers in hospitals. When doctors perform microsurgery, they often need to deal with hard or soft tissues that are very small and difficult to observe by the naked eye, such as blood vessels, nerves, and other tissues less than 1 mm in diameter. Therefore, accurate optical image magnifying equipment is very important for microsurgery. important.

Referring to the first and second figures, two commonly used optical imaging devices are shown, including a binoculars surgical loupes and a binoculars surgical microscope. Referring to the table below, compare the two:

However, the above two optical imaging devices still have the following shortcomings:

1. During the entire procedure, the user (usually a surgeon) is required to maintain a fixed working distance and posture, thus often causing skeletal muscle problems and pain.

2. Continue to look at the eye fatigue caused by the lens of the magnifying glass or microscope.

3. At high magnification, the enlarged picture will produce unstable jitter and offset due to the unconscious vibration of the head caused by the user's physiological factors. This kind of action will cause difficulty in focusing and affect the clarity of the picture. degree.

The above-mentioned lacking will not only harm the health of the user, but also affect the effect and quality of the operation.

In order to improve the aforementioned deficiency, the present invention provides a surgical image capturing device, comprising:

a pair of rotating modules are respectively disposed on two sides of the wearing frame and have the same horizontal level; a pair of optical image modules are respectively disposed on the rotating module; a pair of display devices are connected to the wearing frame And located in front of the wearable frame; a control unit electrically connecting the rotating module, the optical image module and the display device.

The optical image module first captures a reference image, wherein the optical image modules on the two sides of the wear frame each capture a picture, where the reference image is a portion where the two images overlap, and when the wear frame generates a deflection displacement The pair of optical image modules captures an offset image, and the control unit calculates the displacement amount and direction of the offset image according to the coordinate position ratio of the reference image and the offset image, and according to the Displacement amount and direction control actuate the pair of rotation modules, or the control unit outputs the displacement amount and direction for operating the pair of rotation modules, thereby inversely adjusting the direction of the optical image module, so that the pair of optical image modules A calibration image conforming to the reference image is captured, and the pair of display images are used to display each image.

Further, the wearable frame is in the form of glasses.

Further, the rotating module includes a first rotating module for vertical rotation and a second rotating module for horizontal rotation. Further, the first rotating module is electrically connected to the control unit, and the second rotating module is electrically connected to the control unit.

Further, the optical image module includes an illumination component, an image capture component, and a sensor for receiving a positioning command to confirm the reference image.

Further, the monitor is one of a virtual retina display (VRD), an LCD monitor, an LED display, an LCOS display, or a data glass.

Further, the display device is connected to the wear rack through a telescopic connector.

Further, the control unit is externally connected or integrated in the optical image module or integrated on the wearable frame.

The invention further provides a surgical image capturing method performed by the above surgical image capturing device, comprising the following steps:

A. The wearable frame is worn on the user's head, and an image of an affected part is captured by the pair of optical image modules, and the control unit displays the image on the pair of monitors, and the user selects the reference position. The image of the reference position is set as a reference image, wherein each of the optical image modules on the two sides of the wear frame captures a picture, and the reference image is a portion where the two pictures overlap; B. when the user's head vibrates Or moving, when the target image corresponding to the wearable frame is deflected and displaced, the pair of optical image modules captures an offset image; C. The control unit compares the reference image with the offset image according to the coordinate position ratio And calculating a displacement amount and a direction of the offset image; D. the control unit controls the pair of rotation modules according to the displacement amount and the direction, or the user manually controls the pair of rotation modules according to the displacement amount and the direction The direction of the optical image module is reversely adjusted, so that the pair of optical image modules captures a corrected image that conforms to the reference image.

Further, the user sets an adjustment threshold in the control unit. In step D, when the displacement amount and direction of the offset image exceeds the adjustment threshold, the control unit controls the pair of rotation modules to operate.

Further, in step A, the optical image modules on the two sides of the wear frame each capture a picture, and the reference image is a portion where the two pictures overlap.

Further, the control unit updates the reference image at any time.

Further, the user sets a preset light intensity in the control unit, and when the light intensity of the affected part is less than the preset light intensity, the control unit controls the light intensity emitted by the optical image module until the light intensity of the affected part It is equivalent to the preset light intensity.

Further, the monitor is tied to the lower eyelid of the user.

Further, in step A, the user inputs an instruction to the control unit by one of voice control, vibration control, pressure control or optical control, thereby setting the reference image.

The effect of the invention is:

By correcting the position of the image at any time, it is ensured that the image is focused on the affected part at any time, so that the doctor can continue to obtain a clear image of the affected part.

In combination with the above technical features, the main effects of the surgical image capturing device and image capturing method of the present invention will be clearly shown in the following embodiments.

Referring to the third to fifth figures, the apparatus of the present invention comprises:

A wearable frame (1) is preferably in the form of a spectacles for the user to wear and detach; a pair of rotating modules are respectively disposed on both sides of the wearable frame (1), and the horizontal height is the same. In this embodiment, The rotating module includes a first rotating module (2) for vertical rotation, and a second rotating module (3) for horizontal rotation, and the first rotating module (2) is provided with a first a micro motor (21), the second rotating module (3) is provided with a second micro motor (31); a pair of optical image modules (4) are respectively disposed on the rotating module, the optical image module (4) comprising a lighting component (41), an image capturing component (42) and a sensor (43); a pair of visualizers (5) connected to the wearable frame (1) and located in the wearable frame (1) In front of the embodiment, the display (5) is connected to the wearable frame (1) through a telescopic connector (6), thereby adjusting the visual acuity of the display (5) in front of the eyeball. For the best position of observation, the monitor (5) may be one of a virtual retina display (VRD), an LCD monitor, an LED display, an LCOS display or a data glass; a control unit (7) ),Electricity Connecting the first micro motor (21) and the second micro motor (31) of the rotating module, and the optical image module (4) and the display device (5), wherein the control unit (7) can be Externally connected to the pair of optical image modules (4) or integrated on the wearable frame (1), the embodiment is integrated with the control unit (7) in one of the pair of optical image modules (4) For example.

Refer to the sixth figure [see the third to fifth figures for each component]. The steps of the image capture method of the device are as follows:

A. The wearable frame (1) is worn on the user's head. At this time, the display device (5) can be placed at the lower eyelid of the user for convenient viewing by the user and by the pair of optical images. The image capturing component (42) of the module (4) captures an image of the affected part of the patient, and the control unit (7) displays the image on the pair of monitors (5), after the user selects the reference position, Receiving the positioning command through one of the voice control, the vibration control, the pressure control or the optical control, receiving the positioning command through the sensor (43) and inputting the positioning command to the control unit (7), thereby setting the image of the reference position to be one The reference image and an adjustment threshold are set in the control unit (7) through the sensor (43). It should be noted that the selection method of the reference image is that each of the image capturing components (42) of the optical image module (4) on the two sides of the wearable frame (1) captures a picture, and the reference image is the second image. The part where the screen overlaps. At the same time, the user sets a preset light intensity in the control unit (7) through the sensor (43) according to clearly seeing the light intensity required by the affected part [ie, the light intensity required for the clear target image]. In addition, the user can also input a control command required by the control unit (7) during the microsurgery through the sensor (43).

B. When the microsurgery is performed, when the user unconsciously deflects the head due to physiological factors, causing the wear frame (1) to deflect and shift, the image capturing component of the pair of optical image modules (4) is caused ( 42) Capture an offset image.

C. The control unit (7) calculates the displacement amount and direction of the offset image according to the coordinate position of the reference image and the offset image according to a preset coordinate system.

D. When the rotation angle of the offset image exceeds the adjustment threshold, the control unit (7) activates the first micro motor (21) and the second micro motor (31) according to the rotation angle to make the first The rotation module (2) and the second rotation module (3) reversely adjust the direction of the optical image module (4), whereby the image capturing component (42) of the pair of optical image modules (4) A calibration image conforming to the reference image is taken to avoid excessive image deviation from the affected part, so as to facilitate the smooth operation of the microsurgery. In addition, when the light intensity of the clear target image is less than the preset light intensity, the control unit (7) controls the illumination component (41) of the optical image module (4) to increase the light intensity until the light intensity of the clear target image is The preset light intensity is equivalent. In addition to the automatic control mode, the control unit (7) can also output the displacement amount and direction for the user to manually operate the first rotation module (2) and the second rotation module (3).

Further, since the shape of the affected part may change during the microsurgery, the control unit (7) may update the reference image at any time during the microsurgery to facilitate the image comparison. .

Through the device and the method of the invention, the position of the image during the microsurgery can be corrected at any time, so that the image is focused on the affected part at any time, and the doctor can continuously obtain a clear image of the affected part.

In view of the foregoing description of the embodiments, the operation and the use of the present invention and the effects of the present invention are fully understood, but the above described embodiments are merely preferred embodiments of the present invention, and the invention may not be limited thereto. Included within the scope of the present invention are the scope of the present invention.

(1)‧‧‧Wearing rack
(2) ‧‧‧ first rotating module
(21)‧‧‧First micromotor
(3) ‧‧‧Second Rotary Module
(31)‧‧‧Second micromotor
(4)‧‧‧Optical image module
(41) ‧‧‧Lighting elements
(42)‧‧‧ Image capture components
(43)‧‧‧ Sensors
(5) ‧‧‧ display
(6) ‧‧‧Connecting parts
(7) ‧‧‧Control unit

[First figure] is a schematic view of a conventional medical optical magnifier. [Second figure] is a schematic view of a conventional medical optical microscope. [Third Figure] is a front view of the apparatus of the present invention. [Fourth figure] is a side view of the apparatus of the present invention. [Fifth Figure] is a top view of the apparatus of the present invention. [Sixth Diagram] is a flow chart of the method of the present invention.

Claims (14)

An image capturing device for surgery includes: a wearable frame; a pair of rotating modules respectively disposed on two sides of the wearing frame and having the same level; a pair of optical image modules respectively disposed on the rotating module; a pair of display devices connected to the wearable frame and located in front of the wearable frame; a control unit electrically connecting the rotating module, the optical image module and the display device; the pair of optical image modules first capturing a reference image The optical image module on each of the two sides of the wear frame captures a picture, and the reference image is a portion where the two images overlap. When the wear frame generates a deflection displacement, the pair of optical image modules captures a picture. Offset image, the control unit calculates the displacement amount and direction of the offset image according to the coordinate position ratio of the reference image and the offset image, and controls the pair of rotation modules according to the displacement amount and direction, or The control unit outputs the displacement amount and direction for operating the pair of rotation modules to reversely adjust the direction of the optical image module, so that the pair of optical image modules capture the reference image A calibration image of the pair of the monitor for displaying each image. The surgical image capturing device according to claim 1, wherein the wearable frame is in the form of glasses. The surgical image capturing device of claim 1, wherein the rotating module comprises a first rotating module for vertical rotation and a second rotating module for horizontal rotation. The surgical image capturing device of claim 3, wherein the first rotating module is electrically connected to the control unit, and the second rotating module is provided with a second micro motor. The control unit is electrically connected. The image capturing device for surgical use according to the first aspect of the invention, wherein the optical image module comprises an illumination component, an image capturing component and an inductor, the sensor is configured to receive a positioning command to confirm The reference image. The surgical image capturing device according to claim 1, wherein the display device is a virtual retina display (VRD), an LCD monitor, an LED display, an LCOS display, or a glass display device. )one. The surgical image capturing device of claim 1, wherein the display device is coupled to the wearable frame via a telescopic connector. The image capturing device for surgery according to the first aspect of the invention, wherein the control unit is externally connected or integrated in the optical image module or integrated on the wearable frame. A surgical image capturing method performed by the surgical image capturing device according to claim 1, comprising the following steps: A. wearing the wearing frame on the user's head, and using the pair of optical The image module captures an image of an affected part, and the control unit displays the image on the pair of monitors. After the user selects the reference position, the image of the reference position is set as a reference image, wherein the wearer has two sides. Each of the optical image modules captures a picture, and the reference image is a portion where the two images overlap; B. when the user's head flutters or moves, causing the target image corresponding to the wear frame to be deflected and displaced, the pair of opticals The image module captures an offset image; C. The control unit calculates the displacement amount and direction of the offset image according to the coordinate position ratio of the reference image and the offset image; D. The control unit is based on Controlling the pair of rotating modules by the amount and direction of the displacement, or manually controlling the pair of rotating modules according to the displacement amount and direction, thereby adjusting the direction of the optical image module in reverse, so that the direction A corrected image conforming to the reference image is captured by the optical image module. The image capture method for surgery according to claim 9, wherein the user sets an adjustment threshold in the control unit, and in step D, when the displacement amount and direction of the offset image exceed the adjustment threshold, The control unit controls the pair of rotating modules to operate. The surgical image capturing method of claim 9, wherein the control unit updates the reference image at any time. The image capturing method for surgery according to claim 9, wherein the user sets a preset light intensity in the control unit, and when the light intensity of the affected part is less than the preset light intensity, the control unit The light intensity emitted by the optical image module is controlled until the light intensity of the affected part is equal to the preset light intensity. The surgical image capturing method of claim 9, wherein the monitor is tied to the lower eyelid of the user. The surgical image capturing method according to claim 9, wherein in step A, the user inputs an instruction to the control unit by one of voice control, vibration control, pressure control or optical control, thereby setting the reference. image.