A multi-terminal distributed digital microscope system based on VR glasses

Abstract

The application provides a multi-terminal distributed digital microscope system based on VR glasses, which comprises a digital camera module, an electric microscope objective module, an electric stage module, a section management module, a data interface module, a local / remote VR glasses, an operation joystick and a control host module. The traditional eyepiece and mechanical knob are replaced by electric control, supporting dual-mode observation of physical slides and digital sections: after the physical sections are automatically retrieved by a mechanical arm, multiple observations are performed through the electric microscope and stage, and the images are displayed through the VR glasses; the digital sections can be zoomed, translated and image-captured. Remote users can observe in real time and synchronize and control the system operation in reverse, reselect the transmission opportunity according to the backoff algorithm in the CSMA / CA mechanism, and multiple users can operate different sections in parallel without conflict. The problems of uneven resource distribution, remote collaboration difficulty and low operation efficiency in pathological diagnosis are solved, and the application is suitable for medical diagnosis, teaching and scientific research scenes.

Description

Technical Field

[0001] This application relates to the field of microscopy technology, and in particular to a digital microscope system that integrates virtual reality (VR) technology, electric control, and remote collaboration functions, suitable for remote clinical pathology diagnosis, remote teaching and research, and industrial testing. Background Technology

[0002] Pathological diagnosis, as a crucial pillar of the modern medical diagnostic and treatment system, directly impacts clinical treatment outcomes through its accuracy and timeliness. However, the current medical system faces the following serious challenges:

[0003] 1. Traditional consultation models are limited by difficulties such as slow transportation of physical slides, slow uploading of digital slides, and difficulty in achieving real-time remote synchronous microscopic viewing, making it difficult to achieve the downward flow of high-quality resources.

[0004] 2. Bottlenecks in Pathology Talent Training: The training cycle for pathologists is as long as 10-15 years, with microscopic diagnostic training requiring more than 5 years. Traditional teaching microscopes have significant limitations: multi-head microscopes are bulky, limiting their use in various scenarios. Teachers and students must be in the same room, making remote real-time guidance impossible. They lack intelligent annotation and case review functions, resulting in low teaching efficiency.

[0005] 3. Occupational health and work efficiency issues: Traditional microscope use has significant drawbacks: the fixed sitting posture leads to an incidence rate of cervical and lumbar spondylosis as high as 72%; eyepiece observation causes visual fatigue, with an average daily effective working time of less than 4 hours; mechanical knob operation is cumbersome, and single-case diagnosis is time-consuming. Existing digital microscope systems: still retain traditional operating interfaces, resulting in poor human-computer interaction and weak remote collaboration functions, failing to meet the needs of multi-terminal consultations, and lacking intelligent auxiliary diagnostic modules.

[0006] 4. Current Status of Technological Development: Existing remote pathology systems mainly adopt: Whole-Slide Digital Scanning (WSI): High cost (>200 RMB per case), poor timeliness (requires advance scanning). Traditional microscope video transmission: Low resolution (typically ≤1080p), lacking 3D depth information. VR technology has made breakthrough progress: New generation VR glasses weigh <200g, with a resolution of 8K / eye, supporting natural interaction methods such as gesture recognition and voice control. Latency is controlled within 20ms, meeting real-time operation requirements. Automation technology is mature: Precision motion control accuracy can reach 0.1μm. Robotic arm positioning error <0.01mm. Image recognition algorithm accuracy exceeds 99%.

[0007] 5. Existing technological shortcomings: Remote consultation systems rely on dedicated equipment, resulting in high deployment costs. Current VR microscope solutions on the market have the following deficiencies: they only support digital slide data, lack automated slide management systems, and do not integrate intelligent diagnostic algorithms. Conflicts can easily occur when multiple users access the system concurrently.

[0008] Therefore, traditional microscopes rely on eyepiece observation and manual adjustment, which suffers from cumbersome operation, difficulty in multi-person collaboration, and inability to remotely share information. While existing digital microscopes support image digitization, they lack support for automated management of physical slides, VR interaction, and multi-terminal collaborative operation. Therefore, there is an urgent need for a microscope system that integrates automation, VR visualization, and remote control functions.

[0009] The purpose of this invention is to fill the aforementioned technological gap by innovatively integrating VR technology, automated control technology, and remote collaboration technology to build a new generation of intelligent pathology diagnosis platform. Summary of the Invention

[0010] Therefore, it is necessary to provide a multi-terminal distributed digital microscope system based on VR glasses to solve the problems of inconvenient operation, poor collaboration, and insufficient remote support in existing technologies. This system achieves efficient and flexible pathological diagnosis and teaching through electrified modules, automated slide management, and VR interaction technology.

[0011] This application provides a multi-terminal distributed digital microscope system based on VR glasses, including a digital camera module, a motorized microscope objective module, a motorized stage module, a slide management module, a data interface module, local / remote VR glasses, an operation joystick, and a control host module. By replacing traditional eyepieces and mechanical knobs with motorized control, it supports dual-mode observation of physical slides and digital slides: physical slides are automatically retrieved by a robotic arm and observed at multiple magnifications using the motorized objective and stage, with images displayed through VR glasses; digital slides can be zoomed, panned, and image acquired. Remote users can observe synchronously in real time via a network and control the system in reverse, reselecting the transmission timing based on the backoff algorithm in the CSMA / CA mechanism. Multiple users can operate different slides in parallel without conflict. This system solves problems such as uneven resource distribution, difficulties in remote collaboration, and low operational efficiency in pathological diagnosis, and is suitable for medical diagnosis, teaching, and research scenarios.

[0012] In a first aspect, embodiments of this application provide a multi-terminal distributed digital microscope system based on VR glasses, the system comprising:

[0013] Digital camera module (1) is used to acquire magnified images from a microscope;

[0014] The electric microscope objective module (2) includes a rotation drive for switching between objectives of different magnifications;

[0015] The electric stage module (3) includes a three-axis precision movement drive device for front and back, left and right, and up and down. It can move on the horizontal plane and make micro movements in the vertical direction to adjust the observation area and focus.

[0016] The slice management module (5) includes a robotic arm (51) with a barcode scanning camera (52) and an electric suction cup (53) for recognizing slice label text information, and a slide placement slot (54) for automatically recognizing, retrieving and returning physical slides.

[0017] The data interface module (4) is used to connect each hardware module with the control host module (8) to transmit control signals and data;

[0018] Local VR glasses (6) and joystick (7) are used for local interactive operation and immersive observation;

[0019] The control host module (8) is used to coordinate the operation of various modules of the system through control commands;

[0020] The remote VR glasses (10) and the remote mobile terminal device (9) are connected to the control host module (8) via a network to achieve remote observation and control;

[0021] The system eliminates the traditional eyepiece system and mechanical adjustment knobs, and achieves observation through electric control and VR interaction.

[0022] Furthermore, the robotic arm (51) of the slice management module (5) uses an electric suction cup (53) to pick up the specified physical glass slide and place it on the electric stage module (3) according to the instructions of the control host module (8). After the observation is completed, the slide is automatically returned to its original position and replaced.

[0023] Furthermore, the barcode scanning camera (52) that identifies the text information of the slide label is used to scan the QR code information on the slide and input it into the system to realize the automatic identification and management of the slide.

[0024] Furthermore, the rotation drive of the electric microscope objective module (2) and the three-axis precision motion drive of the electric stage module (3) are both electrically connected to the control host module (8) and receive control commands from the operating joystick (7) or the remote mobile terminal device (9).

[0025] Furthermore, the system supports dual-mode observation of physical slides and digital whole slides. For physical slides, the slide management module (5) is controlled by operating the joystick (7) or the remote mobile terminal device (9) to retrieve specific slides, control the motorized microscope objective module (2) to switch magnification, and control the motorized stage module (3) to move and adjust the observation area. For digital whole slides, the magnification is adjusted by operating the joystick (7) or the remote mobile terminal device (9) to zoom and translate in any direction to adjust the observation area.

[0026] Furthermore, the system supports simultaneous operation by multiple users, allowing multiple local and remote users to simultaneously observe and manipulate different physical or digital slices. To ensure that the operations do not conflict, the following implementation method is used:

[0027] The local VR glasses (6) share the viewing screen to the remote VR glasses (10) and enjoy the first priority of operation by operating the joystick (7);

[0028] The remote user uses the remote mobile terminal device (9) to listen to the network allocation vector NAV information terminal allocated by this device through the carrier wave and determine whether the communication channel of the network allocation vector NAV information allocated by this device is idle.

[0029] The control host module (8) determines whether the communication channel is idle. If it is idle, it sends a reply command to the remote mobile terminal device (9). If it is not idle, it uses a collision algorithm to determine when the communication channel is idle, calculates the waiting time, sends the calculation result to the remote mobile terminal device (9), and continues to listen.

[0030] The probability of a collision is:

[0031]

[0032] The current NAV value reflects the remaining time of the channel's busy period, while the maximum NAV value is the time the channel is completely idle. If the NAV value is high, the probability of a collision is high.

[0033] The waiting time depends on the rate at which the NAV value decreases and the time required for the channel to return to an idle state. The NAV value decreases with each data frame transmitted, and when the NAV value drops to 0, the channel is considered idle. The collision probability is estimated using the following formula:

[0034]

[0035] Among them, V NAV This indicates the rate at which the NAV value decreases per second;

[0036] Virtual carrier sensing technology determines whether the channel is idle by listening to the NAV value. When the NAV value is greater than 0, it means that the channel is busy. When the NAV value drops to 0, the channel is idle. If the NAV value is high, it is necessary to wait for a longer time before retrying to send data frames. At this time, the remote mobile terminal device (9) will continue to listen to the channel status and adjust the waiting time according to the change of the NAV value.

[0037] After a collision occurs, the remote mobile device (9) will reselect the transmission time according to the backoff algorithm in the CSMA / CA mechanism. The backoff algorithm usually adopts an exponential backoff strategy, that is, the backoff time doubles after each collision until the data frame is successfully transmitted.

[0038] The formula for calculating the retreat time is as follows:

[0039] t tb =2 r ×DIFS,

[0040] Where r is the number of collisions, and DIFS is the Distributed Coordination Function Interval, a fixed time interval used to distinguish different types of frame transmissions.

[0041] Furthermore, the remote mobile terminal device (9) can control the local terminal control host module (8) via the network, and can operate the various modules of the system to complete slice replacement, magnification switching, observation area adjustment and image acquisition operations.

[0042] Furthermore, the image data collected by the digital camera module (1) is transmitted to the control host module (8) via the data interface module (4) and can be displayed simultaneously on the local VR glasses (6) and the remote VR glasses (10).

[0043] Furthermore, the operating joystick (7) can control the digital camera module (1) to capture or record images and videos of the area of ​​interest via the control host module (8).

[0044] Furthermore, the system supports voice input control of each module.

[0045] Secondly, embodiments of this application provide an electronic device, including:

[0046] processor;

[0047] Memory used to store processor-executable instructions;

[0048] The processor is configured to implement the observation method of the VR glasses-based multi-terminal distributed digital microscope system as described in the first aspect when executing the instructions.

[0049] Thirdly, embodiments of this application provide a computer-readable storage medium storing a program that instructs a device to perform the observation method of a multi-terminal distributed digital microscope system based on VR glasses as described in the first aspect.

[0050] Beneficial effects:

[0051] (1) Improved diagnostic efficiency. Automated slide management and electric control enable rapid slide retrieval (single operation time < 5 seconds). One-click switching between multiple magnification objectives eliminates the need for manual rotation and lens changing in traditional microscopes (saving 60% of operation time). Support for instant loading of digital slides eliminates the need for physical slide preparation time.

[0052] (2) Improved user experience. VR immersive viewing replaces traditional eyepieces, relieving neck fatigue. Joystick and voice control simplify complex operations. Ergonomic interaction design reduces the risk of occupational injuries.

[0053] (3) Overcoming spatial limitations. Based on the backoff algorithm in the CSMA / CA mechanism, the transmission timing is reselected, and multiple users can operate different slices in parallel without conflict. Multi-terminal collaboration: Local and remote users can operate different slices synchronously without conflict, realizing cross-regional real-time collaboration. Mobile terminal access makes diagnostic work no longer limited by fixed locations.

[0054] (4) Teaching and research innovation. The real-time synchronization of teachers' and students' vision is highly accurate. The intelligent annotation system can automatically mark typical lesion areas with high accuracy. The entire operation process is recorded and played back, supporting the construction of a teaching case library.

[0055] (5) Optimized resource allocation. A single device can serve multiple levels of medical institutions, improving utilization. Digital slides are permanently stored, reducing the loss of physical slides. Automated management reduces the error rate of manual operation.

[0056] (6) It is easy to promote and apply, and the operation is relatively simple, making it suitable for promotion and application in more application scenarios. Attached Figure Description

[0057] Figure 1 This is a three-dimensional architecture diagram of a multi-terminal distributed digital microscope system based on VR glasses, provided as an embodiment of this application.

[0058] Figure 2 This is a schematic diagram of the slice management module structure provided in an embodiment of this application. Detailed Implementation

[0059] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them.

[0060] It should be noted that, in the embodiments of this application, "at least one" refers to one or more, and "more than one" refers to two or more. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application.

[0061] It should be noted that in the embodiments of this application, the terms "first," "second," etc., are used only for descriptive purposes and should not be construed as indicating or implying relative importance, nor as indicating or implying order. Features specified as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0062] Based on the embodiments described in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0063] Figure 1 This is a three-dimensional architecture diagram of a multi-terminal distributed digital microscope system based on VR glasses, provided as an embodiment of this application. Figure 2 This is a schematic diagram of a slice management module provided in one embodiment of this application. This system is a multi-terminal distributed digital microscope system based on VR glasses. Its core feature is that it replaces the eyepiece system and mechanical adjustment knobs in traditional microscopes with electric control and VR interaction technology, achieving a more efficient and convenient observation method. Figure 1 , 2 As shown, the system includes:

[0064] Digital camera module (1) is used to acquire magnified images from a microscope;

[0065] The electric microscope objective module (2) includes a rotation drive for switching between objectives of different magnifications;

[0066] The electric stage module (3) includes a three-axis precision movement drive device for front and back, left and right, and up and down. It can move on the horizontal plane and make micro movements in the vertical direction to adjust the observation area and focus.

[0067] The slice management module (5) includes a robotic arm (51) with a barcode scanning camera (52) and an electric suction cup (53) for recognizing slice label text information, and a slide placement slot (54) for automatically recognizing, retrieving and returning physical slides.

[0068] The data interface module (4) is used to connect each hardware module with the control host module (8) to transmit control signals and data;

[0069] Local VR glasses (6) and joystick (7) are used for local interactive operation and immersive observation;

[0070] The control host module (8) is used to coordinate the operation of various modules of the system through control commands;

[0071] The remote VR glasses (10) and the remote mobile terminal device (9) are connected to the control host module (8) via a network to achieve remote observation and control;

[0072] The system eliminates the traditional eyepiece system and mechanical adjustment knobs, and achieves observation through electric control and VR interaction.

[0073] In addition, the system supports dual-mode observation of physical slides and digital whole slices, and supports simultaneous operation by multiple users. Multiple local and remote users can simultaneously observe and operate on different physical or digital slices without conflict.

[0074] Specifically, the robotic arm (51) of the slice management module (5) uses an electric suction cup (53) to pick up the specified physical glass slide and place it on the electric stage module (3) according to the instructions of the control host module (8). After the observation is completed, the slide is automatically returned to its original position and replaced.

[0075] The robotic arm of the slide management module, following instructions from the control host module, uses a motorized suction cup to pick up designated physical glass slides and place them on the motorized stage module. After observation, the slides are automatically returned to their original positions and replaced. This function significantly improves experimental efficiency and reduces the time cost of manual operation.

[0076] Specifically, the barcode scanning camera (52) that identifies the text information of the slide label is used to scan the QR code information on the slide and input it into the system to realize the automatic identification and management of the slide.

[0077] A barcode scanner that identifies text information on slide labels is used to scan the QR code information on the slides and input it into the system, enabling automatic identification and management of the slides. This function ensures the accuracy and traceability of sample information during experiments.

[0078] Specifically, the rotation drive of the electric microscope objective module (2) and the three-axis precision motion drive of the electric stage module (3) are both electrically connected to the control host module (8) and receive control commands from the operating joystick (7) or the remote mobile terminal device (9).

[0079] The rotation drive mechanism of the motorized microscope objective module and the three-axis precision motion drive mechanism of the motorized stage module are both electrically connected to the control host module, receiving control commands from the joystick or remote mobile device. This design allows users to easily switch objective magnifications and adjust the observation area using VR glasses or mobile devices.

[0080] Specifically, the system supports dual-mode observation of physical slides and digital whole slides. For physical slides, the slide management module (5) is controlled by operating the joystick (7) or the remote mobile terminal device (9) to retrieve specific slides, control the motorized microscope objective module (2) to switch magnification, and control the motorized stage module (3) to move and adjust the observation area. For digital whole slides, the magnification is adjusted by operating the joystick (7) or the remote mobile terminal device (9) to zoom and translate in any direction to adjust the observation area.

[0081] The system supports dual-mode observation of physical slides and digital whole slides. For physical slides, users can control the slide management module to retrieve specific slides and switch magnifications via a joystick or remote mobile device; for digital whole slides, the magnification is adjusted via software to zoom and pan, thereby adjusting the observation area.

[0082] Specifically, the system supports simultaneous operation by multiple users, allowing multiple local and remote users to simultaneously observe and manipulate different physical or digital slices. To ensure that the operations do not conflict, the following implementation method is used:

[0083] The local VR glasses (6) share the viewing screen to the remote VR glasses (10) and enjoy the first priority of operation by operating the joystick (7);

[0084] The remote user uses the remote mobile terminal device (9) to listen to the network allocation vector NAV information terminal allocated by this device through the carrier wave and determine whether the communication channel of the network allocation vector NAV information allocated by this device is idle.

[0085] The control host module (8) determines whether the communication channel is idle. If it is idle, it sends a reply command to the remote mobile terminal device (9). If it is not idle, it uses a collision algorithm to determine when the communication channel is idle, calculates the waiting time, sends the calculation result to the remote mobile terminal device (9), and continues to listen.

[0086] The probability of a collision is:

[0087]

[0088] The current NAV value reflects the remaining time of the channel's busy period, while the maximum NAV value is the time the channel is completely idle. If the NAV value is high, the probability of a collision is high.

[0089] The waiting time depends on the rate at which the NAV value decreases and the time required for the channel to return to an idle state. The NAV value decreases with each data frame transmitted, and when the NAV value drops to 0, the channel is considered idle. The collision probability is estimated using the following formula:

[0090]

[0091] Among them, V NAV This indicates the rate at which the NAV value decreases per second;

[0092] Virtual carrier sensing technology determines whether the channel is idle by listening to the NAV value. When the NAV value is greater than 0, it means that the channel is busy. When the NAV value drops to 0, the channel is idle. If the NAV value is high, it is necessary to wait for a longer time before retrying to send data frames. At this time, the remote mobile terminal device (9) will continue to listen to the channel status and adjust the waiting time according to the change of the NAV value.

[0093] After a collision occurs, the remote mobile device (9) will reselect the transmission time according to the backoff algorithm in the CSMA / CA mechanism. The backoff algorithm usually adopts an exponential backoff strategy, that is, the backoff time doubles after each collision until the data frame is successfully transmitted.

[0094] The formula for calculating the retreat time is as follows:

[0095] t tb =2 r ×DIFS,

[0096] Here, r represents the number of collisions, and DIFS is the Distributed Coordination Function Interval, a fixed time interval used to distinguish between different types of frame transmissions. These calculation methods ensure efficient utilization of the communication channel and reduce the possibility of channel collisions.

[0097] Specifically, the remote mobile terminal device (9) controls the local terminal control host module (8) via the network, and can operate the various modules of the system to complete slice replacement, magnification switching, observation area adjustment and image acquisition operations.

[0098] The system supports simultaneous operation by multiple users, allowing multiple local and remote users to observe and manipulate different physical or digital slices concurrently without conflict. This feature is particularly suitable for collaborative research teams.

[0099] Specifically, the image data collected by the digital camera module (1) is transmitted to the control host module (8) via the data interface module (4) and can be displayed simultaneously on the local VR glasses (6) and the remote VR glasses (10).

[0100] The remote mobile device can control the local control host module via the network, allowing it to operate various modules to perform operations such as slice replacement, zoom switching, observation area adjustment, and image acquisition. Simultaneously, image data acquired by the digital camera module is transmitted to the control host module via the data interface module and can be displayed on both the local and remote VR glasses.

[0101] Specifically, the joystick (7) can control the digital camera module (1) to capture or record images and videos of the area of ​​interest to the operator via the control host module (8). The joystick's ability to control the digital camera module to capture or record images and videos of the area of ​​interest further enhances the system's flexibility and practicality.

[0102] Specifically, the system supports voice input control of each module, providing users with a more convenient operating method.

[0103] This system combines VR technology, automated control, and digital microscopic imaging to achieve an efficient, convenient, and multi-mode microscopic observation experience. Its innovation lies in eliminating the mechanical adjustment knobs of traditional microscopes, and achieving a highly intelligent operating process through electric control and VR interaction technology. It also supports multi-user collaboration and remote operation, providing a new solution for scientific research and education.

[0104] Specifically, the system includes a digital camera module 1, a motorized microscope objective module 2, a motorized stage module 3, a slide management module 4, a data interface module 5, local VR glasses 6 and remote VR glasses 10, an operating joystick (7), a control host module 8, and a remote mobile device 9. The motorized microscope objective, digital camera module, motorized stage module, and slide management module of this microscope system are connected to the control host module via the data interface module. Simultaneously, the local VR glasses and operating joystick are also connected to the control host module. The remote VR glasses and remote mobile device are interconnected and linked to the local control host module via a network.

[0105] This microscope system supports the observation and analysis of both physical glass slides and digital whole sections. For physical glass slides, the slides are placed in the slide management module, which has a robotic arm 51 equipped with a barcode scanning camera 52 and an electric suction cup 53, and a slide placement slot 54. The scanning camera scans the QR code information on the slide and records it into the system. According to the control module's instructions, the slide management module uses the robotic arm and electric suction cup to pick up the specified physical glass slide and place it on the electric stage. Through the electric microscope objective, the target area of ​​the physical glass slide placed on the electric stage can be magnified at different magnifications. The magnified image is acquired by the digital camera module and transmitted to the control host module via the data interface module, and displayed on the local VR glasses. The joystick, controlled by the control host, can control the slide management module to retrieve specific slides and complete slide replacements, control the digital camera module to capture or record images and videos of the region of interest, control the electric microscope objective to switch magnifications, and control the electric stage module to move and adjust the observation area.

[0106] For digital full slices, data can be transmitted locally or via network to the control host module and displayed on the local VR glasses. The joystick can be used to capture or record images or videos of the area of ​​interest in the digital slice through the control host. The software in the control host can be used to adjust the magnification to zoom and pan in any direction to adjust the observation area.

[0107] The aforementioned observation and analysis process can be synchronously displayed on both a remote VR headset and a remote mobile device via a network. The remote mobile device can then control the local control host module and operate the microscope system to perform any of the aforementioned operations. Multiple users can simultaneously observe different physical and digital slices on the device through both the local device and the remote mobile device without conflict.

[0108] Example 1: Observation of solid slices

[0109] Users place glass slides into the slide management module slots, and the scanning camera recognizes the text information on the slide labels or identifies the barcodes and enters the information into the system.

[0110] The robotic arm picks up the specified slices and places them onto the motorized stage according to control commands.

[0111] Users adjust the magnification of the objective lens and the position of the stage using a joystick, while the digital camera captures images and transmits them to the VR glasses for display.

[0112] The specific operating procedure is as follows:

[0113] Slide pretreatment and sample loading stage

[0114] The user places the prepared pathological slides (e.g., size: 25mm×75mm×1mm) into the standardized slots (54) of the slide management module (5). Each slot is equipped with: a radio frequency identification (RFID) tag reader (operating frequency 13.56MHz); a pressure sensor (range 0-5N, accuracy ±0.01N); and a dustproof sealing cover (transmittance >95%).

[0115] The barcode scanning camera (52) (resolution 1280×1024, scanning rate 30fps) automatically captures the text or QR code information of the slide label on the slide (compliant with ISO / IEC 15415 standard). The system performs the following operations:

[0116] Verify the compatibility between the slide ID and the Pathology Information System (LIS); record the slide position coordinates (positioning accuracy ±0.1mm) and update the inventory status database.

[0117] Intelligent film adjustment and positioning stage

[0118] After receiving the observation command, the control host module (8) sends control signals to the robotic arm (51) via the Modbus RTU protocol: the robotic arm adopts a 6-axis collaborative robot (repeat positioning accuracy ±0.02mm), the electric suction cup (53) (negative pressure range -80kPa to -20kPa) automatically adjusts the adsorption force according to the weight of the glass slide (detection range 5-30g), and the motion trajectory planning algorithm ensures that the obstacle avoidance distance is ≥10mm.

[0119] The slide is precisely placed in the observation area of ​​the electric stage (3) (temperature control range 20-25℃±0.5℃), and the system automatically completes: initial focusing (using laser ranging, accuracy ±1μm); illumination intensity adjustment (LED light source, brightness adjustable range 300-6500K).

[0120] VR interactive observation stage. The user controls the rotation drive device (stepper motor, step angle 1.8°) of the motorized microscope objective module (2) to switch the magnification (4× / 10× / 20× / 40× / 100×) by operating the joystick (7) (sampling rate 100Hz). The motorized stage module (3) performs three-axis motion (X / Y axis travel 100mm, Z axis 20mm; positioning accuracy ±0.5μm). The digital camera module (1) (CMOS sensor, effective pixels 20 million) acquires images in real time and transmits them to the image processing unit (FPGA to realize real-time noise reduction and HDR enhancement) through the data interface module (4) (USB3.0, transmission rate 5Gbps).

[0121] The host module (8) performs 3D reconstruction (depth of field synthesis layers ≥ 15). The processed image data (resolution 3840×2160@60fps) is output to the local VR glasses (6) via HDMI 2.1 interface, providing virtual field of view adjustment (FOV 60°-120° adjustable), digital scale overlay (accuracy ±1%), and multimodal display (bright field / dark field / contrast optional).

[0122] It can also be used for intelligent assisted diagnosis, such as deep learning-based lesion identification algorithms (accuracy >95%) that can annotate suspicious areas in real time and automatically generate structured reports (compliant with DICOM standards). Alternatively, it supports remote collaboration: observation data is synchronously compressed (H.265 encoded) and uploaded to the cloud, supporting real-time consultations for ≥4 parties (latency <200ms). Furthermore, it can be used for ergonomic optimization: VR glasses support 6DoF head tracking, voice command recognition (supporting mixed Chinese and English input), and gesture control interfaces (recognition accuracy ±2mm).

[0123] System maintenance and calibration

[0124] Daily automatic operations include: white balance calibration, robotic arm zero-point calibration, and optical system dust removal (such as pulsed airflow cleaning).

[0125] Periodic maintenance: weekly guide rail lubrication, monthly optical component calibration (such as interferometer testing).

[0126] The innovation of this embodiment lies in:

[0127] The mechatronics design enables fully automated slide management (300% more efficient than traditional methods), the VR interactive interface lowers the operating threshold (reducing novice training time by 80%), the intelligent diagnostic assistance system significantly improves slide reading accuracy (false negative rate reduced to <2%), and the modular design supports rapid maintenance (average repair time <15 minutes).

[0128] Example 2: Remote Collaboration

[0129] The remote mobile device sends commands to the control host to retrieve digital slices or request a replacement of physical slices. After the local system executes the operation, the real-time video is synchronized to the remote VR glasses and mobile device.

[0130] The specific operating procedure is as follows:

[0131] Remote access and authentication phase

[0132] Remote mobile devices (9) (including but not limited to VR glasses, tablets, and workstations) can access the system through an encrypted tunnel (TLS 1.3 protocol), and can be authenticated by multiple factors (such as biometrics + dynamic tokens) and have hierarchical access control (divided into three levels: observer / operator / administrator). They can also bind digital certificates (compliant with HIPAA security standards).

[0133] The control host module (8) establishes a dedicated session channel: such as allocating independent bandwidth (minimum guaranteed 10Mbps), or creating an operation log blockchain for evidence storage, and loading personalized UI configurations (including display layout, annotation preferences, etc.).

[0134] Two-way control and data synchronization

[0135] The remote VR glasses (10) implement the following control functions: real-time control right application (using token ring mechanism to avoid conflict), reverse control command transmission (including: objective lens magnification switching command (response time <50ms), stage three-dimensional coordinate setting (accuracy ±0.1μm), image acquisition parameter adjustment (exposure / gain / white balance), voice annotation synchronization (STT conversion accuracy >98%).

[0136] Data synchronization employs a layered transmission strategy: Base layer: compressed video stream (H.265, bitrate adjustable from 2-8Mbps), Enhancement layer: raw image data (ROI areas are transmitted on demand), Metadata layer: operation instructions / annotation information (JSON format).

[0137] Multi-user concurrency control mechanism

[0138] Resource allocation adopts a microservice architecture: Entity slice access: based on a time-slice rotation system. Digital slice access: supports ≥16-way parallel processing with dynamic allocation of computing resources. Conflict resolution strategy: managed through operation command priority, combined with CSMA / CA mechanisms and anti-collision algorithms for adjustment.

[0139] Typical application scenario implementation:

[0140] Remote consultation mode: The main control terminal can delineate key areas, and multiple parties can annotate and overlay in real time, and a diagnostic opinion publication system can be established.

[0141] Teaching and training mode: Mandatory synchronous mentor perspective (locking in key areas of view). Operation process replay (supports 0.1-2x speed adjustment). Automatic generation of assessment reports (including: lesion identification accuracy, operation path optimization, and diagnostic time analysis).

[0142] Network optimization and disaster recovery solutions

[0143] The core of adaptive transmission technology lies in dynamically adjusting transmission parameters based on network conditions to improve data transmission efficiency and stability. It also includes emergency handling for network outages, where emergency mechanisms are crucial for ensuring business continuity. This includes operation command queue caching: operation commands are cached for up to 2 hours, allowing unfinished operations to continue after network recovery. This mechanism is similar to the dynamic bandwidth allocation strategy in power emergency satellite communication systems, ensuring business continuity by caching important data. Automatic switching to AI-assisted mode: In the event of a network failure, the system can automatically switch to AI-assisted mode, utilizing artificial intelligence technology for data recovery or alternative operations. For example, in emergency communication scenarios, intelligent traffic classification and adaptive optimization mechanisms can improve network performance. Secondary confirmation for important operations: For operations involving important data, the system should require users to perform secondary confirmation to prevent data errors or loss due to network failures. This mechanism is similar to the redundant transmission strategy in disaster recovery solutions, ensuring data integrity and accuracy through multiple verifications.

[0144] The design of network optimization and disaster recovery solutions requires the integration of adaptive transmission technology, emergency handling for network outages, and comprehensive optimization strategies. Dynamically adjusting protocol parameters, introducing intelligent bitrate adjustment, and implementing local caching mechanisms can significantly improve network performance and stability. Furthermore, measures such as operation command caching, AI-assisted modes, and secondary confirmation for critical operations can effectively address the risks posed by network failures. The implementation of these solutions requires flexible adjustments based on specific application scenarios and the combination of multiple technical means to achieve optimal results.

[0145] Performance metrics and validation data

[0146] Laboratory testing (based on a 5G network environment): End-to-end latency: 78±12ms for local operation, 142±23ms for remote operation; Multi-user concurrency: Supports 12 operating terminals + 24 observation terminals online simultaneously. Data integrity: Low bit error rate. Clinical validation results (300 remote consultations): Diagnostic accuracy rate: 98.7% (vs. on-site consultation). Average consultation time: 23.5 minutes (traditional method requires 52 minutes). User satisfaction: 4.8 / 5.0.

[0147] The innovation of this embodiment lies in: pioneering an "operational right hot migration" mechanism to achieve seamless switching of control; developing a multimodal data layered transmission protocol, improving bandwidth utilization by 65%; establishing a medical-grade concurrency control system to ensure operational atomicity; and integrating blockchain evidence storage to meet medical compliance requirements (FDA 510k certification).

[0148] The system is particularly suitable for: remote or cross-institutional consultations of difficult cases, real-time remote pathology teaching, multi-center joint research projects, and emergency medical support scenarios.

[0149] Example 3: Multi-user synchronous operation

[0150] User A observes the physical slice through local VR glasses, while user B operates the digital slice through a remote device, controlling the host to allocate resources to ensure no conflicts.

[0151] The specific operating procedure is as follows:

[0152] Multi-user access and resource allocation. The system adopts a distributed microservice architecture and supports concurrent access by multiple users: User A accesses through local VR glasses (6) and obtains permission to operate physical slices. User B accesses through a remote device (9) and obtains permission to operate digital slices. The control host module (8) dynamically allocates hardware resources: Physical slice channel: exclusive access (with queuing mechanism). Digital slice channel: supports parallel processing of multiple instances. GPU computing resources: allocated on demand (CUDA core scheduling).

[0153] Solid slicing operation process (User A). Robotic arm control subsystem: Employs a priority arbitration mechanism (local operation priority +0.5), motion command verification (anti-collision detection algorithm), and real-time force feedback (pressure sensor sampling rate 1kHz). Image processing pipeline: Dedicated video encoder (H.264 hard encoding), latency optimization (local loop latency <15ms), and image quality enhancement (GAN-based super-resolution reconstruction).

[0154] Digital slicing operation flow (User B). Digital slicing management system: Supports WSI (Whole Slide Image) standard format. Intelligent preloading (caches adjacent areas based on access mode). Multi-level pyramid display (seamless switching from 1x to 40x). Remote interaction functions: Gesture mapping (converts 2D touch to 3D operation), foveated rendering technology, network QoS guarantee (DSCP differential service tagging).

[0155] Collaborative work function implementation

[0156] Shared annotation system: 3D annotation tools (supporting volume measurement), multi-user annotation fusion (conflict marking and automatic negotiation), version control (Git-style management). Real-time communication channel: low-latency voice, facial expression capture, and virtual avatar-driven.

[0157] System performance verification

[0158] Stress test results: Maximum concurrent users: 32 (8 entities + 24 numbers). Resource conflict rate: <0.1%. Arbitration decision time: <5ms. Clinical usage data: Teaching scenario: Supports one instructor to simultaneously guide 15 students. Consultation scenario: Improves 5-party collaborative diagnosis efficiency by 40%. Research scenario: Achieves 93.5% consistency among multiple annotations.

[0159] Adaptive interface: Dynamically adjusts operation complexity, provides attention-assisted prompts (eye tracking), and monitors and reminds users of fatigue levels.

[0160] The innovation of this embodiment lies in:

[0161] Develop a hybrid resource scheduling algorithm to achieve unified management of physical and digital resources. Establish a medical operation credit system to optimize multi-user collaboration efficiency. Pioneer a pathology operation conflict prediction model to achieve true multimodal parallel operation.

[0162] Typical application scenarios: interdisciplinary joint diagnosis (pathology + radiology + clinical), large-scale pathology teaching (supporting classes of 100 people), multi-center scientific research collaboration (real-time data sharing), and implementation of hierarchical diagnosis and treatment (real-time guidance from higher-level hospitals to primary care facilities).

[0163] This application provides a multi-terminal distributed digital microscope system based on VR glasses, including a digital camera module, a motorized microscope objective module, a motorized stage module, a slide management module, a data interface module, local / remote VR glasses, an operation joystick, and a control host module. By replacing traditional eyepieces and mechanical knobs with motorized control, it supports dual-mode observation of physical slides and digital slides: physical slides are automatically retrieved by a robotic arm and observed at multiple magnifications using the motorized objective and stage, with images displayed through VR glasses; digital slides can be zoomed, panned, and image acquired. Remote users can observe synchronously in real time via a network and control the system in reverse, reselecting the transmission timing based on the backoff algorithm in the CSMA / CA mechanism. Multiple users can operate different slides in parallel without conflict. This system solves problems such as uneven resource distribution, difficulties in remote collaboration, and low operational efficiency in pathological diagnosis, and is suitable for medical diagnosis, teaching, and research scenarios.

[0164] Those skilled in the art should recognize that the above embodiments are only used to illustrate this application and are not intended to limit this application. Any appropriate changes and variations made to the above embodiments within the essential spirit and scope of this application fall within the scope of protection claimed in this application.

Claims

1. A multi-terminal distributed digital microscope system based on VR glasses, characterized in that, The system comprises: a digital camera module (1) for collecting microscope magnified images; a motorized microscope objective module (2) comprising a rotary drive device for switching different magnification objectives; a motorized stage module (3) comprising front-back, left-right, up-down three-axis precision movement drive devices, capable of moving on the horizontal plane and moving in the vertical direction, for adjusting the observation area and focusing; a data interface module (4) for connecting each hardware module and the control host module (8) to transmit control signals and data; a section management module (5) comprising a mechanical arm (51) with a bar code scanning camera (52) and a motorized suction cup (53) with text information of the identification section label and a slide placement slot (54) for automatically identifying, retrieving and homing the physical glass slide; a local VR glasses (6) and an operation joystick (7) for local interactive operation and immersive observation; a control host module (8) for coordinating the operation of each module of the system through control instructions; a remote VR glasses (10) and a remote mobile device (9) connected to the control host module (8) through the network to realize remote observation and control; The system removes the traditional eyepiece system and mechanical adjustment knobs, and realizes observation through motorized control and VR interaction; The system supports simultaneous operation of multiple users, and multiple local and remote users can simultaneously observe and operate different physical or digital sections, and in order to avoid conflicts between operations, the implementation is as follows: The local VR glasses (6) share the observation picture to the remote VR glasses (10), and the operation joystick (7) is used to enjoy the first priority of operation; The remote user uses the remote mobile device (9) to listen to the network allocation vector (NAV) information of the device through carrier sensing, to determine whether the communication channel of the network allocation vector (NAV) information of the device is idle; The control host module (8) determines whether the communication channel is idle, and if it is idle, sends a reply instruction to the remote mobile device (9); if it is not idle, uses a collision algorithm to determine when the communication channel is idle, calculates the waiting time, and sends the calculation result to the remote mobile device (9) for continued listening; The probability of collision is: ， Where NAV current value reflects the remaining time when the channel is busy, and NAV maximum value is the time when the channel is completely idle. If the NAV value is high, the collision probability is high; The waiting time depends on the decreasing rate of the NAV value and the time required for the channel to recover to the idle state. The NAV value decreases with each transmission of a data frame. When the NAV value decreases to 0, the channel is considered idle. The collision probability is estimated by the following formula: ； wherein, represents the rate at which the NAV value is decremented per second; The virtual carrier sensing technology determines whether the channel is idle by listening to the NAV value. When the NAV value is greater than 0, the channel is busy. When the NAV value decreases to 0, the channel is idle. If the NAV value is high, a longer waiting time is required to reattempt to send a data frame. At this time, the remote mobile device (9) will continue to listen to the channel state and adjust the waiting time according to the change of the NAV value. After collision, the remote mobile terminal device (9) will reselect the sending opportunity according to the backoff algorithm in the CSMA / CA mechanism; the backoff algorithm usually adopts the exponential backoff strategy, that is, the backoff time is doubled after each collision until the data frame is successfully sent; The calculation formula of the backoff time is as follows: ， wherein, is the number of collisions, DIFS is the Distributed Coordination Function Inter-Frame Space, which is a fixed time interval used to distinguish between different types of frame transmissions.

2. The system of claim 1, wherein, The mechanical arm (51) of the slice management module (5) absorbs the specified physical slide glass according to the instruction of the control host module (8) through the electric suction cup (53) and places it on the electric stage module (3), and automatically completes the homing and replacement of the slice after observation.

3. The system of claim 1, wherein, The bar code scanning camera (52) is used for scanning and identifying the text information or two-dimensional code information on the slice label and entering the system to realize automatic identification and management of the slide glass.

4. The system of claim 1, wherein, The rotation driving device of the electric microscope objective module (2) and the three-axis precision movement driving device of the electric stage module (3) are electrically connected with the control host module (8) to accept the control instructions of the operation rocker (7) or the remote mobile terminal device (9).

5. The system of claim 1, wherein, The system supports dual-mode observation of physical entity slide glass and digitized full slice, wherein: for the physical entity slide glass, the operation rocker (7) or the remote mobile terminal device (9) is used to control the slice management module (5) to retrieve a specific slice, control the electric microscope objective module (2) to switch the magnification, and control the electric stage module (3) to move and adjust the observation area; for the digitized full slice, the operation rocker (7) or the remote mobile terminal device (9) is used to control the software to adjust the magnification for scaling and arbitrary direction translation to adjust the observation area.

6. The system of claim 1, wherein, The remote mobile terminal device (9) controls the control host module (8) of the local end through the network, and can operate the system modules to complete slice replacement, magnification switching, observation area adjustment and image acquisition operation.

7. The system of claim 1, wherein, The image data collected by the digital camera module (1) is transmitted to the control host module (8) through the data interface module (4), and can be displayed on the local end VR glasses (6) and the remote end VR glasses (10) at the same time.

8. The system of claim 1, wherein, The operation rocker (7) can control the digital camera module (1) to shoot or record the images and videos of the interested area through the control host module (8).

9. The system of claim 1, wherein, The system supports controlling the operation of each module through voice input.

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