Automatic alignment system, equipment and method for optical axis center

Abstract

The invention belongs to the field of laser processing, and discloses a visual axis center automatic alignment system, device and method. The system comprises an imaging module used for obtaining a corneal topographic map; the adjusting module is used for S1, determining deflection angles of the visual axis around the x axis and the y axis according to the corneal topographic map; generating primary scanning track data according to the corneal topographic map and preset micro-lens parameters; performing three-dimensional rotation transformation on the primary scanning track data; s2, segmenting the three-dimensional point cloud data obtained in the S1 into slice point cloud data of different z-axis planes, performing fitting to obtain each layer of fitting elliptical trajectory, and judging light emitting point information on the fitting elliptical trajectory; and generating a plurality of concentric elliptical trajectories according to each layer of fitting elliptical trajectory and the light emitting point information, and forming a shape envelope of a preset micro lens. According to the system, one-time scanning track data is resampled and fitted, motion compensation of the eyeball off-axis is achieved, and therefore the precision and effect of automatic alignment of the visual axis center are improved.

Description

Technical Field

[0001] This invention belongs to the field of laser processing, and more specifically, relates to an automatic alignment system, device and method for the center of vision. Background Technology

[0002] In the process of processing pre-set microlenses in the cornea using some femtosecond laser devices, it is necessary to manually attach the contact lens of the operating device to the cornea to be processed and align the operating device, such as the center of the laser optical axis, with the center of the visual axis. This traditional manual alignment method has low accuracy. When the center of the optical axis of the operating device is not aligned with the center of the visual axis, the operator needs to repeatedly adjust it manually. This not only results in low accuracy but also exacerbates corneal inflammation and affects the processing quality.

[0003] Currently, common methods for aligning the machining center and the line of sight are limited to manually aligning the negative pressure ring using images captured by a coaxial camera. The equipment itself lacks the technical means to compensate for positional deviations, especially the angular deviation between the optical axis and the line of sight in a curved negative pressure ring. Therefore, there is an urgent need to develop a device for automatically aligning the optical axis center and the line of sight center. Summary of the Invention

[0004] In view of the above-mentioned defects or improvement needs of the prior art, the present invention provides an automatic alignment system, device and method for the center of the optical axis. The system compensates for the error of the rotation angle between the optical axis and the optical axis on the xy axis by adjusting the module, so as to achieve the alignment between the machining center and the center of the optical axis, thereby solving the technical problem of insufficient alignment accuracy between the optical axis and the center of the optical axis in the prior art.

[0005] To achieve the objectives of this invention, in a first aspect, a system for automatic alignment of the visual axis center is provided, comprising: The imaging module is used to acquire corneal topography. The adjustment module is used to perform the following operations: S1: Determine the deflection angle of the visual axis around the x-axis and y-axis based on the corneal topography; generate a single-scan trajectory data based on the corneal topography and preset microlens parameters, wherein the single-scan trajectory data is three-dimensional point cloud data of a concentric ellipse surrounding several z-axis positions of the preset microlens; perform a three-dimensional rotation transformation on the three-dimensional point cloud data with the geometric center of the target corneal sphere as the rotation center, along the deflection angles of the x-axis and y-axis, to obtain the corrected three-dimensional point cloud data; wherein, the major axis direction of the concentric ellipse in the single-scan trajectory data is denoted as the x-axis, the minor axis direction as the y-axis, and the direction perpendicular to the x-axis and y-axis is denoted as the z-axis; S2: Divide the corrected three-dimensional point cloud data into several slice point cloud data located in planes with different z-axis positions; perform two-dimensional ellipse fitting on the slice point cloud data to obtain the fitted ellipse trajectory of each layer, and determine the light-emitting point information on the fitted ellipse trajectory by comparing the fitted ellipse trajectory with the slice point cloud; generate several concentric ellipse trajectories with different z-axis heights according to the information of the fitted ellipse trajectory and the light-emitting point information of each layer, and form the shape envelope of the preset microlens in three-dimensional space.

[0006] Preferably, the system further includes: The single scan trajectory data is three-dimensional point cloud data of several concentric ellipses surrounding the pre-set microlens at the z-axis position, with the distance between two adjacent concentric ellipses between 2-10 μm.

[0007] Preferably, the adjustment module performs a composite rotation using a homogeneous coordinate transformation matrix, specifically including: The radius of curvature of the target cornea is R The scanning trajectory is Then the geometric center of the target corneal spherical surface 10 is (0, 0, -). R ); With the geometric center of the target corneal sphere 10 as the center of rotation, the coordinates of the scanning trajectory are: ; Rotation matrix about the x-axis Rotation matrix about the y-axis ; The scanning trajectory after rotation around the geometric center of the target corneal spherical surface 10 ; Final corrected 3D point cloud data .

[0008] Preferably, the adjustment module uses the z-axis equidistant slicing method to divide the corrected three-dimensional point cloud data into several slice point cloud data at different z-axis positions.

[0009] Preferably, the adjustment module divides the corrected 3D point cloud data into several slices of point cloud data at different z-axis positions in the following manner: The positions of the upper and lower surfaces of the preset microlens are determined by the equal chord length slicing method, and the point cloud is divided along the surface normal direction of the target corneal sphere on the z-axis according to a fixed chord length. The side cuts and small cuts of the preset microlens are made using the z-axis equidistant slicing method, dividing the point cloud at fixed intervals along the z-axis direction.

[0010] Preferably, the adjustment module performs two-dimensional ellipse fitting on the sliced ​​point cloud data in the following manner: For each slice of point cloud, ellipse fitting is performed using the least squares method, and the objective function for fitting is: ; The constraints are as follows: , A , B , C Let represent the parameters to be fitted, which are related to the major axis, minor axis, and angle of the ellipse, respectively. h The x-axis coordinates of the center of the ellipse. k Represented as the y-axis coordinate of the center of the ellipse. x , y These are the x-axis and y-axis coordinates of the slice point cloud data points used for fitting, respectively.

[0011] Preferably, the adjustment module obtains the light-emitting point information on the fitted elliptical trajectory in the following manner: Determine the fitted ellipse E every point p radius r There is no point cloud data from the slice within its neighborhood. S When a point is a set of points in its neighborhood, that is, a point in the neighborhood. If the light source is positive, then that point will not emit light; otherwise, it is a light-emitting point.

[0012] In a second aspect of the present invention, a method for automatic alignment of the visual axis center is provided, comprising the following steps: S1: Determine the deflection angle of the visual axis around the x-axis and y-axis based on the corneal topography map; generate a single-scan trajectory data based on the corneal topography map and preset microlens parameters, wherein the single-scan trajectory data is three-dimensional point cloud data of a concentric ellipse surrounding several z-axis positions of the preset microlens; perform a three-dimensional rotation transformation on the three-dimensional point cloud data with the geometric center of the target corneal sphere as the rotation center, along the deflection angles of the x-axis and y-axis, to obtain the corrected three-dimensional point cloud data; wherein, the major axis direction of the concentric ellipse in the single-scan trajectory data is denoted as the x-axis, the minor axis direction as the y-axis, and the direction perpendicular to the x-axis and y-axis is denoted as the z-axis; S2: Divide the corrected 3D point cloud data into several slice point cloud data located in planes with different z-axis positions; perform 2D ellipse fitting on the slice point cloud data to obtain the fitted ellipse trajectory for each layer, and determine the light-emitting point information on the fitted ellipse trajectory by comparing the fitted ellipse trajectory with the slice point cloud; generate several concentric ellipse trajectories with different z-axis heights based on the information of the fitted ellipse trajectory and the light-emitting point information for each layer, and form the shape envelope of the preset microlens in 3D space to complete the automatic alignment of the visual axis center.

[0013] In a third aspect of the invention, an automatic axis center alignment device is provided, comprising a coaxial microscope camera, an optical path module, and an automatic axis center alignment system as described in any of the preceding claims.

[0014] In a fourth aspect of the invention, an automatic visual axis center alignment device is provided, comprising: a storage medium and a processor; the storage medium being configured to store instructions; and the processor being configured to operate according to the instructions to execute the automatic visual axis center alignment method as described in any of the preceding claims.

[0015] In summary, compared with the prior art, the above-described technical solutions conceived by this invention mainly possess the following technical advantages: 1. The automatic visual axis center alignment system proposed in this invention includes: an imaging module for acquiring corneal topography; wherein the adjustment module is used to perform three-dimensional rotation transformation on the scan trajectory data, and then, by segmenting the point cloud data into slices of different z-axis planes, fit each layer of fitted elliptical trajectory, determine the light-emitting point information on the fitted elliptical trajectory, and then generate several concentric elliptical trajectories based on each layer of fitted elliptical trajectory and light-emitting point information, thereby realizing the resampling and fitting of the scan data, realizing the compensation for the off-axis movement of the eyeball, so that the system can improve the accuracy and effect of automatic visual axis center alignment, and reduce the discomfort during the alignment operation.

[0016] 2. In this invention, when performing two-dimensional ellipse fitting on the sliced ​​point cloud, the initial values ​​for fitting are estimated based on the characteristics of the sliced ​​point cloud to improve the fitting speed and accuracy.

[0017] 3. In this invention, the upper and lower surfaces of the microlens are preferably sliced ​​using the equal chord length method, which ensures that there is the same row spacing between adjacent cutting trajectories and effectively controls the cutting quality. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the automatic alignment method of the visual axis center shown in this invention when searching for the light source.

[0019] Figure 2 This is a diagram showing the effect of the reconstructed cutting trajectory after the automatic alignment method of the visual axis center shown in this invention.

[0020] Figure 3 The automatic alignment method for the visual axis center shown in this invention adjusts the shape of the preset microlens before and after adjustment; wherein... Figure 3 In the figure, (a) and (c) are the top view and side view of the preset microlens before adjustment, respectively, and (b) and (d) are the top view and side view of the preset microlens after adjustment, respectively.

[0021] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein: 1-Visual axis, 2-Optical axis, 3-Slice point cloud, 4-Fitted elliptical trajectory, 5-Target corneal vertex, 6-Preset upper surface of microlens, 7-Preset lower surface of microlens, 8-Lateral incision, 9-Small incision, 10-Target corneal sphere, 11-Preset microlens. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0023] The system for automatic alignment of the visual axis center provided in the first aspect of this application includes: The imaging module acquires a corneal topography map. This corneal topography map includes information such as the deflection angle of the visual axis 1 relative to the optical axis 2 of the device at the time of image acquisition and the corneal spherical surface 10. The deflection angle includes the angle of the visual axis 1 around the x-axis. α Angle and line of sight 1 around the y-axis β Angle, used for subsequent compensation deflection angle within 2°; The adjustment module is used to perform the following operations, where the major axis of the concentric ellipse in a single scan trajectory data is defined as the x-axis, the minor axis as the y-axis, and the direction perpendicular to both the x-axis and y-axis as the z-axis: S1: One adjustment: S11: Obtain corneal topography by determining the deflection angle of the visual axis around the x-axis and y-axis based on the corneal topography map.

[0024] S12: Generate a single scan trajectory data based on the acquired corneal topography and surgical planning requirements (such as lens thickness and optical zone diameter) and other preset microlens parameters. For example, when this system is used in refractive correction surgery, to determine the single scan trajectory data, it needs to obtain refractive angle data such as the refractive power of the upper and lower surfaces of the target angle and the corneal thickness from the corneal topography.

[0025] The single scan trajectory data consists of several concentric ellipses distributed in layers along the z-axis, used to surround the structure of the upper surface 6 and the lower surface 7 of the preset microlens. That is, the single three-dimensional scan surrounds the three-dimensional point cloud data of several concentric ellipses at the z-axis positions of the preset microlens 11. The preset microlens parameters are microlenses that are custom-selected according to operational needs. The preset microlens parameters are also pre-input into the system and used to generate the single scan trajectory data in step S21.

[0026] In this invention, the row spacing of each concentric ellipse is adjustable, and the spacing between two adjacent concentric ellipses is between 2 and 10 μm. The specific value is determined by the preset cutting precision and lens curvature. For example, the spacing on the preset upper surface 6 and the preset lower surface 7 of the microlens is 4-5 μm, and the spacing of the side cut 8 and the small cut 9 of the preset microlens is 2-5 μm.

[0027] In this invention, the xyz coordinates of the three-dimensional point cloud data are stored in computer memory or local disk in the form of double-precision floating-point numbers, preferably in binary format; wherein each point represents the focal position of the scanning path.

[0028] S13: Rotate the three-dimensional point cloud data around the geometric center of the corneal sphere 10 and rotate it along the x-axis and y-axis by a deflection angle to perform a three-dimensional rotation transformation, thereby obtaining the corrected three-dimensional point cloud data, which is the three-dimensional scanning trajectory after one adjustment.

[0029] In this invention, step S13 involves performing a composite rotation using a homogeneous coordinate transformation matrix, specifically including: Define the target corneal vertex 5 as the origin (0,0,0) for automatic alignment processing, and the radius of curvature of the target cornea is... R The scanning trajectory is Then the geometric center of the target corneal spherical surface 10 is (0,0,-). R ); Rotate the center of rotation around the geometric center of the target corneal sphere 10, with the scanning trajectory coordinates as follows: ; Given that the angle of deflection of the line of sight 1 about the x-axis is... α The deflection angle about the y-axis is β Then the rotation matrix about the x-axis Rotation matrix about the y-axis ; The scanning trajectory after rotation with the geometric center of the target corneal sphere 10 as the origin. ; Finally, after rotation in the original coordinate system, the adjusted 3D point cloud data is obtained. .

[0030] In this invention, the corrected 3D point cloud data is stored in a temporary cache area, and the cutting trajectory will be obtained by fitting the point cloud data.

[0031] S2: Second Adjustment: S21: The data processing module retrieves the adjusted scan trajectory data from the device memory and divides the 3D point cloud data of the adjusted scan trajectory data (corrected in S1) into several 2D slice point cloud data at different z-axis positions. For example, it may use the z-axis equidistant slicing method or optimize the slicing method based on different processing data.

[0032] In this invention, the upper surface 7 of the pre-set microlens is sliced ​​using the equal chord length method. The point cloud is divided along the surface normal direction of the target corneal sphere on the z-axis with a fixed chord length to ensure that the spacing between adjacent slices is constant. For example, the point cloud is divided with a chord length of 5-10 μm.

[0033] The maximum radius of curvature of the upper surface 6 and the lower surface 7 of the preset microlens is known to be... The highest point on the surface is m Given line spacing of d Then the first k Layer slice height H : ; When the surface 3D point cloud set is C, the point cloud of each slice is: In this formula, S It is represented as a set of two-dimensional point clouds on each slice at a different z-axis position. p Represented as points in a two-dimensional point cloud. N Represents natural numbers.

[0034] In this invention, the side cut 8 or small cut 9 uses the z-axis equidistant slicing method, dividing the point cloud at fixed intervals along the z-axis direction to ensure the slope of the side cut 8 surface. For example, the point cloud is divided at fixed intervals of 2-5 μm.

[0035] When the step is a lateral incision (8) or a small incision (9), the... k Layer slice height: ; In this formula, H Represents the slice height of different layers. The set representing the z-coordinate of each point in the point cloud. d Represents line spacing. N Represents natural numbers.

[0036] S22: Perform two-dimensional ellipse fitting on the slice point cloud obtained in step S21 to obtain fitted ellipse 4, which contains information such as the major axis, minor axis, rotation angle, and center coordinates of fitted ellipse 4.

[0037] In this invention, the two-dimensional ellipse fitting of the sliced ​​point cloud specifically includes: performing ellipse fitting on each layer of the sliced ​​point cloud using the least squares method, with the objective function being: ; The constraints are as follows: To ensure that the fitted result is an ellipse; A , B , CThe parameters to be fitted are represented as those related to the major axis, minor axis and angle of the ellipse. h The x-coordinate of the center of the ellipse. k This is represented by the y-coordinate of the center of the ellipse; x , y The x-axis and y-axis coordinates of the slice point cloud data points used for fitting. According to the formula: ; From parameters A , B , C , h , k The major axis a, minor axis b, rotation angle θ, and center coordinates of the ellipse were calculated. h , k When fitting fails, the row spacing of the previous cycle is known. d Then the current circle i parameter: ; Specifically, to improve fitting speed and accuracy, known slice point clouds... S Fit the initial guess value: ; in, , , These are the initial parameters to be fitted, which are related to the major axis, minor axis, and angle of the ellipse. The set of x-axis coordinates of the sliced ​​point cloud. This is the set of y-axis coordinates of the slice point cloud.

[0038] S23: The information of the light-emitting point on the fitted elliptical trajectory is obtained by comparing the point cloud of the slice obtained in step S21 with the fitted elliptical trajectory.

[0039] In this invention, step S23 is as follows: Figure 1 The method shown is to determine whether points on the fitted elliptical trajectory 4 emit light by comparing them with the original slice point cloud 3. Specifically, the method involves using the original slice point cloud as an example. S Fitting elliptical point clouds E For each point in E p ,when p The radius is r When there is no point from S in the neighborhood of , That is, the set of points in the neighborhood. If a point is not emitting light, it is considered to be a point that emits light; otherwise, it is considered a point that emits light. For points on sliced ​​point cloud data, r is typically set to twice the line spacing to optimize the continuity of the light-emitting points and reduce additional damage to the processed material.

[0040] S24: Based on the parameters of each fitted elliptical trajectory 4 and the light-emitting point information, generate several elliptical trajectories with different z-axis heights; each adjacent elliptical trajectory has the same row spacing, and all trajectories together form the shape envelope of the preset microlens.

[0041] Specifically, based on the parameters of each fitted elliptical trajectory 4 and the information of the light-emitting points, these two-dimensional elliptical trajectories with different z-axis heights are arranged in three-dimensional space to form a three-dimensional point cloud. The light-emitting point information constrains this three-dimensional point cloud into the shape of a preset microlens, and the regenerated trajectory is as follows: Figure 2 As shown, after the central axis of the preset microlens deflects with the viewing axis 1, the processing trajectory remains parallel to the plane perpendicular to the processing optical axis 2. Finally, the data processing module sends the cutting trajectory data to the processing equipment, and the processing equipment cuts the preset microlens 11 according to the trajectory.

[0042] The automatic alignment method for the visual axis center provided in the second aspect of this application performs the steps of the adjustment module operation in the above-mentioned automatic alignment system for the visual axis center, specifically including the following steps: S1: Determine the deflection angles of the visual axis around the x and y axes based on the corneal topography; generate a single-scan trajectory data based on the corneal topography and preset microlens parameters. The single-scan trajectory data is a three-dimensional point cloud data consisting of several concentric ellipses surrounding the preset microlens at the z-axis positions; rotate the three-dimensional point cloud data around the geometric center of the target corneal sphere, along the deflection angles of the x and y axes, to obtain the corrected three-dimensional point cloud data; where the major axis direction of the concentric ellipses in the single-scan trajectory data is denoted as the x-axis, the minor axis direction as the y-axis, and the direction perpendicular to the x and y axes as the z-axis; S2: Divide the corrected 3D point cloud data into several slice point cloud data located in planes with different z-axis positions; perform 2D ellipse fitting on the slice point cloud data to obtain the fitted ellipse trajectory of each layer, and determine the light-emitting point information on the fitted ellipse trajectory by comparing it with the slice point cloud; based on the information of the fitted ellipse trajectory of each layer and the light-emitting point information, generate several concentric ellipse trajectories with different z-axis heights, and form a preset microlens shape envelope in 3D space to complete the automatic alignment of the visual axis center.

[0043] In this invention, all steps of the automatic alignment method of the visual axis center are implemented by a computer or other device. The preferred scheme is consistent with the preferred scheme executed by the adjustment module in the above-mentioned automatic alignment system of the visual axis center, and will not be described again here.

[0044] The third aspect of this application provides an automatic alignment device for the center of field of view, including a coaxial microscope, an optical path module, and an automatic alignment system for the center of field of view as described in any of the above claims, wherein the direction of the field of view or optical axis is defined as the z-axis direction, and the two-dimensional plane perpendicular to the z-axis direction is defined as the x-axis and y-axis.

[0045] Preferably, the automatic alignment device for visual axis center also includes a gaze light assembly for generating gaze light for the target eye; and an optical assembly for guiding the gaze light to the target eye and guiding the gaze light reflected from the target corneal surface perpendicular to the target corneal surface and the image of the front end of the target eye onto the imaging module.

[0046] The fourth aspect of this application provides an automatic visual axis center alignment device, comprising: a storage medium and a processor; the storage medium is used to store instructions; the processor is used to operate according to the instructions to execute the method steps performed by the adjustment module in any of the above-described automatic visual axis center alignment systems.

[0047] Figure 3 The automatic alignment method for the visual axis center shown in this invention adjusts the shape of the preset microlens before and after adjustment; wherein... Figure 3 In the figure, (a) and (c) are the top view and side view of the preset microlens before adjustment, respectively, and (b) and (d) are the top view and side view of the preset microlens after adjustment, respectively.

[0048] In summary, this invention proposes an automatic visual axis center alignment system and device that utilizes resampling and fitting to compensate for eyeball off-axis movement, thereby improving the accuracy and effectiveness of automatic visual axis center alignment. Furthermore, this design enhances comfort during the alignment process while avoiding damage to the eyeball. Through the application of this invention, it is expected to bring substantial improvements to applications such as altering corneal optical properties, removing corneal hyperplasia, and optimizing corneal mechanical properties, thereby enhancing application effectiveness and reducing discomfort during operation.

[0049] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0050] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of protection of this invention and its equivalents, this invention also intends to include these modifications and variations. The above-described embodiments are merely preferred embodiments given to fully illustrate this invention, and their scope of protection is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on this invention are all within the scope of protection of this invention.

Claims

1. A boresight center automatic alignment system, characterized by, The system comprises: an imaging module for acquiring a corneal topography; an adjusting module for performing the following operations: S1: determining the deflection angles of the visual axis around the x-axis and the y-axis according to the corneal topography; generating first scanning trajectory data according to the corneal topography and preset micro-lens parameters, the first scanning trajectory data being three-dimensional point cloud data of a plurality of z-axis position concentric ellipses surrounding the cutting of the preset micro-lens; performing three-dimensional rotation transformation of the three-dimensional point cloud data along the deflection angles of the x-axis and the y-axis with the geometric center of the target corneal sphere as the rotation center to obtain modified three-dimensional point cloud data; wherein the long axis direction of the concentric ellipses in the first scanning trajectory data is the x-axis, the short axis direction is the y-axis, and the direction perpendicular to the x-axis and the y-axis is the z-axis; S2: dividing the modified three-dimensional point cloud data into a plurality of slice point cloud data at different z-axis position planes; performing two-dimensional ellipse fitting on the slice point cloud data to obtain each layer of fitted ellipse trajectory, and determining the light exit point information on the fitted ellipse trajectory by comparing the fitted ellipse trajectory with the slice point cloud data; generating a plurality of z-axis height different concentric ellipse trajectories according to the information and light exit point information of each layer of fitted ellipse trajectory, and forming a shape envelope of the preset micro-lens in the three-dimensional space.

2. The boresight center automatic alignment system of claim 1, wherein, The system further comprises: The first scanning trajectory data is three-dimensional point cloud data of a plurality of z-axis position concentric ellipses surrounding the cutting of the preset micro-lens, and the interval between two adjacent concentric ellipses is between 2-10 μm.

3. The boresight center automatic alignment system of claim 1, wherein, The adjusting module performs composite rotation through a homogeneous coordinate transformation matrix, specifically including: The radius of curvature of the target cornea is R The scanning trajectory is Then the geometric center of the target corneal spherical surface 10 is (0, 0, -). R ); With the geometric center of the target corneal sphere 10 as the rotation center, the scanning track coordinates are ; Rotation matrix around x-axis Rotation matrix around y-axis ; Scan trajectory after rotation with the geometric center of the target corneal sphere 10 as the rotation center ; Final corrected three-dimensional point cloud data .

4. The boresight center automatic alignment system of claim 1, wherein, The adjusting module divides the modified three-dimensional point cloud data into a plurality of slice point cloud data at different z-axis position planes by using the z-axis equidistant slicing method.

5. The boresight center automatic alignment system of claim 1, wherein, The adjusting module divides the modified three-dimensional point cloud data into a plurality of slice point cloud data at different z-axis position planes by using the following method: The positions of the upper surface of the preset micro-lens and the lower surface of the preset micro-lens use the equal chord length slicing method, and the point cloud is divided along the surface normal direction of the target corneal sphere in the z-axis direction at a fixed chord length; The side cut and small incision positions of the preset micro-lens use the z-axis equidistant slicing method, and the point cloud is divided in the z-axis direction at a fixed interval.

6. The boresight center automatic alignment system of claim 1, wherein, The adjusting module performs two-dimensional ellipse fitting on the slice point cloud data by using the following method: Least square method is used for ellipse fitting on each layer of slice point cloud, and the objective function for fitting is: ； wherein the constraint is , A , B , C respectively represent the to-be-fitted parameters related to the long axis, the short axis and the angle of the ellipse, h represents the x-axis coordinate of the center of the ellipse, k represents the y-axis coordinate of the center of the ellipse, x , y respectively represent the x-axis coordinate and the y-axis coordinate of the slice point cloud data points for fitting.

7. The boresight center automatic alignment system of claim 1, wherein, The adjusting module determines the light exit point information on the fitted ellipse trajectory by using the following method: Determine the fitted ellipse E every point p radius r There is no point cloud data from the slice within its neighborhood. S When a point is a set of points in its neighborhood, that is, a point in the neighborhood. If the light does not pass through a certain point, then that point will not emit light; otherwise, it will be a light-emitting point.

8. A method of automatic boresight centering, characterized by, The method comprises the following steps: S1: determining deflection angles of the visual axis around the x-axis and the y-axis according to a corneal topography; generating first scanning trajectory data according to the corneal topography and preset micro-lens parameters, the first scanning trajectory data being three-dimensional point cloud data of a plurality of z-axis position concentric ellipses surrounding cutting of the preset micro-lens; performing three-dimensional rotation transformation of the three-dimensional point cloud data along the deflection angles of the x-axis and the y-axis with the geometric center of the target corneal sphere as the rotation center to obtain modified three-dimensional point cloud data; wherein the long axis direction of the concentric ellipses in the first scanning trajectory data is the x-axis, the short axis direction is the y-axis, and the direction perpendicular to the x-axis and the y-axis is the z-axis; S2: dividing the modified three-dimensional point cloud data into a plurality of slice point cloud data at different z-axis position planes; performing two-dimensional ellipse fitting on the slice point cloud data to obtain each layer of fitted ellipse trajectory, and judging the light exit point information on the fitted ellipse trajectory by comparing the fitted ellipse trajectory with the slice point cloud data; generating a plurality of z-axis height different concentric ellipse trajectories according to the information and light exit point information of each layer of the fitted ellipse trajectory, and forming a shape envelope of the preset micro-lens in the three-dimensional space to complete the visual axis center automatic alignment.

9. A boresight centering apparatus, characterized by, The system comprises a coaxial microscope camera, an optical path module, and an automatic visual axis center alignment system according to any one of claims 1-7.

10. A boresight center automatic alignment apparatus, characterized by, The system comprises: a storage medium and a processor; the storage medium is used to store instructions; the processor is used to operate according to the instructions to execute the automatic visual axis center alignment method according to claim 8.

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