Surgical microscope device and system

Abstract

This invention provides a surgical microscope device and system. The main body of the surgical microscope acquires raw images from the left and right lenses respectively. An autofocus module, based on instructions from a control module, controls a sensor movement submodule to move the left and right sensors, generating first feedback data and sending it to the control module. An image acquisition module synchronizes the raw images from the left and right lenses to obtain a left-frame digital image and a right-frame digital image. An image preprocessing module preprocesses the left-frame and right-frame digital images, determines second feedback data, and sends it to the control module. A binocular fusion module performs binocular image fusion on the left-frame and right-frame digital images to obtain a fused image. An image output module outputs the fused image to an external display terminal. The control module receives the first and second feedback data and generates instructions. By coordinating autofocus and sensor movement control, the negative correlation between depth of field and resolution can be overcome.

Description

Technical Field

[0001] This invention relates to the field of medical microscopy imaging technology, and in particular to a surgical microscope device and system. Background Technology

[0002] Currently, most autofocus technologies in binocular surgical microscopes employ lens-movement focusing, adjusting the lens spacing to change the system's focal length. This method suffers from slow focusing speed and low accuracy, and is prone to image shift during focusing, affecting stereoscopic vision. Furthermore, image sensors are often fixedly mounted, resulting in a fixed imaging focal plane that cannot flexibly adapt to surgical areas of varying depths, thus limiting the imaging range and making it difficult to simultaneously meet the dual requirements of large depth of field and high resolution. While some autofocus technologies have shortened focusing time through algorithmic optimization, they do not incorporate sensor movement to extend depth of field, failing to address the core challenge of simultaneously providing clear imaging of tissues at different depths during surgery.

[0003] Therefore, how to overcome the limitations of depth of field and resolution through simple and feasible structural and algorithm design, combined with autofocus technology and sensor movement adjustment, to achieve large depth of field and high resolution real-time imaging of binocular surgical microscopes has become a technical problem that urgently needs to be solved in this field.

[0004] The depth of field and resolution of existing surgical microscopes are mutually restrictive, necessitating the use of automatic zoom to resolve this trade-off. Current surgical microscopes typically employ either measuring the object distance and adjusting the focal length of the zoom objective lens accordingly, or automatically focusing based on anatomical features within the region of interest. However, existing methods for measuring object distance require a complex measurement and zoom objective system, resulting in high costs. Focusing based on anatomical features within the region of interest has limited applicability, failing to work in scenarios lacking anatomical features. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a surgical microscope device and system that utilizes the large and obvious features of the surgical area for focusing, making the features clear and focusing simple and fast; combined with instrument features and sensor movement adjustment, it achieves fast and high-precision automatic focusing, and can also add navigation function to the image to improve the convenience of surgery.

[0006] In a first aspect, embodiments of the present invention provide a surgical microscope device, comprising: a surgical microscope body, an autofocus module, an image acquisition module, an image preprocessing module, a binocular fusion module, an image output module, and a control module; the autofocus module includes a sensor movement submodule; the surgical microscope body includes: a left lens, a right lens, a left sensor, and a right sensor; the surgical microscope body is used to acquire the original image of the surgical object in the observation area corresponding to the left lens through the left lens to obtain the original image of the left lens, and to acquire the original image of the surgical object in the observation area corresponding to the right lens through the right lens to obtain the original image of the right lens; the autofocus module is used to control the sensor movement submodule based on the instructions of the control module, and to move the left and right sensors through the sensor movement submodule. The system generates first feedback data and sends it to the control module; the image acquisition module synchronizes the original images from the left and right lenses to obtain a left-frame digital image and a right-frame digital image; the image preprocessing module preprocesses the left-frame digital image and the right-frame digital image to determine the offset direction and distance of the left and right lenses as second feedback data and sends the second feedback data to the control module; the binocular fusion module performs binocular image fusion on the left-frame digital image and the right-frame digital image to obtain a fused image; the image output module outputs the fused image to an external display terminal; and the control module receives the first feedback data and the second feedback data and generates instructions based on the first feedback data and the second feedback data.

[0007] In an optional embodiment of this application, the sensor moving submodule includes: a left sensor moving mechanism, a right sensor moving mechanism, and a position feedback unit; the left sensor moving mechanism is used to move the left sensor based on the command of the control module; the right sensor moving mechanism is used to move the right sensor based on the command of the control module; and the position feedback unit is used to determine the position of the left sensor and / or the right sensor as first feedback data.

[0008] In an optional embodiment of this application, the image preprocessing module is used to find feature instruments and mark feature points in the left frame digital image and the right frame digital image, respectively, and use phase focusing combined with offline calibration curves to determine the offset direction and distance of the left lens and the offset direction and distance of the right lens as second feedback data.

[0009] In an optional embodiment of this application, the above-mentioned binocular fusion module is used to perform binocular image fusion on the left frame digital image and the right frame digital image using a dual-scale decomposition fusion method, and obtain the fused image after edge enhancement and color correction.

[0010] In an optional embodiment of this application, the surgical microscope body further includes a zoom system and an objective lens. The imaging optical path of the surgical microscope body includes a left imaging subsystem and a right imaging subsystem. The left imaging subsystem includes a left sensor, a left lens, a zoom system, and an objective lens. The right imaging subsystem includes a right sensor, a right lens, a zoom system, and an objective lens.

[0011] In an optional embodiment of this application, the left sensor moving mechanism is used to control the left sensor to move along the optical axis direction based on the command of the control module; the right sensor moving mechanism is used to control the right sensor to move along the optical axis direction based on the command of the control module.

[0012] In optional embodiments of this application, the preprocessing includes: noise reduction, distortion correction, grayscale normalization, and image alignment.

[0013] In an optional embodiment of this application, the surgical microscope device is used to perform a self-test after being turned on and to preset parameters; wherein, the parameters include: the initial focal length of the left and right lenses, the initial position of the left and right sensors, the focusing sensitivity, and the movement range of the left and right sensors.

[0014] In an optional embodiment of this application, the surgical microscope device is further used to shut down each module after the operation, save the image data generated during the operation, and generate an imaging stream based on the image data generated during the operation.

[0015] Secondly, embodiments of the present invention also provide a surgical microscope system, the surgical microscope system comprising: a display terminal and the aforementioned surgical microscope device; the display terminal being used to receive and display a fused image output by the surgical microscope device.

[0016] The embodiments of the present invention bring the following beneficial effects: This invention provides a surgical microscope device and system that overcomes the negative correlation between depth of field and resolution. Through coordinated control of autofocus and sensor movement, it achieves clear imaging of different depth levels in the surgical area while maintaining high resolution, meeting the needs of refined surgical operations. The optimized autofocus algorithm, combined with instrument characteristics and sensor movement adjustment, achieves fast and high-precision autofocus with a focusing delay of ≤5ms, avoiding image shift during focusing and ensuring the continuity of stereoscopic vision. Employing a movable sensor design eliminates the need for additional complex optical components; precise sensor movement adapts to surgical areas of different depths, expanding the imaging depth of field, reducing equipment modification costs, and improving the utilization rate of existing equipment. Real-time imaging is achieved without multi-frame shooting and complex fusion, avoiding image stuttering and artifacts, ensuring the continuity of surgical operations, and reducing the logic and storage resource consumption of the algorithm, facilitating hardware implementation. Adaptable to different types of binocular surgical microscopes, it allows flexible adjustment of focusing parameters and sensor movement range to meet the depth and resolution requirements of different surgical scenarios (such as ophthalmology and neurosurgery), demonstrating strong versatility and broad clinical application value.

[0017] Other features and advantages of this disclosure will be set forth in the following description, or some features and advantages may be inferred from the description or determined without doubt, or may be learned by practicing the techniques described above.

[0018] To make the above-mentioned objects, features and advantages of this disclosure more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0019] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the overall structure of a surgical microscope device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a surgical microscope body provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the processing flow of a surgical microscope device provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of a vitrectomy tip under a surgical microscope during vitrectomy surgery, provided as an embodiment of the present invention. Figure 5This is a schematic diagram of a surgical microscope system provided in an embodiment of the present invention.

[0021] Icons: 1-Surgical microscope device; 11-Surgical microscope body; 12-Autofocus module; 13-Image acquisition module; 14-Image preprocessing module; 15-Binocular fusion module; 16-Image output module; 17-Control module; 2-Display terminal; 100-Objective lens; 200-Zoom system; 301-Right lens; 302-Left lens; 401-Right sensor; 402-Left sensor; 10-Surgical microscope system. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Currently, the depth of field and resolution of existing surgical microscopes are mutually restrictive, requiring automatic zoom to resolve this contradiction. Existing surgical microscopes generally employ either measuring the object distance and adjusting the focal length of the zoom objective lens accordingly, or automatically focusing based on anatomical features within the region of interest. However, existing methods for measuring object distance require the introduction of a measurement system and a zoom objective system, which are structurally complex and costly. Focusing based on anatomical features within the region of interest has limited applicability and cannot be used in scenarios lacking anatomical features.

[0024] Based on this, the present invention provides a surgical microscope device and system, specifically providing a method and device for achieving large depth-of-field and high-resolution imaging by using the autofocus function of a binocular surgical microscope and moving the image sensor according to the feature instruments. It is suitable for high-definition real-time imaging scenarios in microsurgical procedures such as neurosurgery, ophthalmology, and otolaryngology, and can provide clear and comprehensive support for surgical field details.

[0025] To facilitate understanding of this embodiment, a surgical microscope device disclosed in this embodiment of the invention will first be described in detail.

[0026] Example 1: This invention provides a surgical microscope device, see [link to relevant documentation]. Figure 1The diagram shows an overall structure of a surgical microscope device. The surgical microscope device 1 includes: a surgical microscope body 11, an autofocus module 12, an image acquisition module 13, an image preprocessing module 14, a binocular fusion module 15, an image output module 16, and a control module 17. The autofocus module 12 includes a sensor movement submodule. All modules can work together to achieve real-time tracking of feature instruments, large depth of field, and high-resolution imaging.

[0027] The main body 11 of the surgical microscope includes: a left lens, a right lens, a left sensor, and a right sensor; the main body of the surgical microscope is used to acquire the original image of the surgical object in the observation area corresponding to the left lens through the left lens, and to acquire the original image of the surgical object in the observation area corresponding to the right lens through the right lens.

[0028] In this embodiment, the microscope body can observe the surgical object in its respective area through the left and right lenses, and obtain the original image from the left lens and the original image from the right lens, respectively.

[0029] The main body of the surgical microscope in this embodiment may include a left lens and a right lens, and adopts a large objective lens dual-optical-path stereoscopic optical design to support coordinated zoom and ensure consistent imaging magnification between the left and right optical paths, laying the foundation for stereoscopic vision and image fusion.

[0030] The autofocus module 12 is used to control the sensor movement submodule based on the instructions of the control module. The sensor movement submodule moves the left and right sensors, generates first feedback data, and sends the first feedback data to the control module 17.

[0031] The autofocus module in this embodiment includes a sensor movement submodule, which is connected to the control module 17 and the image acquisition module 13 respectively.

[0032] In some embodiments, the sensor movement submodule includes: a left sensor movement mechanism, a right sensor movement mechanism, and a position feedback unit; the left sensor movement mechanism is used to move the left sensor based on instructions from the control module; the right sensor movement mechanism is used to move the right sensor based on instructions from the control module; and the position feedback unit is used to determine the position of the left sensor and / or the right sensor as first feedback data.

[0033] The Sensor movement submodule in this embodiment includes: a left Sensor movement mechanism, a right Sensor movement mechanism, and a position feedback unit; the position feedback unit can determine the position of the left Sensor and / or the right Sensor as the first feedback data and transmit the first feedback data to the control module.

[0034] Image acquisition module 13 is used to synchronize the original image of the left lens and the original image of the right lens to obtain the left frame digital image and the right frame digital image.

[0035] In this embodiment, the image acquisition module can be connected to the left and right sensors. It uses a high-resolution CMOS (Complementary Metal-Oxide-Semiconductor) sensor (resolution ≥ 4K, pixel size ≤ 1.5μm, dynamic range ≥ 14bit) to synchronously acquire the original images transmitted from the left and right lenses. The original images are converted from analog signals to digital signals to obtain the left and right frame digital images. The left and right frame digital images are then transmitted to the image preprocessing module. The acquisition frame rate is ≥ 30fps to ensure real-time imaging without lag.

[0036] The image preprocessing module 14 is used to preprocess the left frame digital image and the right frame digital image, determine the offset direction and distance of the left lens and the offset direction and distance of the right lens as the second feedback data, and send the second feedback data to the control module 17.

[0037] In this embodiment, the image preprocessing module can receive the left frame digital image and the right frame digital image transmitted by the image acquisition module and perform preprocessing operations.

[0038] In some embodiments, the image preprocessing module is used to find feature instruments and mark feature points in the left frame digital image and the right frame digital image, respectively, and use phase focusing combined with offline calibration curves to determine the offset direction and distance of the left lens and the offset direction and distance of the right lens as second feedback data.

[0039] The preprocessing in this embodiment may include finding feature instruments and marking feature points in the image, using phase detection autofocus (PDAF) technology, combined with offline calibration curves, to directly calculate the offset direction and distance of the left and right lenses as second feedback data, and outputting the second feedback data to the control module. For example, the image preprocessing module can feed back the second feedback data to the autofocus module, and the autofocus module can output the second feedback data to the control module.

[0040] The binocular fusion module 15 is used to perform binocular image fusion on the left frame digital image and the right frame digital image to obtain a fused image.

[0041] In this embodiment, the binocular fusion module can perform binocular image fusion based on the preprocessed distortion-free and offset left frame digital image and right frame digital image to obtain a fused image.

[0042] In some embodiments, the above-mentioned binocular fusion module is used to perform binocular image fusion on the left frame digital image and the right frame digital image using a dual-scale decomposition fusion method, and obtain the fused image after edge enhancement and color correction.

[0043] The binocular fusion module in this embodiment can use an optimized dual-scale decomposition fusion algorithm to integrate the high-resolution details of the left frame digital image and the right frame digital image with clear imaging information at different depths, thereby performing binocular image fusion, and obtaining the fused image after edge enhancement and color correction.

[0044] Image output module 16 is used to output the fused image to an external display terminal 2.

[0045] In this embodiment, the image output module can receive the large depth-of-field, high-resolution fused image output by the binocular fusion module and transmit the fused image to the display terminal of the surgical microscope.

[0046] The control module 17 is used to receive first feedback data and second feedback data, and generate instructions based on the first feedback data and second feedback data.

[0047] The control module in this embodiment is the core control unit of the surgical microscope device. It can be connected to all the modules mentioned above and can be implemented using an FPGA (Field-Programmable Gate Array) chip. It is used to receive feedback data from each module, output control commands, and coordinate the collaborative work of each module: controlling the synchronous linkage of the autofocus module and the sensor movement sub-module to ensure precise matching between focal plane adjustment and sensor movement; controlling the real-time performance of image acquisition, preprocessing, and fusion to ensure imaging latency ≤10ms; and supporting the import of feature images, allowing doctors to import surgical scene images and labeled instruments according to surgical needs.

[0048] This invention provides a surgical microscope device that overcomes the negative correlation between depth of field and resolution. Through coordinated control of autofocus and sensor movement, it achieves clear imaging of different depth levels in the surgical area while maintaining high resolution, meeting the needs of refined surgical operations. The optimized autofocus algorithm, combined with instrument characteristics and sensor movement adjustment, achieves fast and high-precision autofocus with a focusing delay of ≤5ms, avoiding image shift during focusing and ensuring the continuity of stereoscopic vision. Employing a movable sensor design eliminates the need for additional complex optical components; precise sensor movement adapts to surgical areas of different depths, expanding the imaging depth of field, reducing equipment modification costs, and improving the utilization rate of existing equipment. Real-time imaging is achieved without multi-frame shooting and complex fusion, avoiding image stuttering and artifacts, ensuring the continuity of surgical operations, and reducing the consumption of algorithm logic and storage resources, facilitating hardware implementation. Adaptable to different types of binocular surgical microscopes, it allows flexible adjustment of focusing parameters and sensor movement range to meet the depth and resolution requirements of different surgical scenarios (such as ophthalmology and neurosurgery), demonstrating strong versatility and broad clinical application value.

[0049] This embodiment utilizes the dual-optical-path structure of a binocular surgical microscope, configuring independently movable image sensors for the left and right lenses. Combined with an optimized autofocus algorithm, the sharpness of characteristic instruments in the surgical area is detected in real time. The autofocus module controls the precise movement of the left and right sensors along the optical axis, ensuring accurate matching of the sensor's focal plane with different depth levels of the surgical area. Simultaneously, a binocular image fusion algorithm integrates high-resolution imaging information from the left and right optical paths, ultimately achieving real-time stereoscopic imaging with large depth of field and high resolution. This embodiment eliminates the need for multi-frame capture; by coordinating sensor movement with the sharpness of characteristic instruments, it overcomes the limitations of depth of field and resolution, balancing real-time performance and image quality.

[0050] Example 2: This invention provides another surgical microscope device, implemented based on the aforementioned embodiments. The focus is on describing the structure of the main body of the surgical microscope and a connection method for the various modules within the surgical microscope device. See [link to relevant documentation]. Figure 2 The diagram shows a schematic of the main body of a surgical microscope. The main body of the surgical microscope also includes: a zoom system 200 and an objective lens 100. The imaging optical path of the main body of the surgical microscope includes: a left imaging subsystem and a right imaging subsystem; the left imaging subsystem includes: a left sensor 402, a left lens 302, a zoom system 200 and an objective lens 100; the right imaging subsystem includes: a right sensor 401, a right lens 301, a zoom system 200 and an objective lens 100.

[0051] like Figure 2As shown, the main imaging optical path of the microscope in this embodiment includes a left imaging subsystem (i.e., a near-field imaging system) and a right imaging subsystem (i.e., a far-field imaging system). The object plane of the far-field imaging system and the object plane of the near-field imaging system are different. The right lens 301 is the imaging lens of the far-field imaging system, the left lens 302 is the imaging lens of the near-field imaging system, the right sensor 401 is the image sensor of the far-field imaging system, and the left sensor 402 is the image sensor of the near-field imaging system.

[0052] Example 3: This invention provides another processing flow for a surgical microscope device, implemented based on the foregoing embodiments. The focus is on describing the processing flow of the surgical microscope device. See [link to relevant documentation]. Figure 3 The schematic diagram shown illustrates the processing flow of a surgical microscope device, including: Step 1, device initialization.

[0053] In some embodiments, the surgical microscope device is used to perform a device self-test after being turned on and preset parameters; wherein the parameters include: the initial focal length of the left and right lenses, the initial position of the left and right sensors, the focusing sensitivity, and the movement range of the left and right sensors.

[0054] This embodiment can turn on the main body and modules of the binocular surgical microscope, complete the device self-test, and preset parameters such as the initial focal length of the left and right lenses, the initial position of the sensor (the initial focal plane corresponds to the middle depth layer of the surgical area), the autofocus sensitivity, and the sensor movement range to ensure that each module is in normal working condition.

[0055] Step 2: Original image acquisition and region detection.

[0056] In this embodiment, the original image can be acquired through the image acquisition module, the target instrument can be photographed, the depth range of the surgical area and the current optimal focal plane position can be determined, and the detection data can be transmitted to the control module.

[0057] Step 3: Coordinated control of autofocus and sensor movement.

[0058] In this embodiment, the control module outputs control commands based on depth detection data and sharpness data.

[0059] In some embodiments, the left sensor moving mechanism is used to control the left sensor to move along the optical axis direction based on the instructions of the control module; the right sensor moving mechanism is used to control the right sensor to move along the optical axis direction based on the instructions of the control module.

[0060] (1) The autofocus module adjusts the focal length of the left and right lenses to achieve a preliminary clear image; (2) Synchronous control of the left and right sensor moving structures drives the left and right sensors to move along the optical axis, so that the imaging focal plane of the sensor is precisely matched with different depth layers of the surgical area (near focal area, middle area, far focal area), ensuring that tissues of different depths can be clearly imaged on the left and right sensors; during the movement, the position feedback unit provides real-time feedback of the position data of the left and right sensors to form a closed-loop control and ensure the movement accuracy.

[0061] Step 4: Synchronous image acquisition.

[0062] In this embodiment, the image acquisition module simultaneously acquires clear images with different focal planes through the left and right sensors, obtaining a left frame digital image and a right frame digital image. During the acquisition process, the frame rate is maintained at ≥30fps to ensure real-time imaging.

[0063] Step 5, image preprocessing.

[0064] In some embodiments, preprocessing includes: noise reduction, distortion correction, grayscale normalization, and image alignment.

[0065] In this embodiment, the acquired left and right frame images can be preprocessed by noise reduction, distortion correction, grayscale normalization, and image alignment to eliminate various interference factors and ensure spatial consistency and grayscale scale consistency between the left and right frame digital images.

[0066] Step 6: Binocular image fusion.

[0067] In this embodiment, a dual-scale decomposition and fusion algorithm is used to fuse the preprocessed left-frame digital image and the right-frame digital image, integrating clear imaging information and high-resolution details at different depths. After edge enhancement and color correction, a stereo fused image with large depth of field and high resolution is obtained.

[0068] Step 7: Combine image output with real-time feedback.

[0069] In this embodiment, the fused image can be transmitted to the display terminal for real-time display, and the image data can be stored at the same time. The autofocus module and the sensor moving mechanism continuously detect the depth changes and image clarity of the surgical area. If the image is blurred (the clarity value is lower than the preset threshold), steps 2-6 are repeated to achieve dynamic focusing and sensor dynamic adjustment to ensure clear imaging throughout the process.

[0070] Step 8: Post-operative care.

[0071] In some embodiments, the surgical microscope device is also used to shut down each module after the operation, save the image data generated during the operation, and generate an imaging stream based on the image data generated during the operation.

[0072] This embodiment can shut down each module after the operation, save all image data during the operation, and complete the imaging stream.

[0073] The processing flow of the surgical microscope device described in this embodiment allows for dynamic sensor movement, which offers significant advantages over traditional fixed sensor imaging. 1. Sensor position: Traditional fixed sensor imaging is stationary; in this embodiment, the sensor dynamically moves along the optical axis to match different depths.

[0074] 2. Depth of field range: Traditional fixed sensor imaging has a small depth of field range, with only a thin layer on a single focal plane being clear; the sensor dynamic moving imaging in this embodiment has a large depth of field range, with continuous and clear images across the entire field, extending several times.

[0075] 3. Focusing method: Traditional fixed sensor imaging only requires lens focusing; in this embodiment, sensor dynamic moving imaging adopts single focal plane lens focusing + sensor movement coordination, covering multiple focal planes.

[0076] 4. Surgical applicability: Traditional fixed sensor imaging requires frequent manual focusing, which can easily interrupt the operation; the sensor dynamic moving imaging in this embodiment adopts automatic dynamic focusing, which provides continuous and clear images throughout the entire process.

[0077] In summary, the processing flow of the surgical microscope device provided in the embodiments of the present invention has the following main advantages: 1. Overcoming the limitations of depth of field and resolution, significantly improving image quality: Large depth of field and high resolution can be achieved simultaneously through coordinated control of feature instrument sharpness and sensor movement; image quality is greatly optimized. 2. Fast and accurate autofocus: The sensor movement uses closed-loop control to avoid image shift, reduce the number of times the sensor needs to be refocused during the operation, and reduce the visual fatigue of the doctor. 3. Low equipment modification cost and high utilization rate: No new complex optical components are required. The existing binocular surgical microscope can be upgraded simply by adding a sensor moving mechanism and optimizing the algorithm. 4. High real-time performance, adaptable to surgical needs: The entire process is dynamically tracked and focused, which can adapt to the depth changes of the surgical area in real time, ensuring clear imaging throughout the process and ensuring the continuity of surgical operation. 5. Wide range of applications and strong scalability: It is suitable for different types of microsurgical procedures such as ophthalmology, neurosurgery, and otolaryngology, and meets the depth and resolution requirements of different surgical scenarios.

[0078] Example 4: This invention provides another processing flow for a surgical microscope device, implemented based on the aforementioned embodiments. The focus is on describing a surgical microscope device used in ophthalmic cataract surgery. See [link to relevant documentation]. Figure 4 The diagram shows a vitrectomy tip under a surgical microscope during a vitrectomy procedure. Figure 4 The key mechanical component is the vitrectomy head. The surgical microscope device provided in this embodiment, used for ophthalmic cataract surgery, is adapted to the depth differences of the cornea, lens, and vitreous body during ophthalmic surgery. The specific implementation process is as follows: 1. Equipment initialization: Turn on the binocular surgical microscope and all modules, complete the self-test, set the initial sensor position to the lens depth (intermediate layer), set the autofocus sensitivity to high, set the sensor movement range to 0-5mm, set the sharpness detection threshold to 80, set the acquisition frame rate to 60fps, set the fusion algorithm to 2 layers for dual-scale decomposition, and set the high-frequency component enhancement coefficient to 1.3.

[0079] 2. The detection range is 0-10mm (adapted to ophthalmic surgery depth), and the detection accuracy is 0.01mm. At the same time, the initial image is acquired through the image acquisition module, and the sharpness value is calculated using the 3×3 Laplacian operator to determine the current optimal focal plane position as the target instrument (vitrectomy head surface). The depth data (3mm) and sharpness data (75, below the threshold) are transmitted to the control module.

[0080] 3. The control module outputs control commands to control the sensor moving structure, driving the left and right sensors to move along the optical axis. The right sensor moves to the near-field position (adapting to corneal depth, near-focus area), and the left sensor moves to the far-field position (adapting to vitreous depth, far-focus area). The movement accuracy is 0.005mm. The position feedback unit provides real-time feedback of position data to ensure accurate movement.

[0081] 4. Synchronous Image Acquisition: Employs a 4K CMOS Sensor (1.2μm pixel size, 14-bit dynamic range) to simultaneously acquire imaging images from the left and right sensors. The left frame image clearly shows corneal texture (near focal area), while the right frame image clearly shows vitreous details (far focal area). The acquisition frame rate is 60fps with no stuttering.

[0082] 5. Image preprocessing: The left and right frame digital images are preprocessed by using 3×3 adaptive Gaussian filtering for noise reduction, correcting distortion based on lens intrinsic calibration data, mapping grayscale values ​​to the range of 0-255, and correcting minor offsets (alignment error of 0.5 pixels) through image alignment to obtain the preprocessed left and right frame digital images.

[0083] 6. Binocular Image Fusion: A dual-scale decomposition and fusion algorithm is adopted to decompose the preprocessed left and right frame digital images and extract low-frequency and high-frequency components. The low-frequency components are weighted according to the sharpness value (0.6 for the left frame and 0.4 for the right frame). The high-frequency components are enhanced with an enhancement coefficient of 1.3. Then, edge enhancement and color correction are performed to obtain a fused image with a large depth of field and high resolution as the fused image.

[0084] 7. Image Output and Real-time Feedback: The fused image is transmitted to a high-definition monitor (4K resolution) specifically designed for ophthalmic surgery, displaying clear details of the cornea, lens, and vitreous body in real time; the autofocus module continuously detects depth changes, and when the movement of surgical instruments causes blurring of the corneal area (clarity value drops to 70), steps 2-6 are repeated to quickly adjust the focus and sensor position to achieve clear imaging again, with a dynamic focus delay of 5ms; 8. After the surgery, all modules are turned off, the image data during the surgery is saved, and the imaging process is completed.

[0085] The processing flow of the surgical microscope device for ophthalmic cataract surgery provided in this embodiment has an imaging delay of 8ms, a depth of field of 12mm (at low magnification 8×), and a resolution of 8μm (at maximum magnification 20× center of field of view). The depth of field is improved by 56% compared to traditional fixed sensor devices. Corneal texture, lens details, and vitreous structure can all be clearly presented without blurring or artifacts, and the colors are realistic. The autofocus response is rapid, there is no image shift, and the stereoscopic vision is coherent. It effectively reduces the number of times the device needs to be refocused during surgery, reduces the visual fatigue of the surgeon, and improves the accuracy and efficiency of cataract surgery.

[0086] Example 5: This invention provides another processing flow for a surgical microscope device, implemented based on the aforementioned embodiments. The focus is on describing a surgical microscope device applied to neurosurgery, adapted to the depth differences between superficial tissues and deep nerves in neurosurgery. The specific implementation process is as follows: 1. Equipment initialization: Turn on the binocular surgical microscope and all modules, complete the self-test, set the initial sensor position to the depth of the superficial tissue, set the autofocus sensitivity to medium, set the sensor movement range to 0-5mm, set the sharpness detection threshold to 85, set the acquisition frame rate to 30fps, set the fusion algorithm to 2 layers for dual-scale decomposition, and set the high-frequency component enhancement coefficient to 1.4.

[0087] 2. The detection range is 0-20mm, and the detection accuracy is 0.01mm. The initial image is acquired through the image acquisition module, the sharpness value is calculated to be 82 (below the threshold), the current optimal focal plane position is determined to be the deep nerve (depth 8mm), and the depth data and sharpness data are transmitted to the control module.

[0088] 3. The control module controls the sensor movement mechanism, driving the left and right sensors to move together. Both the left and right sensors move to a position of 3.5mm (adapting to the intermediate area between the superficial tissue and the deep nerve), with a movement accuracy of 0.005mm, ensuring that the intermediate area and the deep nerve can be clearly imaged.

[0089] 4. Synchronous image acquisition: Using a 4K CMOS sensor (1.5μm pixel size, 14-bit dynamic range), the imaging images of the left and right sensors are acquired simultaneously, clearly presenting the details of superficial tissue blood vessels and deep nerves. The acquisition frame rate is 30fps, with good real-time performance.

[0090] 5. Image preprocessing: The left and right frame images are preprocessed, and 5×5 adaptive Gaussian filtering is used for noise reduction (adapting to the noise characteristics of neurosurgical images). After distortion removal and grayscale normalization, the images are aligned with an alignment error of 0.8 pixels.

[0091] 6. Binocular Image Fusion: A dual-scale decomposition and fusion algorithm is adopted. Low-frequency components are weighted according to their sharpness values ​​(0.7 for the left frame and 0.3 for the right frame), and high-frequency components are enhanced with an enhancement coefficient of 1.4. After edge enhancement, the fused image is obtained, ensuring that the details of nerve endings and microvessels are clear.

[0092] 7. Image Output and Real-time Feedback: The fused image is transmitted to an external high-definition monitor and a virtual reality device worn by the doctor. The doctor can view a three-dimensional and clear surgical field image through the virtual reality device, freeing up the operation posture; the autofocus module tracks the depth changes of the surgical area in real time and dynamically adjusts the focus and sensor position to ensure clear imaging throughout the process.

[0093] 8. After the surgery, save the image data and close all modules.

[0094] The processing flow of the surgical microscope device for neurosurgery provided in this embodiment has an imaging delay of 9ms, a depth of field of 8mm (at high magnification of 15×), and a resolution of 9μm, which is 52% higher than that of traditional devices. The surface tissue and deep nerve details are clearly distinguishable without blurring or artifacts. The autofocus is stable and reliable, and the stereo vision is coherent, which effectively improves the safety and accuracy of neurosurgery and reduces surgical fatigue.

[0095] Example 6: This invention provides a surgical microscope system, see [link to relevant documentation]. Figure 5 The diagram shows a structural schematic of a surgical microscope system 10, which includes a display terminal 2 and the surgical microscope device 1 provided in the aforementioned embodiments. The display terminal 2 is used to receive and display the fused image output by the surgical microscope device.

[0096] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the surgical microscope system described above can be referred to the corresponding process in the embodiments of the aforementioned surgical microscope device, and will not be repeated here.

[0097] Furthermore, in the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0098] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0099] Finally, it should be noted that the above embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A surgical microscope device, characterized in that, The surgical microscope device includes: a surgical microscope body, an autofocus module, an image acquisition module, an image preprocessing module, a binocular fusion module, an image output module, and a control module; the autofocus module includes: a sensor movement submodule; The main body of the surgical microscope includes: a left lens, a right lens, a left sensor, and a right sensor; the main body of the surgical microscope is used to acquire the original image of the surgical object in the observation area corresponding to the left lens through the left lens, and to acquire the original image of the surgical object in the observation area corresponding to the right lens through the right lens. The autofocus module is used to control the sensor movement submodule based on the instructions of the control module, move the left sensor and the right sensor through the sensor movement submodule, generate first feedback data, and send the first feedback data to the control module; The image acquisition module is used to synchronize the original image of the left lens and the original image of the right lens to obtain a left frame digital image and a right frame digital image. The image preprocessing module is used to preprocess the left frame digital image and the right frame digital image, determine the offset direction and distance of the left lens and the offset direction and distance of the right lens as second feedback data, and send the second feedback data to the control module. The binocular fusion module is used to perform binocular image fusion on the left frame digital image and the right frame digital image to obtain a fused image; The image output module is used to output the fused image to an external display terminal; The control module is configured to receive the first feedback data and the second feedback data, and generate the instruction based on the first feedback data and the second feedback data.

2. The surgical microscope apparatus according to claim 1, characterized in that, The sensor movement submodule includes: a left sensor movement mechanism, a right sensor movement mechanism, and a position feedback unit; The left sensor moving mechanism is used to move the left sensor based on the instructions of the control module; The right sensor moving mechanism is used to move the right sensor based on the instructions of the control module; The position feedback unit is used to determine the position of the left sensor and / or the right sensor as the first feedback data.

3. The surgical microscope apparatus according to claim 1, characterized in that, The image preprocessing module is used to find feature instruments and mark feature points in the left frame digital image and the right frame digital image, respectively, and use phase focusing combined with offline calibration curves to determine the offset direction and distance of the left lens and the offset direction and distance of the right lens as the second feedback data.

4. The surgical microscope apparatus according to claim 1, characterized in that, The binocular fusion module is used to perform binocular image fusion on the left frame digital image and the right frame digital image using a dual-scale decomposition and fusion method, and obtain the fused image after edge enhancement and color correction.

5. The surgical microscope apparatus according to claim 1, characterized in that, The main body of the surgical microscope also includes: a zoom system and an objective lens, and the imaging optical path of the main body of the surgical microscope includes: a left imaging subsystem and a right imaging subsystem; The left imaging subsystem includes: the left sensor, the left lens, the zoom system, and the objective lens; the right imaging subsystem includes: the right sensor, the right lens, the zoom system, and the objective lens.

6. The surgical microscope apparatus according to claim 2, characterized in that, The left sensor moving mechanism is used to control the left sensor to move along the optical axis direction based on the instructions of the control module; The right sensor moving mechanism is used to control the right sensor to move along the optical axis direction based on the instructions of the control module.

7. The surgical microscope apparatus according to claim 1, characterized in that, The preprocessing includes: noise reduction, distortion correction, grayscale normalization, and image alignment.

8. The surgical microscope apparatus according to any one of claims 1-7, characterized in that, The surgical microscope device is used to perform a self-test and preset parameters after being turned on; wherein, the parameters include: the initial focal length of the left lens and the right lens, the initial position of the left sensor and the right sensor, the focusing sensitivity, and the movement range of the left sensor and the right sensor.

9. The surgical microscope apparatus according to any one of claims 1-7, characterized in that, The surgical microscope device is also used to shut down each module after the operation, save the image data generated during the operation, and generate an imaging stream based on the image data generated during the operation.

10. A surgical microscope system, characterized in that, The surgical microscope system includes: a display terminal and the surgical microscope device according to any one of claims 1-9; The display terminal is used to receive the fused image output by the surgical microscope device and display the fused image.

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