A multimodal microsurgical navigation system

Abstract

The present invention discloses a multimodal microsurgical navigation system, comprising: an objective lens; a surgical microscope illumination unit; a structured light projection unit; a first surgical microscope unit with an eyepiece, and a second surgical microscope unit with a camera; a first beam splitting unit; an optical coherence tomography unit; a processor, configured to obtain a two-dimensional image collected by the camera; and obtain a binocular stereoscopic vision image based on the two-dimensional image obtained by the camera; obtain a structured light three-dimensional image based on the structured light projection image obtained by the camera; obtain a three-dimensional tomographic image based on the two-dimensional tomographic image obtained by the optical coherence tomography unit; and an output unit for outputting the two-dimensional image, the binocular stereoscopic vision image, the structured light three-dimensional image or the three-dimensional tomographic image. It can perform three-dimensional imaging on the surgical area, realize online and offline matching between the three-dimensional image and the surface of the surgical area, so as to achieve preoperative planning before surgery, real-time monitoring and navigation during the surgery, and surgical effect evaluation of the surgical area after the surgery.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and more specifically, to a multimodal microsurgical navigation system. Background Art

[0002] With the development of medical device technology, it has become an inevitable trend in the development of modern surgery to achieve precise positioning of the surgical target site through image-guided intervention, thereby reducing the physiological trauma to patients and realizing minimally invasive surgery.

[0003] However, in current microsurgery based on optical microscopes, such as ophthalmic surgery or neurosurgery, etc., the imaging range is mostly still limited to two-dimensional imaging; although there is a solution in the prior art to perform two-dimensional tomography imaging on the surgical area through optical coherence tomography technology and then obtain a three-dimensional image based on the two-dimensional tomography imaging image, however, since the optical coherence tomography imaging area and the surgical operation area can only be matched online, therefore, the three-dimensional image obtained based on the two-dimensional tomography imaging can only be used for real-time monitoring and navigation during the operation, that is, the optical coherence tomography imaging image does not have the ability for postoperative evaluation.

[0004] Therefore, how to provide a multimodal microsurgical navigation system that can perform three-dimensional imaging on the surface of the surgical area, realize online and offline matching of the three-dimensional image and the surface of the surgical area, so as to facilitate preoperative planning before surgery, real-time monitoring and navigation during the operation, and surgical effect evaluation of the surgical area after surgery, etc., is an urgent problem to be solved by those skilled in the art at present. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a multimodal microsurgical navigation system that can perform three-dimensional imaging on the surface of the surgical area to realize online and offline matching of the three-dimensional image and the surface of the surgical area, so as to facilitate preoperative planning before surgery, real-time monitoring and navigation during the operation, and surgical effect evaluation of the surgical area after surgery, etc.

[0006] To achieve the above purpose, the present invention provides the following technical solutions:

[0007] A multimodal microsurgical navigation system, comprising:

[0008] An objective lens;

[0009] A surgical microscope illumination unit for uniformly illuminating the surgical area through the objective lens;

[0010] A structured light projection unit for projecting a preset pattern onto the surgical area through the objective lens;

[0011] A first surgical microscope unit for two-dimensional imaging of a surgical area via the objective lens, the first surgical microscope unit including an eyepiece for a surgical operator to directly observe a two-dimensional image of the surgical area binocularly;

[0012] A second surgical microscope unit for two-dimensional imaging of a surgical area via the objective lens, the second surgical microscope unit including a camera for collecting a two-dimensional image of the surgical area;

[0013] A first beam splitting unit for splitting the reflected light of the surgical area into the first surgical microscope unit and the second surgical microscope unit in proportion after passing through the objective lens;

[0014] An optical coherence tomography unit for two-dimensional scanning of a surgical area via the objective lens to obtain two-dimensional tomography;

[0015] A processor respectively connected to the camera and the optical coherence tomography unit, the processor being configured to obtain the two-dimensional image collected by the camera; and perform binocular stereoscopic vision processing on the two-dimensional image of the surgical area illuminated by the surgical microscope illumination unit obtained by the camera to obtain a binocular stereoscopic vision image of the surface of the surgical area; and perform processing on the structured light projection image projected by the structured light projection unit obtained by the camera to obtain a three-dimensional structured light image of the surgical area; and perform processing on the two-dimensional tomography obtained by the optical coherence tomography unit to obtain a three-dimensional tomography image;

[0016] An output unit connected to the processor, the output unit being configured to output the two-dimensional image, the binocular stereoscopic vision image, the three-dimensional structured light image or the three-dimensional tomography image.

[0017] Preferably, the surgical microscope illumination unit illuminates the surgical area via the paraxial region of the objective lens.

[0018] Preferably, the structured light projection unit projects onto the surgical area via the on-axis region of the objective lens.

[0019] Preferably, the first surgical microscope unit, the second surgical microscope unit and the optical coherence tomography unit are all coaxially imaged via the on-axis region of the objective lens;

[0020] Further comprising:

[0021] A second beam splitting unit for coupling and separating lights of different wavelengths of the first surgical microscope unit, the second surgical microscope unit, the structured light projection unit and the optical coherence tomography unit.

[0022] Preferably, the second beam splitting unit includes:

[0023] A first dichroic mirror that fully transmits the light of the optical coherence tomography unit and fully reflects the light of the structured light projection unit;

[0024] A second dichroic mirror that fully reflects the light of the optical coherence tomography unit and semi-transmits and semi-reflects the light of the structured light projection unit.

[0025] Preferably, the first beam splitting unit includes a beam splitter that transmits and reflects the light of the surgical microscope illumination unit according to a preset ratio and fully reflects the light of the structured light projection unit.

[0026] Preferably, an optical zoom unit is provided between the second beam splitting unit and the first beam splitting unit to magnify the magnification of the two-dimensional imaging of the first surgical microscope unit and the second surgical microscope unit.

[0027] Preferably, both the surgical microscope illumination unit and the structured light projection unit are connected to the processor to control the surgical microscope illumination unit and the structured light projection unit to emit light beams in a time-sharing manner through the processor, so as to realize time-sharing imaging of the surgical area by the second surgical microscope unit.

[0028] The multi-modal microsurgical navigation system provided by the present invention collects two-dimensional images of the surgical area through the camera of the second surgical microscope unit, which is convenient for the subsequent processor to process the images collected by the camera. Moreover, by processing the two-dimensional images collected by the camera through the processor, binocular stereoscopic vision images or structured light three-dimensional images can be obtained, realizing the offline matching of the three-dimensional images with the surface of the surgical area, so that users can perform preoperative planning before surgery and evaluate the surgical effect of the postoperative surgical area according to the binocular stereoscopic vision images or structured light three-dimensional images. At the same time, through the real-time two-dimensional tomographic imaging of the surgical area by the optical coherence tomography unit and the combination of the processing of the processor, three-dimensional tomographic images of the surgical area can be obtained, realizing the online matching of the three-dimensional images with the surface of the surgical area, so as to facilitate the real-time monitoring and navigation of the surgical process. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0030] Figure 1 It is a configuration block diagram of the multi-modal microsurgical navigation system provided by the specific embodiment of the present invention;

[0031] Figure 2Schematic diagram of the configuration structure of the multi-modal microsurgical navigation system provided by a specific embodiment of the present invention.

[0032] Figure 1 and Figure 2 The reference numerals in the accompanying drawings are as follows:

[0033] 1 is an objective lens, 2 is a surgical microscope illumination unit, 21 is a light source, 22 is a first reflector, 3 is a structured light projection unit, 31 is a near-infrared light source, 32 is a first collimator, 33 is a first two-dimensional scanning galvanometer, 4 is a first surgical microscope unit, 41 is an eyepiece, 42 is an image relay unit, 5 is a second surgical microscope unit, 51 is a camera, 52 is an imaging lens, 6 is a first beam splitting unit, 61 is a beam splitter, 7 is an optical coherence tomography unit, 71 is a swept laser, 72 is a first coupler, 731 is a first circulator, 732 is a second circulator, 741 is a second collimator, 742 is a third collimator, 75 is a second reflector, 76 is a second two-dimensional scanning galvanometer, 77 is a second coupler, 78 is a balanced detector, 8 is a processor, 9 is an output unit, 10 is a second beam splitting unit, 101 is a first dichroic mirror, 102 is a second dichroic mirror, 11 is an optical zoom unit, and 12 is a surgical area. Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0035] The core of the present invention is to provide a multi-modal microsurgical navigation system that can perform three-dimensional imaging on the surface of the surgical area to achieve online and offline matching between the three-dimensional image and the surface of the surgical area, so as to facilitate preoperative planning before surgery, real-time monitoring and navigation during the surgery, and surgical effect evaluation of the surgical area after the surgery, etc.

[0036] Please refer to Figure 1 and Figure 2 , Figure 1 which is a block diagram of the configuration of the multi-modal microsurgical navigation system provided by a specific embodiment of the present invention; Figure 2 Schematic diagram of the configuration structure of the multi-modal microsurgical navigation system provided by a specific embodiment of the present invention.

[0037] The present invention provides a multimodal microsurgical navigation system, which includes an objective lens 1, a surgical microscope illumination unit 2, a structured light projection unit 3, a first surgical microscope unit 4, a second surgical microscope unit 5, a first beam splitting unit 6, an optical coherence tomography unit 7, a processor 8, and an output unit 9.

[0038] Specifically, the objective lens 1 uses light to form a first image of the surgical area 12. The main structure of the objective lens 1 is the same as that of a conventional objective lens in the prior art, and will not be elaborated herein.

[0039] The surgical microscope illumination unit 2 is used to uniformly illuminate the surgical area 12 via the objective lens 1, so that the objective lens 1 uses the illumination light to perform two-dimensional imaging of the surgical area 12. The main structure of the surgical microscope illumination unit 2 can refer to the prior art and will not be specifically limited herein. For example, the surgical microscope illumination unit 2 includes a light source 21 and a first reflector 22.

[0040] The structured light projection unit 3 is used to project light with a preset pattern onto the surgical area 12 via the objective lens 1, so that the objective lens 1 uses the projected structured light to perform two-dimensional imaging of the surgical area 12. The present invention does not limit the specific structure of the structured light projection unit 3. For example, the structured light projection unit 3 includes a near-infrared light source 31, a first collimator 32, a first two-dimensional scanning galvanometer 33, etc.

[0041] The first surgical microscope unit 4 is used to perform two-dimensional imaging of the surgical area 12 via the objective lens 1. The first surgical microscope unit 4 includes an eyepiece 41 for the surgical operator to directly observe the two-dimensional image of the surgical area 12 through binocular vision.

[0042] The second surgical microscope unit 5 is used to perform two-dimensional imaging of the surgical area 12 via the objective lens 1. The second surgical microscope unit 5 includes a camera 51 for collecting the two-dimensional image of the surgical area 12.

[0043] The camera 51 is connected to the processor 8. The processor 8 is used to obtain the two-dimensional image collected by the camera 51, and perform binocular stereo vision processing on the two-dimensional image of the surgical area 12 illuminated by the surgical microscope illumination unit 2 obtained by the camera 51 to obtain a binocular stereo vision image of the surface of the surgical area 12; and perform processing on the structured light projection image of the surgical area 12 projected by the structured light projection unit 3 obtained by the camera 51 to obtain a three-dimensional structured light image of the surgical area 12.

[0044] The processor 8 is connected to the output unit 9 to output the two-dimensional image, binocular stereo vision image, or three-dimensional structured light image of the surgical area 12 through the output unit 9.

[0045] It should be noted that the output unit 9 in the present invention can be a display, that is, a two-dimensional image, a binocular stereoscopic vision image, or a structured light three-dimensional image of the surgical area 12 can be directly displayed through the display; of course, the output unit 9 can also be other output units 9 that can print out the displayed pictures, as long as the above various images of the surgical area 12 can be output for the surgical operator to refer to.

[0046] The first beam splitting unit 6 is used to split the reflected light of the surgical area 12 into the first surgical microscope unit 4 and the second surgical microscope unit 5 after passing through the objective lens 1 according to a preset ratio.

[0047] Preferably, an image conversion unit 42 is provided between the eyepiece 41 and the first beam splitting unit 6.

[0048] Preferably, an imaging lens 52 is provided between the camera 51 and the first beam splitting unit 6.

[0049] That is to say, in the present invention, the reflected light of the surgical area 12 enters the first surgical microscope unit 4 and the second surgical microscope unit 5 respectively after passing through the objective lens 1 through the first beam splitting unit 6. The first surgical microscope unit 4 can be used for the surgical operator to directly observe the two-dimensional imaging of the surgical area 12 through binocular vision. The second surgical microscope unit 5 can collect the two-dimensional imaging of the surgical area 12 through the camera 51, so as to facilitate the processor 8 to process the image collected by the camera 51.

[0050] For example, when the light of the surgical microscope illumination unit 2 is evenly illuminated to the surgical area 12 through the objective lens 1, the surgical area 12 reflects the illumination beam. The reflected light of the surgical area 12 passes through the objective lens 1 and the first beam splitting unit 6 and finally enters the first surgical microscope unit 4 and the second surgical microscope unit 5, so that the surgical operator's eyes can observe the two-dimensional image of the surgical area 12 at the exit pupil position of the eyepiece 41 of the first surgical microscope unit 4. At the same time, the second surgical microscope unit 5 collects the two-dimensional image of the surgical area 12 through the camera 51, and sends the two-dimensional image of the surgical area 12 collected by the camera 51 to the processor 8 through the camera 51. Then, the processor 8 sends an output signal to the output unit 9 to make the output unit 9 output the two-dimensional image, so that the surgical operator observes the two-dimensional image of the surgical area 12 through the output unit 9.

[0051] It should be noted that before the output unit 9 outputs the two-dimensional image of the surgical area 12, the processor 8 can enhance the two-dimensional image of the surgical area 12 collected by the camera 51, so that the output unit 9 outputs the enhanced two-dimensional image of the surgical area 12.

[0052] Further, the processor 8 can also perform binocular stereo vision processing on the two-dimensional image of the surgical area 12 according to the binocular stereo vision processing technology in the prior art to obtain a binocular stereo vision image of the surface of the surgical area 12, and send the binocular stereo vision image to the output unit 9, so that the output unit 9 outputs the binocular stereo vision image. That is, the surgical operator can also observe the binocular stereo vision image of the surgical area 12 through the output unit 9.

[0053] Considering that the projection of the preset pattern on the surgical area 12 by the structured light projection unit 3 is mainly to obtain a structured light three-dimensional image, therefore, as a preferred solution, the first beam splitting unit 6 includes a beam splitter 61 for transmitting and reflecting the light of the surgical microscope illumination unit 2 according to a preset ratio and totally reflecting the light of the structured light projection unit 3.

[0054] That is to say, after the light of the surgical microscope illumination unit 2 is uniformly illuminated on the surgical area 12 through the objective lens 1, the reflected light of the surgical area 12 enters the first surgical microscope unit 4 and the second surgical microscope unit 5 through the objective lens 1 and the first beam splitting unit 6 respectively; when the structured light projection unit 3 projects the light of the preset pattern onto the surgical area 12 through the objective lens 1, the reflected light of the surgical area 12 enters the second surgical microscope unit 5 finally through the objective lens 1 and the first beam splitting unit 6.

[0055] Specifically, when the structured light projection unit 3 projects the light of the preset pattern onto the surgical area 12 through the objective lens 1, the surgical area 12 reflects the structured light of the preset pattern. After the reflected light of the surgical area 12 enters the second surgical microscope unit 5 through the objective lens 1 and the first beam splitting unit 6, the camera 51 of the second surgical microscope unit 5 collects the two-dimensional structured light image of the surgical area 12, and sends the two-dimensional structured light image of the surgical area 12 collected by it to the processor 8. After being processed by the processor 8, a structured light three-dimensional image is obtained, and the structured light three-dimensional image is sent to the output unit 9, so that the output unit 9 outputs the structured light three-dimensional image. That is, the surgical operator can also observe the structured light three-dimensional image of the surgical area 12 through the output unit 9.

[0056] It should be noted that the present invention does not limit the processing method of the two-dimensional structured light image by the processor 8, as long as the structured light three-dimensional image can be obtained. Those skilled in the art can refer to the prior art according to actual needs, which will not be elaborated herein.

[0057] It can be understood that the resolution of the binocular stereo vision image is high, and the anti-interference ability of the structured light three-dimensional image is strong, which can be applied to low-light or featureless environments. Therefore, by controlling the surgical microscope illumination unit 2 and the structured light projection unit 3 for time-sharing illumination, time-sharing imaging of the surgical area 12 can be realized to obtain more comprehensive image information of the surgical area 12.

[0058] In addition, the optical coherence tomography unit 7 is used to perform two-dimensional scanning on the surgical area 12 via the objective lens 1 to obtain two-dimensional tomography imaging.

[0059] The optical coherence tomography unit 7 is connected to the processor 8, so that the processor 8 processes the two-dimensional tomography imaging detected by the optical coherence tomography unit 7 to obtain a three-dimensional tomography image of the surgical area 12. At the same time, the processor 8 can send the three-dimensional tomography image to the output unit 9, so that the output unit 9 outputs the three-dimensional tomography image. That is to say, the surgical operator can also observe the three-dimensional tomography image of the surgical area 12 through the output unit 9.

[0060] It should be noted that the present invention does not limit the specific structure of the optical coherence tomography unit 7, and those skilled in the art can refer to the prior art.

[0061] It can be seen from this that the multi-modal microsurgical navigation system provided by the present invention uses the camera 51 of the second surgical microscope unit 5 to collect two-dimensional images of the surgical area 12, which is convenient for the subsequent processor 8 to process the images collected by the camera 51. Moreover, by processing the two-dimensional images collected by the camera 51 by the processor 8, a binocular stereoscopic vision image or a structured light three-dimensional image can be obtained, realizing the offline matching of the three-dimensional image and the surface of the surgical area, so that the user can perform preoperative planning before surgery and evaluate the surgical effect of the surgical area 12 after surgery according to the binocular stereoscopic vision image or the structured light three-dimensional image. At the same time, through the real-time two-dimensional tomography imaging of the surgical area 12 by the optical coherence tomography unit 7 and the combination of the processing of the processor 8, a three-dimensional tomography image of the surgical area 12 can be obtained, realizing the online matching of the three-dimensional image and the surface of the surgical area, and facilitating the real-time monitoring and navigation of the surgical process.

[0062] Considering the specific implementation of the surgical microscope illumination unit 2 for illuminating the objective lens 1, on the basis of the above embodiment, the surgical microscope illumination unit 2 illuminates the surgical area 12 through the paraxial region of the objective lens 1.

[0063] Considering the specific implementation of the structured light projection unit 3 for projecting onto the objective lens 1, on the basis of the above embodiment, the structured light projection unit 3 projects onto the surgical area 12 through the axial region of the objective lens 1.

[0064] Further, on the basis of the above embodiment, the first surgical microscope unit 4, the second surgical microscope unit 5, and the optical coherence tomography unit 7 all perform coaxial imaging through the axial region of the objective lens 1. This can avoid calibrating the imaging field of view of the optical coherence tomography unit 7.

[0065] Meanwhile, in this preferred embodiment, the multimodal microsurgical navigation system further includes a second beam splitting unit 10 for coupling and separating lights of different wavelengths from the first surgical microscope unit 4, the second surgical microscope unit 5, the structured light projection unit 3, and the optical coherence tomography unit 7.

[0066] Considering the specific structure of the second beam splitting unit 10, on the basis of the above embodiment, the second beam splitting unit 10 includes a first dichroic mirror 101 and a second dichroic mirror 102. The first dichroic mirror 101 is used for fully transmitting the light of the optical coherence tomography unit 7 and fully reflecting the light of the structured light projection unit 3, so that the lights of the optical coherence tomography unit 7 and the structured light projection unit 3 with different optical paths can enter the second dichroic mirror 102.

[0067] The second dichroic mirror 102 is used for fully reflecting the light of the optical coherence tomography unit 7 and semi-transmitting and semi-reflecting the light of the structured light projection unit 3, so that the light of the optical coherence tomography unit 7 reflected by the surgical area 12 can finally return to the optical coherence tomography unit 7 after passing through the objective lens 1, the second dichroic mirror 102, and the first dichroic mirror 101; meanwhile, the light of the structured light projection unit 3 reflected by the surgical area 12 can enter the first beam splitting unit 6 after passing through the objective lens 1 and the second dichroic mirror 102.

[0068] Considering the convenience of observation by the surgical operator, preferably, the number of eyepieces 41 is two. Correspondingly, the number of cameras 51 and the first beam splitting unit 6 is also two.

[0069] On the basis of the above various embodiments, an optical zoom unit 11 is provided between the second beam splitting unit 10 and the first beam splitting unit 6 to magnify the magnification of the two-dimensional imaging of the first surgical microscope unit 4 and the second surgical microscope unit 5.

[0070] Considering the specific implementation of the second surgical microscope unit 5 for performing time-sharing imaging on the surgical area 12, on the basis of the above various embodiments, both the surgical microscope illumination unit 2 and the structured light projection unit 3 are connected to the processor 8 to control the surgical microscope illumination unit 2 and the structured light projection unit 3 to perform time-sharing illumination through the processor 8, so as to realize the second surgical microscope unit 5 performing time-sharing imaging on the surgical area 12.

[0071] That is to say, in this embodiment, the processor 8 is used to control the surgical microscope illumination unit 2 and the structured light projection unit 3 to emit light beams in a time-sharing manner. Furthermore, the camera 51 of the second surgical microscope unit 5 can obtain the two-dimensional image of the surgical area 12 illuminated by the surgical microscope illumination unit 2 and the structured light projection image projected by the structured light projection unit 3 in a time-sharing manner, so as to finally obtain the two-dimensional image, the binocular stereoscopic vision image, and the structured light three-dimensional image of the surgical area 12 in a time-sharing manner.

[0072] Please refer to Figure 2 , Figure 2 which shows the specific configurations of the structured light projection unit 3, the first surgical microscope unit 4, the second surgical microscope unit 5, the optical coherence tomography unit 7, etc. in a preferred embodiment of the present invention. The working process of the multimodal microsurgical navigation system will be described below with reference to the specific structure of the multimodal microsurgical navigation system shown in Figure 2 .

[0073] When the surgical microscope illumination unit 2 works, the light source 21 of the surgical microscope illumination unit 2 emits visible light, which illuminates the surgical area 12 through the first mirror 22 and the paraxial region of the objective lens 1. The surgical area 12 has a reflection effect on the incident light. The reflected light carries the light intensity information of the surgical area 12, which is collected by the main axis of the objective lens 1, and then enters the two image rotation units 42 after passing through the second dichroic mirror 102, the optical zoom unit 11 and the beam splitter 61, and then enters the two eyepieces 41. The observer can directly observe the surgical site with the naked eye.

[0074] Another part of the light split by the beam splitter 61 enters the two cameras 51 after passing through the imaging lens 52. The two cameras 51 collect the two-dimensional images of the surgical area 12 and are processed by the processor 8. For example, the processor 8 can enhance the two-dimensional images of the surgical area 12 and then provide the enhanced two-dimensional images to the output unit 9 for output; the processor 8 can also perform binocular stereoscopic vision processing on the two-dimensional images of the surgical area 12 to obtain the binocular stereoscopic vision images on the surface of the surgical area 12, and then provide them to the output unit 9 for output.

[0075] When the structured light projection unit 3 works, the light emitted by the near-infrared light source 31 of the structured light projection unit 3 enters the first two-dimensional scanning galvanometer 33 after being collimated by the first collimator 32. After the beam is deflected by the first two-dimensional scanning galvanometer 33, it is reflected by the first dichroic mirror 101 and the second dichroic mirror 102 and then focused on the surgical area 12 by the objective lens 1. The surgical area 12 reflects the focused beam. After being collected by the objective lens 1, it enters the second dichroic mirror 102. After being transmitted by the second dichroic mirror 102, it enters the two cameras 51 after passing through the optical zoom unit 11, the beam splitter 61 and the imaging lens 52. The two cameras 51 collect the two-dimensional images of the surgical area 12 and send them to the processor 8 for processing to obtain the structured light three-dimensional images, which are then output by the output unit 9.

[0076] When the optical coherence tomography unit 7 is operating, the beam emitted by the swept laser 71 of the optical coherence tomography unit 7 is split into two paths by the first coupler 72. One path is the reference light. The light emerging from the first coupler 72 passes through the first circulator 731 and the second collimator 741 and then reaches the second mirror 75. The second mirror 75 reflects the light, and the reflected light enters the second coupler 77 after passing through the first circulator 731. The other path is the sample light. The light emerging from the first coupler 72 passes through the second circulator 732 and the third collimator 742 and then is incident on the second two-dimensional scanning galvanometer 76. After the second two-dimensional scanning galvanometer 76 deflects the beam, the beam enters the first dichroic mirror 101. The light transmitted by the first dichroic mirror 101 is reflected by the second dichroic mirror 102 and then focused on the surgical area 12 by the objective lens 1. The reflected light from the surgical area 12 returns along the original path to the second circulator 732 and then undergoes second coupling. The two reflected lights interfere at the second coupler 77 and then are subjected to photoelectric conversion by the balanced detector 78. The processor 8 collects or processes the electrical signal output by the balanced detector 78 to obtain a two-dimensional tomographic image or a three-dimensional tomographic image of the surgical area 12, and then the output unit 9 outputs the image.

[0077] It should be noted here that Figure 2 the optical components shown are only exemplary, and those skilled in the art can set / replace / remove the corresponding optical components for specific purposes. For example, in order to adjust the optical path, one or more mirrors, lenses, etc. can be added / removed.

[0078] It should also be noted that in this specification, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0079] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other.

[0080] The multimodal microsurgical navigation system provided by the present invention has been introduced in detail above. Specific examples are used herein to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A multimodal microsurgical navigation system, characterized in that, comprising: an objective lens (1); a surgical microscope illumination unit (2) for uniformly illuminating a surgical area (12) via the objective lens (1); a structured light projection unit (3) for projecting a preset pattern onto the surgical area (12) via the objective lens (1); a first surgical microscope unit (4) for two-dimensionally imaging the surgical area (12) via the objective lens (1), the first surgical microscope unit (4) including an eyepiece (41) for allowing a surgical operator to directly observe a two-dimensional image of the surgical area (12) binocularly; a second surgical microscope unit (5) for two-dimensionally imaging the surgical area (12) via the objective lens (1), the second surgical microscope unit (5) including a camera (51) for acquiring a two-dimensional image of the surgical area (12); a first beam splitting unit (6) for splitting the reflected light of the surgical area (12) proportionally after passing through the objective lens (1) and entering the first surgical microscope unit (4) and the second surgical microscope unit (5); an optical coherence tomography unit (7) for two-dimensionally scanning the surgical area (12) via the objective lens (1) to obtain two-dimensional tomography; a processor (8) respectively connected to the camera (51) and the optical coherence tomography unit (7), the processor (8) being configured to acquire the two-dimensional image acquired by the camera (51); and perform binocular stereo vision processing on the two-dimensional image of the surgical area (12) illuminated by the surgical microscope illumination unit (2) acquired by the camera (51) to obtain a binocular stereo vision image of the surface of the surgical area (12); and process the structured light projection image projected by the structured light projection unit (3) acquired by the camera (51) to obtain a three-dimensional structured light image of the surgical area (12); and process the two-dimensional tomography obtained by the optical coherence tomography unit (7) to obtain a three-dimensional tomography image; an output unit (9) connected to the processor (8), the output unit (9) being configured to output the two-dimensional image, the binocular stereo vision image, the three-dimensional structured light image or the three-dimensional tomography image.

2. The multimodal microsurgical navigation system according to claim 1, characterized in that, the surgical microscope illumination unit (2) illuminates the surgical area (12) via a paraxial region of the objective lens (1).

3. The multimodal microsurgical navigation system according to claim 2, characterized in that, the structured light projection unit (3) projects onto the surgical area (12) via an on-axis region of the objective lens (1).

4. The multimodal microsurgical navigation system according to claim 3, characterized in that, the first surgical microscope unit (4), the second surgical microscope unit (5) and the optical coherence tomography unit (7) all perform coaxial imaging via an on-axis region of the objective lens (1); further comprising: A second beam splitting unit (10) for coupling and separating lights of different wavelengths of the first surgical microscope unit (4), the second surgical microscope unit (5), the structured light projection unit (3) and the optical coherence tomography unit (7).

5. The multimodal microsurgical navigation system according to claim 4, wherein, the second beam splitting unit (10) includes: a first dichroic mirror (101) for fully transmitting the light of the optical coherence tomography unit (7) and fully reflecting the light of the structured light projection unit (3); a second dichroic mirror (102) for fully reflecting the light of the optical coherence tomography unit (7) and semi-transmitting and semi-reflecting the light of the structured light projection unit (3).

6. The multimodal microsurgical navigation system according to any one of claims 1-5, wherein, the first beam splitting unit (6) includes a beam splitter (61) for transmitting and reflecting the light of the surgical microscope illumination unit (2) according to a preset ratio and fully reflecting the light of the structured light projection unit (3).

7. The multimodal microsurgical navigation system according to claim 6, wherein, an optical zoom unit (11) is provided between the second beam splitting unit (10) and the first beam splitting unit (6) to magnify the magnification of the two-dimensional imaging of the first surgical microscope unit (4) and the second surgical microscope unit (5).

8. The multimodal microsurgical navigation system according to claim 6, wherein, both the surgical microscope illumination unit (2) and the structured light projection unit (3) are connected to the processor (8), so as to control the surgical microscope illumination unit (2) and the structured light projection unit (3) to emit light beams in a time-sharing manner through the processor (8), so as to realize the time-sharing imaging of the second surgical microscope unit (5) on the surgical area (12).

Images