Three-dimensional display device and three-dimensional display control method for surgical robot

Abstract

The present invention discloses a three-dimensional display device and a three-dimensional display control method for a surgical robot, wherein the three-dimensional display device comprises a polarized three-dimensional display screen, a reflection device, and an observation eyepiece; the polarized three-dimensional display screen is used to receive three-dimensional video image content from the surgical robot and display it in a polarized three-dimensional form; the reflection device is used to perform mirror reflection of the image content of the polarized three-dimensional display screen at a pre-designed angle; the observation eyepiece is equipped with polarized lenses at the left and right eye positions, respectively, and the polarized lenses match the polarized three-dimensional display screen. The three-dimensional display device and the three-dimensional display control method for a surgical robot proposed by the present invention can simplify the optical path design of the surgical robot, reduce the complexity of the system, and reduce the requirements for the processing accuracy, assembly accuracy, and seismic resistance of the system components.

Description

Technical Field

[0001] The present invention belongs to the technical field of three-dimensional display, and relates to a three-dimensional display device, and in particular to a three-dimensional display device for a surgical robot and a three-dimensional display control method. Background Art

[0002] In 2000, the da Vinci surgical robot developed by Intuitive Surgical of the United States obtained the US FDA certification and entered clinical application. Since then, surgical robots have officially entered the medical field and achieved great success. The emergence of surgical robots has enabled top doctors to complete operations faster and better, extending their professional lifespan, and also enabled young doctors to greatly improve the quality of operations.

[0003] Currently, surgical robots represented by the da Vinci basically use independent left and right eye system designs and multiple reflection optical light path designs in the design of the display system. The system complexity is very high, and it has very high requirements on the processing accuracy, assembly accuracy, and seismic resistance of system components, and the threshold for technical research and development is very high.

[0004] In view of this, it is necessary to design a new three-dimensional (3D) display system for surgical robots to reduce the design complexity of surgical robots, lower the industry threshold, and accelerate the development of the domestic surgical robot industry. Summary of the invention

[0005] The present invention provides a three-dimensional display device and a three-dimensional display control method for a surgical robot, which can simplify the optical path design of the surgical robot, reduce system complexity, and reduce the requirements for the processing accuracy, assembly accuracy, and seismic resistance of system components.

[0006] To solve the above technical problem, according to one aspect of the present invention, the following technical solution is adopted:

[0007] A three-dimensional display device for a surgical robot, the three-dimensional display device comprising: a polarized three-dimensional display screen, a reflection device, and an observation eyepiece;

[0008] The polarized three-dimensional display screen is used to receive three-dimensional video image content from the surgical robot and display it in a polarized three-dimensional form;

[0009] The reflecting device is used to perform mirror reflection on the image content of the polarized three-dimensional display screen at a pre-designed angle;

[0010] The observation eyepiece is equipped with polarized lenses at the left and right eye positions respectively, and the polarized lenses match the polarized three-dimensional display screen.

[0011] As an embodiment of the present invention, the polarization modes of the polarized three-dimensional display screen and the polarized lenses on the observation eyepiece are linear polarization, circular polarization, or elliptical polarization.

[0012] As an embodiment of the present invention, the left and right eye polarized lenses arranged on the observation eyepiece split the polarized three-dimensional image content, separate the views corresponding to the left eye and the right eye, and then enter the user's eyes respectively, so that the user can see the three-dimensional image content.

[0013] As an embodiment of the present invention, the light reflected from the middle area of ​​the observation eyepiece through the middle area of ​​the reflection device is reflected to the middle area of ​​the polarized three-dimensional display screen, and the reflected light reflected to the middle area of ​​the polarized three-dimensional display screen is perpendicular to the polarized three-dimensional display screen.

[0014] As an embodiment of the present invention, the light reflected from the center of the observation eyepiece through the center of the reflection device is reflected to the center of the polarized 3D display screen, and the reflected light reflected to the center of the polarized 3D display screen is perpendicular to the polarized 3D display screen.

[0015] As an embodiment of the present invention, the polarized three-dimensional display screen and the reflecting device are assembled at a pre-designed angle to ensure that the user's line of sight through the observation eyepiece, after being reflected by the reflecting device, is precisely perpendicular to the surface of the polarized three-dimensional display screen when it reaches the surface of the polarized three-dimensional display screen, to ensure that the content seen by the user is not deformed.

[0016] As an embodiment of the present invention, angle α, angle β, angle The following conditions are met so that the angle θ is 90 degrees;

[0017]

[0018] The angle α is the angle between the polarized three-dimensional display screen and the first plane, the angle β is the angle between the reflective surface of the reflective device and the first plane, and the angle is the angle between the reflective surface of the reflective device and the reflected light / incident light, and the angle θ is the angle between the incident light / reflected light and the surface of the polarized three-dimensional display screen.

[0019] As an embodiment of the present invention, through optical design, the horizontal field of view angle and the vertical field of view angle jointly formed by the observation eyepiece and the reflection device coincide with the visible area of ​​the polarized three-dimensional display screen, so that the entire screen image can be seen within the user's field of view, so as to achieve the best immersive feeling.

[0020] According to another aspect of the present invention, the following technical solution is adopted: a three-dimensional display control method for a surgical robot, the three-dimensional display control method comprising:

[0021] The polarized three-dimensional display screen receives three-dimensional video image content from the surgical robot and displays it in a polarized three-dimensional form;

[0022] The reflecting device performs mirror reflection on the image content of the polarized three-dimensional display screen at a pre-designed angle;

[0023] The three-dimensional image content after reflection reaches the observation eyepiece, and the observation eyepiece is equipped with polarized lenses at the left and right eye positions respectively, and the polarized lenses match the polarized three-dimensional display screen; the left and right eye polarized lenses on the observation eyepiece split the polarized three-dimensional image content, separate the views corresponding to the left eye and the right eye, and then enter the user's eyes respectively, so that the user can see the three-dimensional image content.

[0024] The beneficial effects of the present invention are as follows: the three-dimensional display device and three-dimensional display control method for a surgical robot proposed in the present invention can simplify the optical path design of the surgical robot, reduce system complexity, and reduce the requirements for processing accuracy, assembly accuracy, and seismic resistance of system components. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 FIG. 1 is a schematic diagram showing the principle of a three-dimensional display device in an embodiment of the present invention.

[0026] Figure 2 FIG. 1 is a schematic diagram showing the principle of a three-dimensional display device in an embodiment of the present invention.

[0027] Figure 3 FIG. 4 is a schematic structural diagram of a three-dimensional display device in an embodiment of the present invention.

[0028] Figure 4 FIG. 4 is a schematic structural diagram of a three-dimensional display device in an embodiment of the present invention.

[0029] Figure 5 FIG. 4 is a schematic structural diagram of a three-dimensional display device in an embodiment of the present invention. DETAILED DESCRIPTION

[0030] The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0031] In order to further understand the present invention, preferred embodiments of the present invention are described below in conjunction with examples. However, it should be understood that these descriptions are only for further illustrating the features and advantages of the present invention, rather than limiting the claims of the present invention.

[0032] The description in this section is only for several typical embodiments, and the present invention is not limited to the scope of the embodiments. The same or similar prior art means and some technical features in the embodiments are mutually replaced within the scope of the present invention.

[0033] The description of the steps in each embodiment in the specification is only for the convenience of explanation, and the implementation method of the present application is not limited by the order of implementation of the steps.

[0034] The term “connection” in the specification includes both direct connection and indirect connection.

[0035] The present invention discloses a three-dimensional display device for a surgical robot. Figures 1 to 5 The principle and structure of a three-dimensional display device in one embodiment of the present invention are disclosed; please refer to Figures 1 to 5 The three-dimensional display device includes: a polarized three-dimensional display screen 1, a reflection device 2 and an observation eyepiece 3.

[0036] The polarized three-dimensional display screen 1 is used to receive three-dimensional video image content from the surgical robot and display it in a polarized three-dimensional form.

[0037] The reflecting device 2 is used to reflect the image content of the polarized 3D display screen at a pre-designed angle. The purpose of the reflecting device is to improve the 3D display effect, especially the sense of presence and immersion, by means of mirror reflection; in addition, while ensuring that the use distance of the polarized 3D display screen is met, the assembly volume of the overall device is reduced as much as possible.

[0038] The observation eyepiece 3 is an observation device with polarized lenses installed at the left and right eye positions, and the polarized lenses match the polarized 3D display screen. The 3D image content after reflection reaches the observation eyepiece 3, and the left and right eye polarized lenses on the observation eyepiece 3 split the polarized 3D image content, separate the views corresponding to the left eye and the right eye, and then enter the user's eyes respectively, so that the user can see the 3D image content. In one embodiment, the polarization mode of the polarized 3D display screen 1 and the polarized lenses on the observation eyepiece 3 is linear polarization, circular polarization, or elliptical polarization.

[0039] The polarized three-dimensional display screen 1 and the reflecting device 2 can be assembled at a pre-designed angle to ensure that the user's line of sight through the observation eyepiece 3, after being reflected by the reflecting device 2, reaches the surface of the polarized three-dimensional display screen, is precisely perpendicular to the surface of the polarized three-dimensional display screen 1, to ensure that the content seen by the user is not deformed.

[0040] like Figure 1 As shown, to meet the above requirements, the angle θ must be 90 degrees. According to the reflection principle of light, it can be calculated that when the angle α, angle β, angle The following conditions are met so that the angle θ is 90 degrees;

[0041]

[0042] The angle α is the angle between the polarized three-dimensional display screen and the first plane, the angle β is the angle between the reflective surface of the reflective device and the first plane, and the angle is the angle between the reflective surface of the reflective device and the reflected light / incident light, and the angle θ is the angle between the incident light / reflected light and the surface of the polarized three-dimensional display screen.

[0043] Through optical design, the horizontal field of view angle and the vertical field of view angle jointly formed by the observation eyepiece 3 and the reflection device 2 coincide with the visible area of ​​the polarized three-dimensional display screen, so that the entire screen image can be seen within the user's field of view, so as to achieve the best immersion.

[0044] In one embodiment of the present invention, the light reflected from the middle area of ​​the observation eyepiece 3 through the middle area of ​​the reflection device 2 is reflected to the middle area of ​​the polarized 3D display screen 1, and the reflected light reflected to the middle area of ​​the polarized 3D display screen 1 is perpendicular to the polarized 3D display screen 1. In one embodiment, the light reflected from the center of the observation eyepiece 3 through the center of the reflection device 2 is reflected to the center of the polarized 3D display screen 1, and the reflected light reflected to the center of the polarized 3D display screen 1 is perpendicular to the polarized 3D display screen 1.

[0045] like Figures 3 to 5 As shown, the polarized 3D display screen 1 is fixed by a fixing device at a designed tilt angle, and the polarized 3D display screen 1 faces downward. A reflecting device 2 is arranged below the polarized 3D display screen 1, and the upper surface of the reflecting device 2 is a smooth mirror surface with a certain tilt angle. On the side close to the user, there is an observation eyepiece 3 equipped with a polarized lens.

[0046] The tilt angle of the polarized three-dimensional display screen 1, the tilt angle of the upper surface of the reflective device 2, the relative position of the polarized three-dimensional display screen to the reflective device 2, the incident angle from the observation eyepiece 3 to the upper surface of the reflective device 2, etc., are all designed through the optical path to achieve two purposes: one is to ensure that when the user's line of sight passes through the observation eyepiece 3 and the reflective device 2 and finally reaches the surface of the polarized three-dimensional display screen 1, the line of sight remains perpendicular to the surface of the polarized three-dimensional display screen 1; the second is to ensure that the horizontal field of view angle and the vertical field of view angle formed by the observation eyepiece 3 and the reflective device 2 are consistent with the visible area of ​​the polarized three-dimensional display screen 1, so that the complete screen image can be seen in the user's field of view to achieve the best immersion.

[0047] The left and right lenses of the observation eyepiece 3 are polarized lenses, and common polarization modes such as linear polarization, circular polarization, and elliptical polarization can be used as long as they match the polarized three-dimensional display screen 1.

[0048] When the system is running, the polarized 3D display screen 1 receives the three-dimensional (3D) video signal of the surgical robot, and then displays it in real time in the form of polarized 3D. The display content on the polarized 3D display screen 1 is reflected by the mirror of the reflective device 2 below it, and then passes through the observation eyepiece 3; the left and right polarized lenses of the observation eyepiece 3 split the 3D picture content, so that the left view of the 3D content enters the user's left eye, and the right view enters the user's right eye, and finally the user sees the 3D effect.

[0049] The present invention further discloses a three-dimensional display control method for a surgical robot, the three-dimensional display control method comprising:

[0050] [Step S1] The polarized 3D display screen receives 3D video image content from the surgical robot and displays it in a polarized 3D form;

[0051] [Step S2] The reflecting device performs mirror reflection on the image content of the polarized three-dimensional display screen at a pre-designed angle;

[0052] [Step S3] The three-dimensional image content after reflection reaches the observation eyepiece, and the observation eyepiece is equipped with polarized lenses at the left and right eye positions respectively, and the polarized lenses match the polarized three-dimensional display screen; the left and right eye polarized lenses on the observation eyepiece split the polarized three-dimensional image content, separate the views corresponding to the left eye and the right eye, and then enter the user's eyes respectively, so that the user can see the three-dimensional image content.

[0053] In summary, the three-dimensional display device and three-dimensional display control method for a surgical robot proposed in the present invention can simplify the optical path design of the surgical robot, reduce system complexity, and reduce the requirements for processing accuracy, assembly accuracy, and seismic resistance of system components.

[0054] It should be noted that the present application can be implemented in software and / or a combination of software and hardware; for example, it can be implemented using an application-specific integrated circuit (ASIC), a general-purpose computer, or any other similar hardware device. In some embodiments, the software program of the present application can be executed by a processor to implement the above steps or functions. Similarly, the software program of the present application (including related data structures) can be stored in a computer-readable recording medium; for example, a RAM memory, a magnetic or optical drive or a floppy disk and the like. In addition, some steps or functions of the present application can be implemented in hardware; for example, as a circuit that cooperates with a processor to perform various steps or functions.

[0055] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0056] The description and application of the present invention here are illustrative, and it is not intended to limit the scope of the present invention to the above-mentioned embodiments. The effects or advantages involved in the embodiments may not be embodied in the embodiments due to interference from various factors, and the description of the effects or advantages is not used to limit the embodiments. The deformation and change of the embodiments disclosed here are possible, and the replacement of the embodiments and the various equivalent parts are well known to those of ordinary skill in the art. It should be clear to those skilled in the art that the present invention can be implemented in other forms, structures, arrangements, proportions, and with other components, materials and parts without departing from the spirit or essential features of the present invention. Other deformations and changes can be made to the embodiments disclosed here without departing from the scope and spirit of the present invention.

Claims

1. A three-dimensional display device for a surgical robot, characterized in that: The three-dimensional display device comprises: a polarized three-dimensional display screen, a reflection device and an observation eyepiece; The polarized three-dimensional display screen is used to receive three-dimensional video image content from the surgical robot and display it in a polarized three-dimensional form; The reflecting device is used to perform mirror reflection on the image content of the polarized three-dimensional display screen at a pre-designed angle; The observation eyepiece is equipped with polarized lenses at the left and right eye positions respectively, and the polarized lenses match the polarized three-dimensional display screen; The light reflected from the middle area of ​​the observation eyepiece through the middle area of ​​the reflection device is reflected to the middle area of ​​the polarized three-dimensional display screen, and the reflected light reflected to the middle area of ​​the polarized three-dimensional display screen is perpendicular to the polarized three-dimensional display screen; The light reflected from the center of the observation eyepiece through the center of the reflection device is reflected to the center of the polarized 3D display screen, and the reflected light reflected to the center of the polarized 3D display screen is perpendicular to the polarized 3D display screen; The polarized 3D display screen and the reflective device are assembled at a pre-designed angle to ensure that the user's line of sight through the observation eyepiece is precisely perpendicular to the surface of the polarized 3D display screen after being reflected by the reflective device, so as to ensure that the content seen by the user is not deformed; Angle α, angle β, angle The following conditions are met so that the angle θ is 90 degrees; The angle α is the angle between the polarized three-dimensional display screen and the first plane, the angle β is the angle between the reflective surface of the reflective device and the first plane, and the angle is the angle between the reflective surface of the reflective device and the reflected light / incident light, and angle θ is the angle between the incident light / reflected light and the surface of the polarized three-dimensional display screen; Through optical design, the horizontal field of view angle, the vertical field of view angle jointly formed by the observation eyepiece and the reflection device overlap with the visible area of ​​the polarized three-dimensional display screen, so that the entire screen image can be seen in the user's field of view, so as to achieve the best immersion.

2. The three-dimensional display device for a surgical robot according to claim 1, characterized in that: The polarization modes of the polarized three-dimensional display screen and the polarized lenses on the observation eyepiece are linear polarization, circular polarization or elliptical polarization.

3. The three-dimensional display device for a surgical robot according to claim 1, characterized in that: The left and right eye polarized lenses arranged on the observation eyepiece split the polarized three-dimensional image content, separate the views corresponding to the left eye and the right eye, and then enter the user's eyes respectively, so that the user can see the three-dimensional image content.

4. A three-dimensional display control method for a three-dimensional display device for a surgical robot according to any one of claims 1 to 3, characterized in that: The three-dimensional display control method comprises: The polarized three-dimensional display screen receives three-dimensional video image content from the surgical robot and displays it in a polarized three-dimensional form; The reflecting device performs mirror reflection on the image content of the polarized three-dimensional display screen at a pre-designed angle; The three-dimensional image content after reflection reaches the observation eyepiece, and the observation eyepiece is equipped with polarized lenses at the left and right eye positions respectively, and the polarized lenses match the polarized three-dimensional display screen; the left and right eye polarized lenses on the observation eyepiece split the polarized three-dimensional image content, separate the views corresponding to the left eye and the right eye, and then enter the user's eyes respectively, so that the user can see the three-dimensional image content.

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