A 3D self-tracking imaging device for microsurgery

Abstract

The present application relates to the technical field of medical equipment, and discloses a 3D self-tracking imaging device for microsurgery, including: a shooting module, used to shoot a target object to generate a target image; a microscopy module, used to align and magnify the target object; a driving module, used to drive the microscopy module to move in a second direction; a processing module, electrically connected to the shooting module and the driving module, to obtain the target image, extract the target position from the target image, calculate the moving path of the target position, calculate the first moving data in the first direction and the second moving data in the second direction according to the moving path; generate a first driving signal according to the first moving data, and generate a second driving signal according to the second moving data; to drive the microscopy module to move to form a motion path. The present application enables the microscopy device to automatically track eyeball lesions, reducing the energy consumed by doctors.

Description

Technical Field

[0001] The present application relates to the technical field of medical equipment, and in particular to a 3D self-tracking imaging device for microsurgery. Background Art

[0002] Ophthalmic microsurgery is a highly magnified surgical technique that is commonly used to treat eye diseases such as cataracts, glaucoma, retinal detachment, etc., with relatively good results. The advantages of ophthalmic microsurgery technology include high precision, low trauma, fast recovery, and the ability to observe and adjust operations in real time during the operation. Therefore, under appropriate circumstances, ophthalmic microsurgery can achieve very good therapeutic results.

[0003] During ophthalmic microsurgery, the patient needs to lie on the operating table, and the doctor uses a microscopic device that magnifies the lesion to aim at the eye lesion, and then performs the surgery under microscopic conditions.

[0004] However, the patient's eyeballs will move frequently when the eyes are open, and the doctor needs to adjust the microscope in real time to always aim at the lesion on the eyeball. Moreover, under the microscope, the doctor's adjustment amplitude cannot be too large each time, otherwise it will deviate from the lesion. This costs the doctor a lot of energy and is time-consuming and laborious. Summary of the invention

[0005] In order to allow the microscopic device to automatically track the eyeball lesion and reduce the doctor's energy consumption, the present application provides a 3D self-tracking imaging device for microsurgery, which adopts the following technical solution:

[0006] A 3D self-tracking imaging device for microsurgery, comprising the following modules:

[0007] A shooting module, used for shooting a target object to generate a target image;

[0008] A microscope module for aligning and magnifying a target object;

[0009] A driving module, comprising a first driving component and a second driving component connected to each other, wherein the first driving component is used to drive the second driving component to move in a first direction, and the second driving component is connected to the microscopy module to drive the microscopy module to move in a second direction;

[0010] a processing module, electrically connected to the shooting module and the driving module, acquiring the target image, extracting the target position from the target image, calculating a moving path of the target position, and calculating first movement data in the first direction and second movement data in the second direction according to the moving path;

[0011] Generate a first drive signal according to the first movement data, and generate a second drive signal according to the second movement data; send the first drive signal to the first drive component, and send the second drive signal to the second drive component;

[0012] The first driving component performs a first action in response to the first driving signal, and the second driving component performs a second action in response to the second driving signal, so as to drive the microscopic module to move and form an action path.

[0013] By adopting the above technical solution, the processing module can acquire the target image and calculate the movement data in real time, so the driving component can respond in real time and drive the microscopic module to move, ensuring the real-time nature of the surgery. Through advanced image processing algorithms and path planning algorithms, the processing module can accurately calculate the movement path and movement data of the target position, thereby ensuring the accuracy of the movement of the microscopic module. Since the driving component can receive the driving signal from the processing module and perform the corresponding action, the entire system has high flexibility and can adapt to different surgical needs.

[0014] Optionally, the photographing module and the microscopy module are not on the same supporting frame, and the photographing module and the microscopy module are not rigidly connected;

[0015] The shooting module shoots the microscopy module to generate a module image;

[0016] The processing module obtains the module image, extracts the module position from the module image, calculates the module path of the module position, and calculates the path difference between the moving path and the module path; if the path difference is greater than a preset reference difference, a gain value is added to the first drive signal and the second drive signal generated next time to reduce the reference difference calculated next time.

[0017] By adopting the above technical solutions, the position and movement speed of the microscope module can be dynamically adjusted to ensure that the target object can always be accurately tracked; because the shooting module and the microscope module are separate, the system is more flexible and can adapt to different surgical environments and needs. Through intelligent calibration and adjustment mechanisms, the system can automatically correct deviations and improve the accuracy and safety of surgery.

[0018] Optionally, adjusting the gain value according to the path difference;

[0019] If the path difference is greater than 0, the gain value becomes smaller as the path difference becomes larger;

[0020] If the path difference is less than 0, as the absolute value of the path difference increases, the gain value increases.

[0021] By adopting the above technical solution, a method for adjusting the gain value according to the path difference degree is realized.

[0022] Optionally, the method for calculating the path difference includes:

[0023] Calculate first displacement data in the first direction and second displacement data in the second direction according to the module path;

[0024] Calculating a first difference between the first movement data and the first displacement data, and calculating a second difference between the second movement data and the second displacement data;

[0025] The path difference degree is calculated by using a weighted average algorithm according to the first difference and the second difference.

[0026] By adopting the above technical solution, a quantitative indicator is provided to evaluate the deviation between the microscope module and the target tracking path, and the control parameters of the system are adjusted accordingly to achieve more accurate tracking and positioning.

[0027] Optionally, the photographing module and the microscopic module are on the same supporting frame, and the photographing module is rigidly connected to the microscopic module;

[0028] Selecting a tracking object next to the target object;

[0029] The photographing module photographs the tracked object to generate a tracking image;

[0030] The processing module acquires the tracking image, extracts the tracking position from the tracking image, calculates the tracking path of the tracking position, and calculates the path difference between the moving path and the tracking path; if the path difference is greater than a preset reference difference, a gain value is added to the first drive signal and the second drive signal generated next time to reduce the reference difference calculated next time.

[0031] By adopting the above technical solutions, the selected tracking object can help the system track the movement of the target object more accurately, especially when the target object itself is difficult to track directly. Through intelligent calibration and adjustment mechanisms, the system can automatically correct deviations and improve tracking accuracy and stability.

[0032] Optionally, adjusting the gain value according to the path difference;

[0033] If the path difference is greater than 0, the gain value becomes smaller as the path difference becomes larger;

[0034] If the path difference is less than 0, as the absolute value of the path difference increases, the gain value increases.

[0035] By adopting the above technical solution, the gain value is adjusted according to the path difference.

[0036] Optionally, the method for calculating the path difference includes:

[0037] Calculate first displacement data in the first direction and second displacement data in the second direction according to the tracking path;

[0038] Calculating a first difference between the first movement data and the first displacement data, and calculating a second difference between the second movement data and the second displacement data;

[0039] The path difference degree is calculated by using a weighted average algorithm according to the first difference and the second difference.

[0040] By adopting the above technical solution, a quantitative indicator is provided to evaluate the deviation between the microscope module and the target tracking path, and the control parameters of the system are adjusted accordingly to achieve more accurate tracking and positioning.

[0041] Optionally, the first drive assembly includes a first drive member, a first screw and a first nut, the first drive member is mounted on an external bracket and fixedly connected to the first screw; the first nut is threadedly connected to the first screw and slidably connected to the external bracket through a guide structure; the second drive assembly includes a second drive member, a second screw and a second nut, the second drive member is mounted on the first nut and fixedly connected to the second screw; the second nut is threadedly connected to the second screw and slidably connected to the first nut through a guide structure, and the microscopy module is fixedly connected to the second nut.

[0042] By adopting the above technical solution, the driving of the microscope module is achieved through the screw structure in two directions.

[0043] In summary, the present application includes at least one of the following beneficial technical effects: the 3D self-tracking imaging device can realize automated microsurgery operations. When the processing module calculates the moving path of the target position according to the target image, and further calculates the first moving data in the first direction and the second moving data in the second direction, a corresponding driving signal is generated according to these data. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A schematic diagram of a module of a 3D self-tracking imaging device for microsurgery.

[0045] Figure 2 It is a schematic diagram of a structure in which the photographing module and the microscope module are not on the same supporting frame.

[0046] Figure 3 It is a structural schematic diagram of a photographing module and a microscope module on the same supporting frame.

[0047] Figure 4 It is an implementation structure diagram of the driver module.

[0048] Figure numerals: 1. shooting module; 2. microscope module; 3. driving module; 4. first driving member; 5. first screw rod; 6. first nut; 7. second driving member; 8. second screw rod; 9. second nut. DETAILED DESCRIPTION

[0049] Embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings.

[0050] In the description of this specification, the description with reference to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0051] The present application embodiment discloses a 3D self-tracking imaging device for microsurgery, referring to Figure 1 , including the following modules:

[0052] The shooting module is used to shoot the target object to generate the target image; the image of the target object is shot by the camera, such as the image of the face, so as to identify the characteristics of the target object and the corresponding position information, such as the information of the eyeball position, by image recognition.

[0053] The microscope module is used to align and magnify the target object; focusing on the target object and stably magnifying it through a microscope helps to make the surgical operation more precise.

[0054] The driving module includes a first driving component and a second driving component connected to each other, wherein the first driving component is used to drive the second driving component to move in a first direction, and the second driving component is connected to the microscopic module and is used to drive the microscopic module to move in a second direction. The microscopic module is moved in two different directions by the first driving component and the second driving component respectively. For example, the driving module can be a driving structure in the XY direction composed of a stepping motor and a transmission mechanism, or can be other driving structures.

[0055] The processing module is electrically connected to the shooting module and the driving module, acquires the target image, extracts the target position from the target image, calculates the moving path of the target position, and calculates the first moving data in the first direction and the second moving data in the second direction according to the moving path. Among them, the target position can be extracted by color recognition, shape recognition, feature point detection (such as SIFT, SURF, ORB, etc.), template matching, etc., such as extracting the path of the eye lesion following the movement of the eyeball. The path here is understood as a path on a plane, because the microscope is a process of linear light propagation, basically facing the top of the human face. During the operation, the human face will not move significantly, but the eyeball may move, so it is necessary to follow the plane displacement of the eye lesion so that the microscope can observe the condition of the lesion in real time.

[0056] Once the target position is successfully extracted, the processing module will record the coordinates of the position in the image. Therefore, the path can be calculated and planned according to the coordinate position. Among them, the path planning algorithm, such as A* (A-star) algorithm, Dijkstra algorithm, dynamic programming, etc., depends on the application scenario and movement constraints.

[0057] After the path planning is completed, the processing module needs to convert the path into specific movement data. Assuming that the system has two main movement directions (i.e., the first direction and the second direction), the processing module calculates the movement data in these two directions. These movement data include, for example, distance, speed, acceleration, etc., depending on the requirements of the drive module and the accuracy of the control system. The calculation process may involve discretization of the path (i.e., dividing the continuous path into multiple small segments), and then calculating the movement data in two directions for each small segment.

[0058] A first drive signal is generated according to the first movement data, and a second drive signal is generated according to the second movement data; the first drive signal is sent to the first drive component, and the second drive signal is sent to the second drive component. The first drive component performs a first action in response to the first drive signal, that is, controls the microscopic module to move in a first preset direction (such as the X-axis direction). The second drive component performs a second action in response to the second drive signal to drive the microscopic module to move to form a motion path. That is, the microscopic module is controlled to move in a second preset direction (such as the Y-axis direction or the Z-axis direction). Through the collaborative work of the two drive components, the microscopic module can move accurately according to the calculated movement path, thereby realizing accurate tracking and positioning of the target object. Such a motion path not only ensures the accuracy of the operation, but also greatly improves the efficiency and safety of the operation.

[0059] The 3D self-tracking imaging device can realize automated microsurgery operations. After the processing module calculates the moving path of the target position according to the target image, and further calculates the first movement data in the first direction and the second movement data in the second direction, a corresponding driving signal is generated according to these data. The technical solution can be integrated with other sensors, devices or systems to realize more advanced functions, such as force feedback, tactile feedback, etc., to further improve the accuracy and safety of the operation. The 3D self-tracking imaging device can realize highly automated microsurgery operations and improve the accuracy, efficiency and safety of the operation.

[0060] In order to ensure that the microscope module can accurately track the target object, there are two implementation methods for the installation position of the camera module:

[0061] Reference Figure 2 ,The first installation position: the camera module and the microscope module are not on the same support frame, and the camera module and the microscope module are not rigidly connected. For example, the camera module is located on the bracket next to the face and the microscope, that is, the camera module and the microscope module are not on the same support frame; the module can be used to capture face images and microscope images.

[0062] The shooting module shoots the microscope module to generate a module image; the module image includes the position, angle or other relevant information of the microscope module.

[0063] The processing module obtains the module image and uses the aforementioned image processing method to extract the module position from the module image. The module path of the module position is calculated, and the path difference between the moving path and the module path is calculated; wherein the difference includes multiple factors such as position difference, angle difference, speed difference, etc., and the size of the path difference reflects the relative position deviation between the microscopic module and the target object. If the path difference is greater than the preset reference difference, the gain value is increased for the first drive signal and the second drive signal generated next time to reduce the reference difference calculated next time. Among them, the increase in the gain value means that the moving speed, acceleration or other related parameters of the driving component will be adjusted to more quickly reduce the deviation between the microscopic module and the target object. The above process will be continuously cycled, and the gain value will be adjusted according to the new path difference after each shooting, extraction, calculation and adjustment. As time goes by, the microscopic module will gradually approach the target object until the path difference drops below the preset reference difference and the system reaches a stable state.

[0064] Therefore, this technical solution can dynamically adjust the position and movement speed of the microscope module to ensure that the target object can always be accurately tracked; because the shooting module and the microscope module are separate, the system is more flexible and can adapt to different surgical environments and needs. Through intelligent calibration and adjustment mechanisms, the system can automatically correct deviations and improve the accuracy and safety of surgery.

[0065] The method for adjusting the gain value is to adjust the gain value according to the path difference; assuming that the path difference is an indicator to measure the relative position deviation between the microscope module and the target object, wherein a positive value indicates that the deviation is increasing, and a negative value indicates that the deviation is decreasing.

[0066] If the path difference is greater than 0, the deviation is increasing. When the path difference becomes larger, the gain value becomes smaller. This is because when the path difference becomes larger, it means that the deviation between the microscopic module and the target object is gradually increasing. In order to reduce this deviation, the processing module should reduce the step size or speed of the microscopic module, that is, reduce the gain value.

[0067] If the path difference is less than 0, the deviation is decreasing. When the absolute value of the path difference increases, the gain value increases. This is because when the absolute value of the path difference (i.e., the degree of deviation reduction) increases, it means that the microscopic module is approaching the target object quickly. In order to speed up the tracking speed, the processing module should increase the step size or speed of the microscopic module, that is, increase the gain value.

[0068] The processing module can set a gain adjustment function or algorithm based on the experimental or simulation results, and dynamically calculate the gain value based on the size and change rate of the current path gap. In practical applications, some restrictions need to be set, such as the maximum and minimum gain values, adjustment step size, etc., to prevent the system from being unstable or over-adjusted.

[0069] For example, assume that the relationship between the path difference (expressed by D) and the gain value (expressed by G) is as follows:

[0070] Assume that the initial gain value G0 is 1.0 (representing some benchmark, such as pupil movement speed or step length).

[0071] When the path difference is greater than 0 (i.e. the deviation is increasing);

[0072] Assume that the current path difference degree D1 is 0.5, and in the next calculation cycle, the path difference degree D2 increases to 1.0 (ie, becomes larger).

[0073] Initial gain value G0=1.0;

[0074] Since D1=0.5 and D2=1.0 (increased), the gain value decreases. Assuming a simple linear reduction strategy, the new gain value G1 is a certain proportion of G0, such as G1=G0*0.8=1.0*0.8=0.8.

[0075] When the path difference is less than 0 (i.e. the deviation is decreasing);

[0076] Assume that the current path difference D3 is -0.3 (a negative value indicates that the deviation is decreasing), and in the next calculation cycle, the path difference D4 is reduced to -0.6 (i.e., the absolute value becomes larger, but the numerical value is smaller).

[0077] The initial gain value (or the gain value after the last adjustment) is G1=0.8 (from the example above)

[0078] Since D3=-0.3 and D4=-0.6 (the absolute value becomes larger), the gain value increases. The same linear increase strategy is adopted, and the new gain value G2 is a certain proportion of G1 plus an increment, for example, G2=G1*1.1=0.8*1.1=0.88.

[0079] The values ​​in the above examples (such as 0.5, 1.0, -0.3, -0.6, 0.8, 0.88 and scaling factors 0.8, 1.1) are only for demonstration purposes and need to be adjusted according to specific circumstances in actual applications.

[0080] The method for calculating the path difference combines the module path of the microscopic module (i.e., the actual movement path of the microscopic module) with the expected target movement path (defined by the first movement data and the second movement data) to evaluate the difference between the two, including:

[0081] The first displacement data in the first direction and the second displacement data in the second direction are calculated according to the module path. According to the image of the microscopic module taken by the shooting module, the processing module can calculate the position of the microscopic module at continuous time points, thereby obtaining the module path. From the module path, the first displacement data (referred to as Dx) of the microscopic module in the first direction (such as the X-axis) and the second displacement data (referred to as Dy or Dz) in the second direction (such as the Y-axis or the Z-axis) within a certain time period can be extracted.

[0082] Calculate the first difference between the first movement data and the first displacement data, and calculate the second difference between the second movement data and the second displacement data. The processing module knows the first movement data (denoted as Mx) and the second movement data (denoted as My or Mz) calculated according to the target tracking requirements in the same time period. Then, calculate the first difference between the first movement data and the first displacement data (denoted as Δx), that is, Δx=Mx-Dx. Calculate the second difference between the second movement data and the second displacement data (denoted as Δy or Δz), that is, Δy=My-Dy or Δz=Mz-Dz.

[0083] The path difference is calculated by a weighted average algorithm based on the first difference and the second difference. Therefore, in order to obtain a comprehensive path difference (denoted as D_total), the differences in the two directions can be combined using a weighted average algorithm. The weighted average algorithm allows different weights to be given according to the importance of each direction. For example, if the first direction (X-axis) is more important than the second direction (Y-axis or Z-axis), then Δx can be given a greater weight. The calculation formula for the path difference D_total can be expressed as: D_total=w1*|Δx|+w2*|Δy| or D_total=w1*|Δx|+w2*|Δz|, where w1 and w2 are the weights of the first difference and the second difference, respectively, and w1+w2=1.

[0084] Thus, according to the calculated path difference D_total, the processing module can decide how to adjust the gain value. As mentioned above, if D_total is greater than 0 and increases, the gain value should be reduced; if D_total is less than 0 and its absolute value increases (i.e., the deviation is decreasing faster), the gain value should be increased.

[0085] Reference Figure 3 ,The second installation position: the shooting module and the microscope module are on the same support frame, and the shooting module and the microscope module are rigidly connected; the shooting module and the microscope module are installed on the same support frame, and the two are rigidly connected, ensuring that the relative position between the two is fixed.

[0086] A tracking object is selected next to the target object; for example, a nose next to the eye lesion, to help the system track the movement of the target object. The image recognition method can adopt the above-mentioned image processing method, such as template matching method.

[0087] The shooting module shoots the tracked object to generate a tracking image; the image contains the position and movement information of the nose.

[0088] The processing module obtains the tracking image, extracts the tracking position from the tracking image, and calculates the tracking path of the tracking position; based on the sequence of continuously captured tracking images, the processing module calculates the moving path (tracking path) of the tracking position. The path difference between the moving path (i.e., the moving path of the microscopic module) and the tracking path is calculated, and the path difference may include multiple factors such as position difference, angle difference, and speed difference. If the path difference is greater than the preset reference difference, the gain value is increased for the first drive signal and the second drive signal generated next time to reduce the reference difference calculated next time. Among them, increasing the gain value, for example, increases the speed, acceleration or other related parameters of the movement of the microscopic module. The above process will be continuously cycled, and after each capture, extraction, calculation and adjustment, the gain value of the drive signal will be adjusted according to the new path difference. As time goes by, the microscopic module will gradually approach the tracking object, that is, indirectly approach the target object, until the path difference drops below the preset reference difference, and the system reaches a stable state.

[0089] The gain value is adjusted based on the path discrepancy; the path discrepancy is a metric that describes the difference between the system's current movement path and the expected path. The gain value is a factor used to adjust the system's movement speed, acceleration, or other related parameters.

[0090] If the path difference is greater than 0, the deviation is increasing. When the path difference becomes larger, the gain value becomes smaller. This is because when the path difference becomes larger, it means that the deviation between the microscopic module and the target object is gradually increasing. In order to reduce this deviation, the processing module should reduce the step size or speed of the microscopic module, that is, reduce the gain value.

[0091] If the path difference is less than 0, the deviation is decreasing. When the absolute value of the path difference increases, the gain value increases. This is because when the absolute value of the path difference (i.e., the degree of deviation reduction) increases, it means that the microscopic module is approaching the target object quickly. In order to speed up the tracking speed, the processing module should increase the step size or speed of the microscopic module, that is, increase the gain value.

[0092] The calculation method of path difference includes:

[0093] The first displacement data in the first direction and the second displacement data in the second direction are calculated according to the tracking path. The tracking path data is described by a series of coordinate points or functions. The displacement data of the tracking path in the first direction (e.g., X-axis). The displacement data of the tracking path in the second direction (e.g., Y-axis).

[0094] A first difference between the first movement data and the first displacement data is calculated, and a second difference between the second movement data and the second displacement data is calculated.

[0095] The path difference degree is calculated by using a weighted average algorithm according to the first difference and the second difference.

[0096] To calculate the path difference, you need to multiply the first difference and the second difference by their weights, then add up these products and finally divide by the sum of the weights.

[0097] Path difference = (w1×first difference+w2×second difference) / (w1+w2);

[0098] Where w1 and w2 are the weights of the first difference and the second difference respectively. If the importance of the two directions is the same, the weight can be set to 1, and the path difference is the average of the two differences.

[0099] By monitoring the displacement of the nose relative to the shooting module or the microscope module, it is indirectly determined whether the position of the microscope module following the displacement of the eye lesion is accurate, which is beneficial to improving the accuracy of the control of the displacement of the microscope module.

[0100] The gain calculation method in the second structure is basically the same as that in the first structure, except that the feedback calculation is performed based on the tracking path to achieve data correction.

[0101] In addition, in this embodiment, the structure of the driving assembly for realizing the movement of the microscopic module is as follows:

[0102] Reference Figure 4 , for example, two sets of mutually perpendicular screw structures are used to realize displacement drive. The first driving assembly includes a first driving member, a first screw and a first nut. The first driving member is installed on the external bracket and fixedly connected to the first screw; the first nut is threadedly connected to the first screw and slidably connected to the external bracket through a guide structure. The second driving assembly includes a second driving member, a second screw and a second nut. The second driving member is installed on the first nut and fixedly connected to the second screw; the second nut is threadedly connected to the second screw and slidably connected to the first nut through a guide structure, and the microscopy module is fixedly connected to the second nut.

[0103] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A 3D self-tracking imaging device for microsurgery, characterized in that: Includes the following modules: A shooting module, used for shooting a target object to generate a target image; A microscope module for aligning and magnifying a target object; A driving module, comprising a first driving component and a second driving component connected to each other, wherein the first driving component is used to drive the second driving component to move in a first direction, and the second driving component is connected to the microscopy module to drive the microscopy module to move in a second direction; a processing module, electrically connected to the shooting module and the driving module, acquiring the target image, extracting the target position from the target image, calculating a moving path of the target position, and calculating first movement data in the first direction and second movement data in the second direction according to the moving path; generating a first driving signal according to the first movement data, and generating a second driving signal according to the second movement data; Sending the first driving signal to the first driving component, and sending the second driving signal to the second driving component; The first driving component performs a first action in response to the first driving signal, and the second driving component performs a second action in response to the second driving signal, so as to drive the microscopic module to move and form an action path; The photographing module and the microscopic module are not on the same supporting frame, and the photographing module and the microscopic module are not rigidly connected: The shooting module shoots the microscopy module to generate a module image; The processing module acquires the module image, extracts the module position from the module image, calculates the module path of the module position, and calculates the path difference between the moving path and the module path; If the path difference is greater than a preset reference difference, a gain value is increased for the first drive signal and the second drive signal generated next time to reduce the reference difference calculated next time; The method for calculating the path difference includes: Calculate first displacement data in the first direction and second displacement data in the second direction according to the module path; Calculating a first difference between the first movement data and the first displacement data, and calculating a second difference between the second movement data and the second displacement data; The path difference degree is calculated by using a weighted average algorithm according to the first difference and the second difference. The shooting module and the microscopic module are on the same support frame, and the shooting module is rigidly connected to the microscopic module: Selecting a tracking object next to the target object; The photographing module photographs the tracked object to generate a tracking image; The processing module acquires the tracking image, extracts the tracking position from the tracking image, calculates the tracking path of the tracking position, and calculates the path difference between the moving path and the tracking path; if the path difference is greater than a preset reference difference, a gain value is added to the first driving signal and the second driving signal generated next time to reduce the reference difference calculated next time; The method for calculating the path difference includes: Calculate first displacement data in the first direction and second displacement data in the second direction according to the tracking path; Calculating a first difference between the first movement data and the first displacement data, and calculating a second difference between the second movement data and the second displacement data; The path difference degree is calculated by using a weighted average algorithm according to the first difference and the second difference.

2. The 3D self-tracking imaging device for microsurgery according to claim 1, characterized in that: Adjusting the gain value according to the path difference; If the path difference is greater than 0, the gain value becomes smaller as the path difference becomes larger; If the path difference is less than 0, as the absolute value of the path difference increases, the gain value increases.

3. The 3D self-tracking imaging device for microsurgery according to claim 1, characterized in that: Adjusting the gain value according to the path difference; If the path difference is greater than 0, the gain value becomes smaller as the path difference becomes larger; If the path difference is less than 0, as the absolute value of the path difference increases, the gain value increases.

4. The 3D self-tracking imaging device for microsurgery according to claim 1, characterized in that: The first drive assembly includes a first drive member, a first screw and a first nut, the first drive member is mounted on an external bracket and fixedly connected to the first screw; the first nut is threadedly connected to the first screw and slidably connected to the external bracket through a guide structure; the second drive assembly includes a second drive member, a second screw and a second nut, the second drive member is mounted on the first nut and fixedly connected to the second screw; the second nut is threadedly connected to the second screw and slidably connected to the first nut through a guide structure, and the microscopy module is fixedly connected to the second nut.

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