Display device and surgical robot

Abstract

The invention relates to a display device and a surgical robot. The display device comprises a first display unit and a second display unit; the first display unit is used for displaying a first image, and the second display unit is used for displaying a second image; the light path unit comprises a reflection assembly and an eyepiece assembly; the light path unit is configured in a way that the first image and the second image are reflected by the reflection assembly and amplified by the eyepiece assembly in sequence to form a first virtual image perceived by the first eye and a second virtual image perceived by the second eye. According to the display device, the left-eye image and the right-eye image are respectively displayed through different display units, the left-eye image and the right-eye image are respectively reflected and amplified through the light path unit, and finally an image perceived by the left eye and an image perceived by the right eye are formed. The problem of image crosstalk due to the fact that the left eye image and the right eye image are displayed on the same display unit in a crossed mode can be effectively solved, the field angle of the optical system can be increased, and the display effect of the 3D image is improved.

Description

Technical Field

[0001] The present application relates to the field of 3D display technology, and in particular to a display device and a surgical robot. Background Art

[0002] With the development of medical technology, minimally invasive surgery has the advantages of small wounds, less pain, less bleeding and faster recovery compared to traditional surgery, and its application in the medical field is becoming more and more extensive. And with the development of minimally invasive surgery, minimally invasive surgical robots that assist minimally invasive surgery have gradually become essential medical devices in the process of minimally invasive surgery.

[0003] Generally, a minimally invasive surgical robot is equipped with a 3D display optical system so as to provide a 3D surgical image for the doctor to control the minimally invasive surgical robot through the 3D display optical system. Traditionally, the imaging method of the 3D display optical system is to display the left eye image with horizontal parallax on the odd-numbered lines of the display screen, and the right eye image on the even-numbered lines of the display screen. Then, the odd-numbered line images are reflected to the left eye, and the even-numbered line images are reflected to the right eye, so that the images seen by the left eye and the images seen by the right eye together form a three-dimensional image.

[0004] However, the imaging method of the conventional 3D display optical system easily causes image crosstalk problems, thereby resulting in poor 3D display effects. Summary of the invention

[0005] Based on this, it is necessary to provide a display device and a surgical robot that can improve the 3D display effect in order to solve the above technical problems.

[0006] In a first aspect, the present application provides a display device. The display device includes:

[0007] A first display unit and a second display unit; the first display unit is used to display a first image, and the second display unit is used to display a second image;

[0008] An optical path unit, which includes a reflection component and an eyepiece component;

[0009] The optical path unit is configured such that the first image and the second image are reflected by the reflection component and magnified by the eyepiece component in sequence to form a first virtual image perceived by the first eye and a second virtual image perceived by the second eye.

[0010] In one embodiment, the reflective component includes a first reflective component, a second reflective component and a third reflective component, and the third reflective component includes a first reflective surface and a second reflective surface;

[0011] The reflective component is configured such that: the first image is reflected by the first reflective component and the first reflective surface in sequence to form a first intermediate virtual image; the second image is reflected by the second reflective component and the second reflective surface in sequence to form a second intermediate virtual image.

[0012] In one embodiment, a side of the first reflective component facing the first display unit is coated with a reflective film; a side of the second reflective component facing the second display unit is coated with a reflective film.

[0013] In one embodiment, the eyepiece assembly includes a first eyepiece assembly and a second eyepiece assembly;

[0014] A first eyepiece assembly, used for magnifying a first intermediate virtual image formed by the first reflecting surface to form a first virtual image;

[0015] The second eyepiece assembly is used to magnify the second intermediate virtual image formed by the second reflecting surface to form a second virtual image.

[0016] In one embodiment, the distance between the center point of the first display unit and the first reference point is less than or equal to the first preset distance threshold; the first reference point is the intersection point between the first optical path and the first display unit, and the first optical path is the optical path formed after the light passes through the exit pupil center of the first eyepiece assembly and is reflected by the first reflection surface and the first reflection assembly;

[0017] The distance between the center point of the second display unit and the second reference point is less than or equal to the first preset distance threshold; the second reference point is the intersection between the second optical path and the second display unit, and the second optical path is the optical path formed after the light passes through the exit pupil center of the second eyepiece assembly and is reflected by the second reflection surface and the second reflection assembly.

[0018] In one embodiment, the first reference point is a vertical intersection point between the first light path and the first display unit; the second reference point is a vertical intersection point between the second light path and the second display unit.

[0019] In one embodiment, the first eyepiece assembly and the second eyepiece assembly each include at least two magnifying lenses, and at least two magnifying lenses in the same eyepiece assembly are coaxially arranged along the optical axis.

[0020] In one embodiment, the at least two magnifying glasses include a first magnifying glass, a second magnifying glass, and a third magnifying glass, and the first magnifying glass, the second magnifying glass, and the third magnifying glass in the same eyepiece assembly are arranged in sequence along the viewing direction of human eyes;

[0021] The first magnifying glass is a double concave spherical lens, the second magnifying glass is a meniscus lens, and the third magnifying glass is a double convex spherical lens.

[0022] In one embodiment, the at least two magnifying lenses include a first magnifying lens;

[0023] The image-side focal length of the first magnifying lens satisfies The shape factor of the first magnifying lens satisfies

[0024] Among them, f1 is the image focal length of the first magnifying glass, f is the effective focal length of the eyepiece assembly, R1 is the curvature radius of the first magnifying glass on the side close to the human eye, and R2 is the curvature radius of the first magnifying glass on the side away from the human eye.

[0025] In one embodiment, the at least two magnifying lenses include a second magnifying lens;

[0026] The image side focal length of the second magnifying lens satisfies The shape factor of the second magnifying lens satisfies

[0027] Among them, f2 is the image side focal length of the second magnifying glass, f is the effective focal length of the eyepiece assembly, R3 is the curvature radius of the second magnifying glass on the side close to the human eye, and R4 is the curvature radius of the second magnifying glass on the side away from the human eye.

[0028] In one of the embodiments, the at least two magnifying lenses include a third magnifying lens;

[0029] The image side focal length of the third magnifying lens satisfies The shape factor of the third magnifier satisfies

[0030] Among them, f3 is the image side focal length of the third magnifying glass, f is the effective focal length of the eyepiece assembly, R5 is the curvature radius of the third magnifying glass on the side close to the human eye, and R6 is the curvature radius of the third magnifying glass on the side away from the human eye.

[0031] In a second aspect, the present application further provides a surgical robot. The surgical robot comprises: an image acquisition device and the display device in the first aspect; the image acquisition device is communicatively connected with the display device;

[0032] An image acquisition device, used to acquire a first image and a second image, and send the first image and the second image to a display device;

[0033] The display device is used for displaying a first image and a second image.

[0034] In a third aspect, the present application further provides a surgical robot. The surgical robot comprises: an image acquisition device and the display device in the first aspect; the image acquisition device is communicatively connected with the display device;

[0035] An image acquisition device, used to acquire a first image and a second image, and send the first image and the second image to a display device;

[0036] A display device, used for displaying a first image and a second image;

[0037] A surgical robot, configured to control a first display unit to approach a first reference point in response to a first display adjustment operation by a user until a first preset stop condition is satisfied; the first preset stop condition includes that a distance between a center point of the first display unit and the first reference point is less than or equal to a second preset distance threshold, or that the first display adjustment operation by the user is not detected; and / or

[0038] A surgical robot is used to control a second display unit to approach a second reference point in response to a user's second display adjustment operation until a second preset stop condition is met; the second preset stop condition includes that the distance between the center point of the second display unit and the second reference point is less than or equal to a third preset distance threshold, or the user's second display adjustment operation is not detected.

[0039] The above-mentioned display device and surgical robot respectively display the left eye image and the right eye image through different display units, and respectively reflect and amplify the left eye image and the right eye image through the optical path unit, and finally form the image perceived by the left eye and the image perceived by the right eye; the display device can effectively solve the image crosstalk problem caused by the cross-display of the left eye image and the right eye image on the same display unit, and improve the display effect of the 3D image. In addition, the display device can also amplify the image reflected to the left eye and the image reflected to the right eye through the eyepiece assembly, that is, optically amplify the 3D image. Thereby increasing the field of view of the optical system and further improving the display effect of the 3D image; furthermore, optically amplifying the 3D image through the eyepiece assembly can not only enhance the immersiveness of the 3D display effect, but also reduce the size of other components in the display device, further reducing the volume and weight of the display device. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic diagram of the structure of a display device provided in an embodiment of the present application;

[0041] Figure 2 Another schematic diagram of the structure of the display device provided in the embodiment of the present application;

[0042] Figure 3 A front view of the left optical path of the display device provided in an embodiment of the present application;

[0043] Figure 4 A bottom view of the left optical path of the display device provided in an embodiment of the present application;

[0044] Figure 5 A schematic diagram of a first virtual image and a second virtual image overlapped and displayed in an embodiment of the present application;

[0045] Figure 6 A schematic diagram of the lens structure of the eyepiece assembly provided in an embodiment of the present application;

[0046] Figure 7 An MTF curve diagram of the eyepiece assembly provided in an embodiment of the present application;

[0047] Figure 8 Field curvature and distortion curve diagram of the eyepiece assembly provided in the embodiment of the present application;

[0048] Fig. 9 A schematic diagram of the structure of the surgical robot provided in an embodiment of the present application.

[0049] Description of reference numerals:

[0050] 10: first display unit; 20: second display unit; 30: optical path unit;

[0051] 31: reflection assembly; 32: eyepiece assembly;

[0052] 311: first reflective component; 312: second reflective component; 313: third reflective component;

[0053] 313a: a first reflection surface of the third reflection component; 313b: a second reflection surface of the third reflection component;

[0054] 321: first eyepiece assembly; 322: second eyepiece assembly;

[0055] 511: first reflector; 512: second reflector; 513: third reflector;

[0056] 61: first exit pupil surface; 62: second exit pupil surface;

[0057] 902: image acquisition device; 904: display device. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0059] The display device provided in the embodiment of the present application is applicable to the field of 3D display technology; for example, when a user operates a surgical robot, real-time 3D images collected by the robot end are displayed to provide the user with 3D images with high clarity, a large field of view, and a strong sense of immersion, thereby facilitating the user to understand tissue information and lesion information.

[0060] Traditional 3D display devices display left-eye images and right-eye images with horizontal parallax on a display screen in odd-even rows, and reflect the odd-row images and even-row images to the user's left eye and right eye respectively through a reflective component to form a three-dimensional image effect that the user can see.

[0061] However, in the process of reflecting the odd-numbered images and the even-numbered images to the user's left eye and right eye respectively, image crosstalk is likely to occur, causing both the odd-numbered images and the even-numbered images to be partially reflected to the user's left eye and right eye, causing the user to feel strongly dizzy; therefore, the display effect of the three-dimensional image is poor.

[0062] Based on this, an embodiment of the present application proposes a display device, which independently sets the left-eye optical path and the right-eye optical path, and combines an eyepiece assembly to solve the image crosstalk problem while increasing the optical field of view, which can greatly improve the display effect of three-dimensional images.

[0063] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0064] Figure 1 This is a schematic diagram of the structure of the display device provided in the embodiment of the present application. Figure 1 As shown, the display device includes: a first display unit 10, a second display unit 20 and an optical path unit 30; the optical path unit 30 includes a reflection component 31 and an eyepiece component 32.

[0065] Among them, the first display unit 10 is used to display the first image, and the second display unit 20 is used to display the second image; the optical path unit 30 is configured as follows: the first image and the second image are reflected by the reflection component 31 and magnified by the eyepiece component 32 in sequence to form a first virtual image perceived by the first eye and a second virtual image perceived by the second eye.

[0066] Exemplarily, the first display unit 10 and the second display unit 20 may be two-dimensional display screens. After processing the three-dimensional image frame into a two-dimensional image corresponding to the left eye and a two-dimensional image corresponding to the right eye with horizontal parallax, the two-dimensional image corresponding to the left eye may be sent to the first display unit 10 as the first image for output display; and the two-dimensional image corresponding to the right eye may be sent to the second display unit 20 as the second image for output display. That is, in this example, the first display unit 10 may be the display unit corresponding to the left eye of the user, and the first image is the image viewed by the left eye; correspondingly, the second display unit 20 may be the display unit corresponding to the right eye of the user, and the second image is the image viewed by the right eye.

[0067] Conversely, the first display unit 10 may also be a display unit corresponding to the user's right eye, and the first image is an image viewed by the right eye; correspondingly, the second display unit 20 may be a display unit corresponding to the user's left eye, and the second image is an image viewed by the left eye. In this case, the two-dimensional image corresponding to the left eye may be sent to the second display unit 20 as the second image for output display; and the two-dimensional image corresponding to the right eye may be sent to the first display unit 10 as the first image for output display.

[0068] It should be noted that the first display unit 10 and the second display unit 20 may be liquid crystal display screens or electronic ink display screens, or other types of display screens; this embodiment of the present application does not specifically limit this.

[0069] In addition, the positions of the first display unit 10 and the second display unit 20 can be specifically arranged on the basis of symmetrical arrangement in combination with the position of the optical path unit 30. It is necessary to enable the first image displayed on the first display unit 10 to be reflected to the first eye of the user, and the second image displayed on the second display unit 20 to be reflected to the second eye of the user; on this basis, the positions of the first display unit 10 and the second display unit 20 are not excessively limited in the embodiment of the present application.

[0070] Exemplarily, the optical path unit 30 may include a reflective component 31 and an eyepiece component 32; wherein the reflective component 31 may be used to reflect the first image displayed by the first display unit 10 and the second image displayed by the second display unit 20 to the first eye and the second eye of the user, respectively; for example, the first image displayed by the first display unit 10 may be reflected to the first eye of the user, and the second image displayed by the second display unit 20 may be reflected to the second eye of the user. In one implementation, the reflective component 31 may include a plurality of components, which are used to form a first reflective optical path and a second reflective optical path; wherein the first reflective optical path may be used to reflect the first image displayed by the first display unit 10 to the first eye of the user; and the second reflective optical path may be used to reflect the second image displayed by the second display unit 20 to the second eye of the user.

[0071] In addition, since the eyepiece assembly 32 usually corresponds to the first eye and the second eye of the user, illustratively, the eyepiece assembly 32 may include a first eyepiece assembly and a second eyepiece assembly; in one implementation, the first eyepiece assembly may correspond to the first eye of the user, and the second eyepiece assembly may correspond to the second eye of the user. Based on the above example, the reflection assembly 31 can be used to reflect the first image displayed by the first display unit 10 to the first eyepiece assembly, and through the magnification of the first eyepiece assembly, form a first virtual image perceived by the first eye of the user; at the same time, the reflection assembly 32 reflects the second image displayed by the second display unit 20 to the second eyepiece assembly, and through the magnification of the second eyepiece assembly, form a second virtual image perceived by the second eye of the user. At this point, the first virtual image perceived by the first eye of the user and the second virtual image perceived by the second eye of the user can be combined to form a three-dimensional image seen by the user's eyes.

[0072] In this embodiment, a display device is proposed, which includes a first display unit, a second display unit and an optical path unit, wherein the optical path unit includes a reflection component and an eyepiece component; wherein the first display unit is used to display a first image, and the second display unit is used to display a second image; the optical path unit is configured such that the first image and the second image are reflected by the reflection component and magnified by the eyepiece component in turn, thereby forming a first virtual image perceived by the first eye and a second virtual image perceived by the second eye. The display device thus formed displays the left eye image and the right eye image respectively through different display units, and reflects and magnifies the left eye image and the right eye image respectively through the optical path unit, finally forming an image perceived by the left eye and an image perceived by the right eye; the display device can effectively solve the image crosstalk problem caused by the cross display of the left eye image and the right eye image on the same display unit, thereby improving the display effect of the 3D image. In addition, the display device can also magnify the image reflected to the left eye and the image reflected to the right eye through the eyepiece component, that is, optically magnify the 3D image, thereby increasing the field of view of the optical system, further improving the display effect of the 3D image. Furthermore, by optically magnifying the 3D image through the eyepiece assembly, the immersive feeling of the 3D display effect can be enhanced while reducing the size of other components in the display device. That is, while helping the user to see more displayed content, the volume and size requirements of other optical components are lower, and the volume and weight of the display device can be further reduced while meeting the actual needs of the user.

[0073] In one embodiment, reference Figure 2As shown, it shows an optical structure of a display device. With respect to the above-mentioned reflective component 31, it may include a first reflective component 311, a second reflective component 312 and a third reflective component 313, and the third reflective component 313 includes a first reflective surface 313a and a second reflective surface 313b; the reflective component 31 is configured such that: the first image is reflected by the first reflective component 311 and the first reflective surface 313a in sequence to form a first intermediate virtual image; the second image is reflected by the second reflective component 312 and the second reflective surface 313b in sequence to form a second intermediate virtual image.

[0074] That is to say, a first reflective light path can be formed by the first reflective component 311 and the first reflective surface 313a, for emitting the first image to the user's first eye; a second reflective light path can be formed by the second reflective component 312 and the second reflective surface 313b, for emitting the second image to the user's second eye.

[0075] Exemplarily, the light of the first image can be reflected by the first reflection component 311 and reach the first reflection surface 313a, and then the light is reflected by the first reflection surface 313a to form a first intermediate virtual image corresponding to the first image after reflection by the first reflection surface 313a; similarly, the light of the second image can be reflected by the second reflection component 312 and reach the second reflection surface 313b, and then the light is reflected by the second reflection surface 313b to form a second intermediate virtual image corresponding to the second image after reflection by the second reflection surface 313b.

[0076] In one implementation, reference Figure 2 As shown, the first reflective component 311 is coated with a reflective film on the side facing the first display unit 10; the second reflective component 312 is coated with a reflective film on the side facing the second display unit 20; the first reflective surface 313a of the third reflective component 313 is coated with a reflective film on the side facing the first reflective component 311; and the second reflective surface 313b of the third reflective component 313 is coated with a reflective film on the side facing the second reflective component 312. The first reflective component 311 can directly reflect the light of the first image emitted by the first display unit 10 to the first reflective surface 313a, and then the first reflective surface 313a continues to reflect the light of the first image to the eyepiece component 32; similarly, the second reflective component 312 can directly reflect the light of the second image emitted by the second display unit 20 to the second reflective surface 313b, and then the second reflective surface 313b continues to reflect the light of the second image to the eyepiece component 32.

[0077] In other implementations, the first reflective component 311 may also be coated with a reflective film on the side facing away from the first display unit 10; similarly, the second reflective component 312 may also be coated with a reflective film on the side facing away from the second display unit 20; at this time, the first reflective component 311 can reflect the light of the first image emitted by the first display unit 10 to the fourth reflective component, and the fourth reflective component continues to reflect the light of the first image to the first reflective surface 313a, finally forming a first intermediate virtual image corresponding to the first image; similarly, the second reflective component 312 can reflect the light of the second image emitted by the second display unit 20 to the fifth reflective component, and the fifth reflective component continues to reflect the light of the second image to the second reflective surface 313b, finally forming a second intermediate virtual image corresponding to the second image.

[0078] Continue to refer Figure 2 As shown, the eyepiece assembly 32 may include a first eyepiece assembly 321 and a second eyepiece assembly 322. The first reflective surface 313a may reflect the light of the first image to the first eyepiece assembly 321, so that the first eyepiece assembly 321 may magnify the first intermediate virtual image formed by the first reflective surface 313a, and finally form a first virtual image perceived by the user's first eye; the second reflective surface 313b may reflect the light of the second image to the second eyepiece assembly 322, so that the second eyepiece assembly 322 may magnify the second intermediate virtual image formed by the second reflective surface 313b, and finally form a second virtual image perceived by the user's second eye.

[0079] The third reflective component 313 may be a triangular prism structure, a trapezoidal column structure (eg Figure 2 The structure of the third reflective component 313 shown in the figure), or other cylindrical structures with at least two symmetrical surfaces, etc.; in the embodiment of the present application, the structure of the third reflective component 313 is not excessively limited, and it can be satisfied that the relative position relationship between the first reflective surface 313a and the second reflective surface 313b is fixed and remains unchanged.

[0080] When a user watches a 3D image through the display device, it is assumed that the first display unit 10 displays the left eye image and the second display unit 20 displays the right eye image; the first reflection component 311 and the first reflection surface 313a constitute a left light path reflection component, and the second reflection component 312 and the second reflection surface 313b constitute a right light path reflection component; the first eyepiece component 321 serves as a left light path eyepiece component, and the second eyepiece component 322 serves as a right light path eyepiece component; then, the light emitted by the first display unit 10 is reflected by the first reflection component 311 and reaches the first reflection surface 313a of the third reflection component 313, and is reflected by the first reflection surface 313a and then emitted from the first eyepiece component 321 to be received by the left eye; the light emitted by the second display unit 20 is reflected by the second reflection component 312 and reaches the second reflection surface 313b of the third reflection component 313, and is reflected by the second reflection surface 313b and then emitted from the second eyepiece component 322 to be received by the right eye.

[0081] That is, in this example, the first display unit 10, the first reflection component 311, the first reflection surface 313a of the third reflection component 313 and the first eyepiece component 321 can form a left optical path structure corresponding to the left eye; the second display unit 20, the second reflection component 312, the second reflection surface 313b of the third reflection component 313 and the second eyepiece component 322 can form a right optical path structure corresponding to the right eye, and the left optical path structure and the right optical path structure can form a complete optical 3D display system.

[0082] Take the left optical path as an example, refer to Figure 3 As shown, it shows the main view of the optical 3D display system. The main view is a schematic diagram of the main view structure of the optical 3D display system determined based on the user's viewing direction. The width of the first display unit 10 is W, and three light rays emitted from the first display unit 10 are marked in the figure, namely the main light ray 11 of the left optical path, the edge light ray 12 of the field of view below the left optical path, and the edge light ray 13 of the field of view above the left optical path. The main light ray 11 of the left optical path reaches the first reflection component 311 after passing the distance L1, and then reaches the first reflection surface 313a of the third reflection component 313 after passing the distance L2. The main light ray 11 of the left optical path is reflected by the plane mirror at the first reflection component 311, and its incident angle is θ c The left optical path of the field edge light 12 is reflected by the first reflection component 311, and its incident angle is θ min The left optical path of the field edge light 13 in the first reflection component 311 plane reflection occurs, the incident angle is θ max The distance between the intersection point of the main light ray 11 of the left optical path and the first reflection component 311 and the intersection point of the edge light ray 12 of the lower field of view of the left optical path and the first reflection component 311 in the main view is M1, and the distance between the intersection point of the main light ray 11 of the left optical path and the first reflection component 311 and the intersection point of the edge light ray 13 of the upper field of view of the left optical path and the first reflection component 311 in the main view is M2.

[0083] The above W, L1, θ c ,θ min ,θ max , M1 and M2 satisfy the following relationship:

[0084]

[0085]

[0086] Take the left optical path as an example, refer to Figure 4 As shown, it shows a bottom view of the optical 3D display system. The length of the first display unit 10 is L, and three light rays emitted from the first display unit 10 are marked in the figure, namely the left optical path main light 11, the left optical path right field edge light 14 and the left optical path left field edge light 15. The angle between the first reflecting surface 313a of the third reflecting component 313 and the second reflecting surface 313b is γ. After passing a distance L3, the left optical path main light 11 reaches the first eyepiece component 321 from the first reflecting surface 313a of the third reflecting component 313. The left optical path main light 11 is reflected by a plane mirror at the first reflecting surface 313a of the third reflecting component 313, and its incident angle is β c , after reflection, the angle between the first eyepiece assembly 321 and the left optical path is 90°, and the right field edge light 14 is reflected by the plane mirror at the first reflection surface 313a of the third reflection assembly 313, and its incident angle is β min , and the angle between the light ray 15 and the first eyepiece assembly 321 after reflection is α1. The left field edge light 15 of the left optical path is reflected by the plane mirror at the first reflection surface 313a of the third reflection assembly 313, and its incident angle is β max , the angle between the light and the first eyepiece assembly 321 after reflection is α2.

[0087] The distance between the intersection point of the left optical path main light 11 and the first reflecting surface 313a, and the intersection point of the left optical path right field edge light 14 and the first reflecting surface 313a in the bottom view is T1; the distance between the intersection point of the left optical path main light 11 and the first reflecting surface 313a, and the intersection point of the left optical path left field edge light 15 and the first reflecting surface 313a in the bottom view is T2.

[0088] The above L, L1, L2, β c , β min , β max , T1 and T2 satisfy the following relationship:

[0089]

[0090]

[0091] In this embodiment, two reflectors, a triangular prism and two eyepiece assemblies are used to project a 3D image with horizontal parallax to the left and right eyes of the user respectively through two reflection light paths. The user can perceive the depth information of the 3D image through the horizontal parallax. In addition, the 3D image can be optically magnified by the eyepiece assembly, the field of view of the optical system can be increased, and the immersive feeling of the user experiencing the 3D effect can be enhanced. At the same time, while ensuring a certain field of view, the size and weight of the device can be reduced by the eyepiece assembly.

[0092] In one embodiment, the distance between the center point of the first display unit 10 and the first reference point may be less than or equal to the first preset distance threshold; wherein the first reference point is the intersection point between the first optical path and the first display unit 10, and the first optical path is the optical path formed after the light passes through the exit pupil center of the first eyepiece assembly 321 and is reflected by the first reflection surface 313a and the first reflection assembly 311. The distance between the center point of the second display unit 20 and the second reference point is less than or equal to the first preset distance threshold; wherein the second reference point is the intersection point between the second optical path and the second display unit, and the second optical path is the optical path formed after the light passes through the exit pupil center of the second eyepiece assembly and is reflected by the second reflection surface and the second reflection assembly.

[0093] Take the left optical path as an example, refer to the above Figures 2 to 4 As shown, there is a ray of light, such as the main ray 11 of the left optical path, which is emitted from the center point of the first display unit 10, and after being reflected by the first reflection component 311 and the first reflection surface 313a in turn, it can be vertically incident on the exit pupil center of the first eyepiece component; then, the light path of the main ray 11 of the left optical path can be used as the first optical path; through the first optical path that meets the conditions, the intersection point of the first optical path and the first display unit 10 can be determined as the first reference point. It should be noted that, since the first optical path will not change when the structure of the optical path unit 30 does not change, when the first display unit 10 is in different positions, or when the first display unit 10 moves, the intersection point between the first optical path and the first display unit 10, that is, the position of the first reference point on the first display unit 10 will change, and this is not limited to Figure 2 The first reference point shown in is the center point of the first display unit 10. If the structure of the optical path unit 30 is changed, the first optical path that meets the conditions can be re-determined.

[0094] In one case, assuming that the first reference point is the center point of the first display unit 10, then based on the current position of the first display unit 10 (hereinafter referred to as the initial position), the first display unit 10 can be moved in any direction around (including rotation or translation) so that the distance between the center point of the first display unit 10 after movement and the first reference point (i.e., the center point of the first display unit 10 before movement) is less than or equal to the first preset distance threshold; that is, with the first reference point (i.e., the center point of the first display unit 10 before movement) as the center and the first preset distance threshold as the radius, a spherical space can be formed; when the center point of the first display unit 10 is within the spherical space, the first image output by the first display unit 10, after being reflected and magnified by the above-mentioned optical path unit, the first virtual image formed can be better presented on the virtual image display plane 49.

[0095] Similarly, the second display unit 20 has the same characteristics as the first display unit 10, which will not be repeated here. Through the above structural definition, the first virtual image and the second virtual image can be well presented on the virtual image display plane 49, so that the user can experience a good 3D visual effect based on the first virtual image and the second virtual image.

[0096] Exemplarily, the first reference point is a vertical intersection point between the first optical path and the first display unit 10, and the second reference point is a vertical intersection point between the second optical path and the second display unit; that is, the first display unit 10 is placed in the horizontal direction based on the user's viewing direction; Figure 3 In the front view shown, from the user's perspective, the first display unit 10 is a horizontal straight line when viewed in the main viewing direction. Similarly, the second display unit 20 is also placed in the horizontal direction based on the user's viewing direction.

[0097] On the basis that the first optical path intersects the first display unit 10 vertically, the first display unit 10 will always maintain a vertical intersection with the first optical path during the movement; that is, the moving direction of the first display unit 10 may include: moving in the left and right field of view directions, moving in the upper and lower field of view directions, and moving in the direction of the light perpendicular to the first display unit, etc.

[0098] In one case, if the first display unit 10 moves along the left-right field of view direction from the initial position, the horizontal parallax between the first virtual image and the second virtual image on the virtual image display plane 49 can be changed; that is, when the first display unit 10 is at its initial position, the first virtual image will be offset to the left relative to the virtual image display plane 49; when the second display unit 20 is at its initial position, the second virtual image will be offset to the right relative to the virtual image display plane 49, resulting in a horizontal parallax between the first virtual image and the second virtual image; and when the first display unit 10 and the second display unit are moved along the left-right field of view direction, the horizontal parallax between the first virtual image and the second virtual image on the virtual image display plane 49 can be changed.

[0099] For example, when the first display unit 10 is moved along a direction from the left field of view to the right field of view (eg Figure 2 By moving the first display unit 10 from the initial position along the direction from the left field of view to the right field of view, the first virtual image can be moved to the right on the virtual image display plane 49; and by moving the second display unit 10 from the initial position along the direction from the left field of view to the right field of view, the second virtual image can be moved to the left on the virtual image display plane 49; thereby, the first virtual image and the second virtual image are brought closer to each other, which can reduce the horizontal parallax between the first virtual image and the second virtual image on the virtual image display plane 49 and increase the overlap between the first virtual image and the second virtual image.

[0100] Exemplarily, when the first display unit 10 is moved in the direction from the left field of view to the right field of view by a first preset distance threshold, and at the same time, the second display unit 20 is also moved from the initial position in the direction from the left field of view to the right field of view by a first preset distance threshold, the horizontal parallax between the first virtual image and the second virtual image on the virtual image display plane 49 can be reduced to 0, that is, complete overlap of the first virtual image and the second virtual image is achieved.

[0101] refer to Figure 5 As shown, it is a schematic diagram showing that the first virtual image and the second virtual image are completely overlapped with the virtual image display plane. The length of the virtual image display plane 49 is L', the left eye center line of sight 43 of the left eye 41 and the right eye center line of sight 44 of the right eye 42 intersect at the center of the virtual image display plane 49, and the angle between the left eye center line of sight 43 and the right field edge light 14 of the left optical path is δ. The main optical axis 45 of the first eyepiece assembly 321 and the main optical axis 46 of the second eyepiece assembly 322 are respectively perpendicular to the virtual image display plane 49, and the distance D between the main optical axis 45 of the first eyepiece assembly 321 and the main optical axis 46 of the second eyepiece assembly 322 satisfies: 56mm <D<72mm。

[0102] In this embodiment, with respect to the structure of the conventional 3D optical display system: when the structure of the conventional 3D optical display system is adopted, there will be an additional horizontal parallax between the formed left-eye virtual image and the right-eye virtual image, resulting in the non-coincidence of the centers of the left-eye and right-eye images, which may cause image ghosting, and there may also be a situation where the depth information of the left-eye and right-eye images is different; in view of this problem, in this embodiment, it is ensured that the distance between the center point of the first display unit and the first reference point is less than or equal to the first preset distance threshold, and it is ensured that the distance between the center point of the second display unit and the second reference point is less than or equal to the first preset distance threshold; within this range, the first virtual image and the second virtual image can have a good image overlap, so as to provide a good 3D display effect for the user; with this structure, it is even possible to achieve complete overlap of the first virtual image and the second virtual image, thereby solving the problem that the additional horizontal parallax existing in the conventional 3D optical display system itself causes the left-eye and right-eye images to not overlap and then cause image ghosting; in addition, the display device can also have high fidelity for the depth information in the original 3D image, further improving the display effect of the 3D image.

[0103] In one embodiment, the first eyepiece assembly 321 and the second eyepiece assembly 322 may each include at least two magnifying glasses, and at least two magnifying glasses in the same eyepiece assembly are coaxially arranged along the optical axis.

[0104] The lens structure of the first eyepiece assembly 321 and the second eyepiece assembly 322 is the same, and the structure of one eyepiece assembly is discussed in detail below.

[0105] Exemplarily, the eyepiece assembly may include two magnifying glasses, three magnifying glasses, or even more than three magnifying glasses; when the eyepiece assembly uses different numbers of magnifying glasses, the shape, size, focal length and other parameters of each magnifying glass can be flexibly set according to actual conditions.

[0106] As an embodiment of the present application, refer to Figure 6 As shown, a lens structure of an eyepiece assembly is provided. The eyepiece assembly may include a first magnifying glass 511, a second magnifying glass 512, and a third magnifying glass 513, and the first magnifying glass 511, the second magnifying glass 512, and the third magnifying glass 513 are arranged in sequence along the viewing direction of the human eye; wherein the first magnifying glass 511 may be a biconcave spherical lens, the second magnifying glass 512 may be a meniscus lens, and the third magnifying glass 513 may be a biconvex spherical lens.

[0107] Exemplarily, when the eyepiece assembly includes a first magnifying glass 511, the image-side focal length of the first magnifying glass 511 may satisfy The shape factor of the first magnifying mirror 511 may satisfy Among them, f1 is the image-side focal length of the first magnifying glass 511, f is the effective focal length of the eyepiece assembly, R1 is the curvature radius of the first magnifying glass 511 close to the human eye, and R2 is the curvature radius of the first magnifying glass 511 away from the human eye.

[0108] Exemplarily, when the eyepiece assembly includes the second magnifying glass 512, the image-side focal length of the second magnifying glass 512 may satisfy The shape factor of the second magnifying mirror 512 may satisfy Among them, f2 is the image-side focal length of the second magnifying glass 512, f is the effective focal length of the eyepiece assembly, R3 is the curvature radius of the second magnifying glass 512 close to the human eye, and R4 is the curvature radius of the second magnifying glass 512 away from the human eye.

[0109] Exemplarily, when the eyepiece assembly includes the third magnifying glass 513, the image-side focal length of the third magnifying glass 513 may satisfy The shape factor of the third magnifying mirror 513 can satisfy Among them, f3 is the image-side focal length of the third magnifying glass, f is the effective focal length of the eyepiece assembly, R5 is the curvature radius of the third magnifying glass 513 close to the human eye, and R6 is the curvature radius of the third magnifying glass 513 away from the human eye.

[0110] Among them, the effective focal length f of the eyepiece assembly satisfies the following relationship:

[0111]

[0112] Among them, L and W are respectively the length and width of the display unit (i.e., the first display unit or the second display unit mentioned above), L′ and W′ are respectively the length and width of the virtual image (i.e., the first virtual image or the second virtual image mentioned above), P is the distance between the virtual image and the exit pupil surface 61; t is the distance from the exit pupil surface 61 to the vertex of the first magnifying glass 511, that is, the maximum distance when both users wearing glasses and users not wearing glasses can see the complete image, and the range of t can meet 19-21mm; d is the radius of the exit pupil surface 51, that is, the movable range of the human eye on the exit pupil surface, and the range of d can meet 23-25mm.

[0113] The eyepiece structure in this embodiment can be adapted to users wearing glasses and users not wearing glasses, and has high universality; in addition, the eyepiece structure can be used to optically magnify three-dimensional images, thereby increasing the field of view of the optical system and increasing the image content that the user can see; through the eyepiece structure, while ensuring that the user can view the image content, the size of other components in the display device can be further reduced, thereby reducing the volume and weight of the display device.

[0114] refer to Figure 7As shown, it shows the modulation transfer function (MTF) curve of each field of view of the eyepiece assembly, and the meridian MTF value of the edge field of view is the lowest, which can reach 0.34 at 30lp / mm.

[0115] refer to Figure 8 As shown, it shows the field curvature and distortion curves of each field of view of the eyepiece assembly. The meridian field curvature is 0.586mm at the edge of the field of view, and the distortion is 1.89%.

[0116] It can be seen that the eyepiece assembly with the above structure can improve the display quality of 3D images and further improve the display effect of 3D images.

[0117] In one embodiment, reference Fig. 9 As shown, a surgical robot is provided; the surgical robot includes an image acquisition device 902 and a display device 904 in any of the above embodiments; the image acquisition device 902 is communicatively connected with the display device 904; wherein the image acquisition device 902 is used to acquire a first image and a second image, and send the first image and the second image to the display device 904; the display device 904 is used to display the first image and the second image.

[0118] Exemplarily, the image acquisition device 902 may include a camera installed at the end of the robot, through which the tissue image in the patient's body can be acquired, and the tissue image may be a three-dimensional tissue image; then, the image acquisition device 902 may perform horizontal parallax processing on the three-dimensional tissue image, thereby obtaining a first image and a second image corresponding to the left and right eyes, respectively, and send the first image and the second image to a first display unit and a second display unit of a display device 904, respectively, so as to display the left eye viewing image and the right eye viewing image, respectively, through different display units; thereby, the first image and the second image are respectively reflected to the left and right eyes of the user through the above-mentioned display device 904, so that the user finally forms a three-dimensional stereoscopic image based on the images with horizontal parallax seen by the left and right eyes.

[0119] In this embodiment, an immersive 3D imaging effect can be achieved through a display device having the above-mentioned 3D display optical system structure, and the field of view of the optical system can be increased, the image clarity can be maintained, the display effect of the 3D image can be improved, and the user's immersive feeling of experiencing the 3D effect can be enhanced; in addition, a display device adopting this structure can also reduce the size and weight of the display device, thereby reducing the size and weight of the surgical robot.

[0120] In one embodiment, continue to refer to Fig. 9As shown, a surgical robot is also provided; the surgical robot includes an image acquisition device 902 and the display device 904 in the above embodiment; the image acquisition device 902 is communicatively connected with the display device 904; wherein the image acquisition device 902 is used to acquire a first image and a second image, and send the first image and the second image to the display device 904; the display device 904 is used to display the first image and the second image.

[0121] In this embodiment, the surgical robot also has the function of adjusting the first display unit and the second display unit to solve the problem of poor display effect of 3D images caused by position offset of the display unit due to subjective or objective factors, or position changes of various components in the optical path unit of the display device.

[0122] Exemplarily, the surgical robot is used to control the first display unit to approach the first reference point in response to a user's first display adjustment operation until a first preset stop condition is met; wherein the first preset stop condition may include that the distance between the center point of the first display unit and the first reference point is less than or equal to a second preset distance threshold, or the user's first display adjustment operation is not detected; and / or, in response to the user's second display adjustment operation, control the second display unit to approach the second reference point until the second preset stop condition is met; wherein the second preset stop condition includes that the distance between the center point of the second display unit and the second reference point is less than or equal to a third preset distance threshold, or the user's second display adjustment operation is not detected.

[0123] Exemplarily, the surgical robot may include a mechanical control device, such as a mechanical key, button, knob, operating rod, etc.; it may also include a touch screen, and the touch screen may include a touch device so that the user can adjust the position of the first display unit and / or the second display unit. Optionally, the position of the first display unit and the second display unit can be adjusted simultaneously by the same device, or the position of the first display unit and the second display unit can be adjusted separately by different devices.

[0124] For example, the user may trigger a display adjustment operation on the first display unit, and the surgical robot adjusts the position of the first display unit in response to the user's first display adjustment operation; the first display adjustment operation may include a movement control operation on the first display unit, or may include a position correction operation on the first display unit. In the case where the first display adjustment operation includes a movement control operation on the first display unit, the surgical robot may, based on the user's instructions, control the movement of the first display unit so that the first display unit approaches the first reference point; in the case where the user does not perform a movement control operation, the movement control of the first display unit is stopped.

[0125] In the case where the first display adjustment operation includes a position correction operation on the first display unit, the surgical robot can correct the position of the first display unit according to the current position of the first display unit, the current center point position of the first display unit and the position of the first reference point; to control the first display unit to approach the first reference point until the distance between the center point of the first display unit and the first reference point is less than or equal to the second preset distance threshold; to achieve automatic correction of the first display unit. The second preset distance threshold can be equal to the first preset distance threshold or less than the first preset distance threshold.

[0126] For the second display unit, the same movement control operation as that of the first display unit can be adopted, which will not be repeated here.

[0127] The surgical robot in this embodiment can provide users with the function of moving and adjusting the display unit in scenarios where the 3D display effect is poor or to adapt to the viewing needs of different users, thereby increasing the flexible adjustment capability of the display device and providing users with better 3D image display effects.

[0128] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above 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.

[0129] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A display device, characterized in that: include: A first display unit and a second display unit; the first display unit is used to display a first image, and the second display unit is used to display a second image; An optical path unit, wherein the optical path unit comprises a reflection component and an eyepiece component; The optical path unit is configured such that the first image and the second image are reflected by the reflection component and magnified by the eyepiece component in sequence to form a first virtual image perceived by the first eye and a second virtual image perceived by the second eye.

2. The display device according to claim 1, characterized in that The reflective component comprises a first reflective component, a second reflective component and a third reflective component, and the third reflective component comprises a first reflective surface and a second reflective surface; The reflection component is configured such that: the first image is reflected by the first reflection component and the first reflection surface in sequence to form a first intermediate virtual image; the second image is reflected by the second reflection component and the second reflection surface in sequence to form a second intermediate virtual image.

3. The display device according to claim 2, characterized in that: The eyepiece assembly includes a first eyepiece assembly and a second eyepiece assembly; The first eyepiece assembly is used to magnify the first intermediate virtual image formed by the first reflecting surface to form the first virtual image; The second eyepiece assembly is used to magnify the second intermediate virtual image formed by the second reflecting surface to form the second virtual image.

4. The display device according to claim 3, characterized in that: The distance between the center point of the first display unit and the first reference point is less than or equal to a first preset distance threshold; the first reference point is the intersection point between the first optical path and the first display unit, and the first optical path is the optical path formed after the light passes through the exit pupil center of the first eyepiece assembly and is reflected by the first reflection surface and the first reflection assembly; The distance between the center point of the second display unit and the second reference point is less than or equal to the first preset distance threshold; the second reference point is the intersection between the second optical path and the second display unit, and the second optical path is the optical path formed after the light passes through the exit pupil center of the second eyepiece assembly and is reflected by the second reflection surface and the second reflection assembly.

5. The display device according to claim 4, characterized in that: The first reference point is a vertical intersection point between the first light path and the first display unit; the second reference point is a vertical intersection point between the second light path and the second display unit.

6. The display device according to claim 3, characterized in that: The first eyepiece assembly and the second eyepiece assembly each include at least two magnifying lenses, and the at least two magnifying lenses in the same eyepiece assembly are coaxially arranged along the optical axis direction.

7. The display device according to claim 6, characterized in that: The at least two magnifying glasses include a first magnifying glass, a second magnifying glass and a third magnifying glass, and the first magnifying glass, the second magnifying glass and the third magnifying glass in the same eyepiece assembly are arranged in sequence along the viewing direction of human eyes; The first magnifying glass is a biconcave spherical lens, the second magnifying glass is a meniscus lens, and the third magnifying glass is a biconvex spherical lens.

8. The display device according to claim 6 or 7, characterized in that: The at least two magnifying glasses include a first magnifying glass; The image side focal length of the first magnifying glass satisfies The shape factor of the first magnifying lens satisfies Among them, f1 is the image side focal length of the first magnifying glass, f is the effective focal length of the eyepiece assembly, R1 is the curvature radius of the first magnifying glass on the side close to the human eye, and R2 is the curvature radius of the first magnifying glass on the side away from the human eye.

9. The display device according to claim 6 or 7, characterized in that: The at least two magnifying lenses include a second magnifying lens; The image side focal length of the second magnifying glass satisfies The shape factor of the second magnifying lens satisfies Among them, f2 is the image side focal length of the second magnifying glass, f is the effective focal length of the eyepiece assembly, R3 is the curvature radius of the second magnifying glass on the side close to the human eye, and R4 is the curvature radius of the second magnifying glass on the side away from the human eye.

10. The display device according to claim 6 or 7, characterized in that: The at least two magnifying lenses include a third magnifying lens; The image side focal length of the third magnifying lens satisfies The shape factor of the third magnifying lens satisfies Among them, f3 is the image-side focal length of the third magnifying glass, f is the effective focal length of the eyepiece assembly, R5 is the curvature radius of the third magnifying glass on the side close to the human eye, and R6 is the curvature radius of the third magnifying glass on the side away from the human eye.

11. A surgical robot, characterized in that: It comprises an image acquisition device and a display device as claimed in any one of claims 1 to 10; the image acquisition device is communicatively connected with the display device; The image acquisition device is used to acquire the first image and the second image, and send the first image and the second image to the display device; The display device is used to display the first image and the second image.

12. A surgical robot, characterized in that: It comprises an image acquisition device and a display device as claimed in claim 4 or 5; the image acquisition device is communicatively connected with the display device; The image acquisition device is used to acquire the first image and the second image, and send the first image and the second image to the display device; The display device is used to display the first image and the second image; The surgical robot is configured to control the first display unit to approach the first reference point in response to a first display adjustment operation by a user until a first preset stop condition is met; The first preset stop condition includes that the distance between the center point of the first display unit and the first reference point is less than or equal to a second preset distance threshold, or the first display adjustment operation of the user is not detected; and / or The surgical robot is configured to control the second display unit to approach the second reference point in response to the second display adjustment operation of the user until a second preset stop condition is met; The second preset stop condition includes that the distance between the center point of the second display unit and the second reference point is less than or equal to a third preset distance threshold, or the second display adjustment operation of the user is not detected.

Images