Illumination acquisition device, exterior mirror and automatic tracking illumination method

Abstract

The invention relates to an illumination acquisition device, an exterior mirror and an automatic tracking illumination method. The illumination acquisition device comprises an image acquisition module, an illumination device, an adjusting mechanism, an image processing module and a controller module; the image acquisition module is used for acquiring an image in the surgical bone window; the lighting device comprises a main lighting assembly and an auxiliary lighting assembly, the main lighting assembly is fixedly arranged on one side of the image acquisition module and used for emitting main lighting light into the surgical bone window and forming a main lighting area, and the auxiliary lighting assembly is movably arranged on the other side of the image acquisition module and used for emitting auxiliary lighting light into the surgical bone window. The auxiliary light source is used for emitting auxiliary lighting light into the surgical bone window and forming an auxiliary lighting area; the minimum brightness value area is recognized through the image processing module, the adjusting mechanism is controlled through the controller module to drive the auxiliary lighting assembly to move, the auxiliary lighting area covers the minimum brightness value area all the time, and therefore the problem of lighting blind areas is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a lighting collection device, an exterior mirror and an automatic tracking lighting method. Background Art

[0002] With the development of microscopic technology, medical devices such as medical microscopes and exoscopes are becoming more and more popular. By using medical devices such as medical microscopes and exoscopes to assist surgery, the surgery can be refined.

[0003] In some microsurgeries, the surgical window is usually small. For example, in neurosurgery, the surgical bone window is usually about 3-10 cm, but the internal cavity where the surgery is actually performed is much larger. Most general medical microscopes use oblique lighting, which is prone to blind spots. During the operation, as the doctor's hands or instruments move, it is easy to further block the lighting, resulting in a blocked field of view and affecting the operation.

[0004] In order to solve the above problems, some medical microscopes currently use the method of adding auxiliary lighting. By adding a light source and irradiating at another angle to cover the lighting blind spot, the problem of visual field obstruction is avoided. However, this solution cannot completely solve the obstruction caused by the doctor's hands or the movement of instruments during surgery. There will still be lighting blind spots. When a lighting blind spot occurs, the surgery needs to be interrupted, and the position of the microscope or the external mirror lens is moved to adjust the lighting, which has a great impact on the operation. At the same time, the existing auxiliary lighting solution is not the same light source as the main lighting, which will lead to spectral differences and different color temperatures, which will cause color distortion problems. Summary of the invention

[0005] Based on this, it is necessary to provide a lighting collection device, an exoscopic mirror and an automatic tracking lighting method to address the problem that existing medical microscopes or exoscopic mirrors are prone to lighting blind spots.

[0006] A lighting collection device, comprising:

[0007] An image acquisition module, the image acquisition module is used to acquire images in the surgical bone window and process the images to form image signals;

[0008] An illumination device, the illumination device comprising a main illumination component and an auxiliary illumination component, the main illumination component being fixedly arranged on one side of the image acquisition module, and being used to emit main illumination light into the surgical bone window and form a main illumination area, the auxiliary illumination component being movably arranged on the other side of the image acquisition module, and being used to emit auxiliary illumination light into the surgical bone window and form an auxiliary illumination area;

[0009] An image processing module, the image processing module is electrically connected to the image acquisition module, and is used to identify the position of the minimum brightness value area in the surgical bone window and output a position signal according to the image signal acquired and output by the image acquisition module;

[0010] a controller module, the controller module being electrically connected to the image processing module and configured to process a position signal outputted by the image processing module and output a control signal; and

[0011] An adjusting mechanism, wherein the adjusting mechanism is drivably connected to the auxiliary lighting assembly; the adjusting mechanism is electrically connected to the controller module, and is used to drive the auxiliary lighting assembly to move according to a control signal outputted via the controller module, so that the auxiliary lighting area covers the minimum brightness value area.

[0012] In one embodiment, the adjustment mechanism includes a first driving member, a first transmission member, a second driving member and a second transmission member, the first driving member is drivably connected to the first transmission member, the first transmission member is drivably connected to the auxiliary lighting assembly, the second driving member is drivably connected to the second transmission member, the second transmission member is drivably connected to the first driving member, wherein one of the first transmission member or the second transmission member is a rotation transmission member, and the other of the first transmission member or the second transmission member is a pitch transmission member.

[0013] In one embodiment, the first driving member and the second driving member are stepping motors or steering gears.

[0014] In one embodiment, the rotation angle output by the first driving member and / or the second driving member ranges from at least -45° to 45°.

[0015] In one embodiment, the lighting assembly further includes a lighting optical fiber for connecting to a light source, and the main lighting assembly and the auxiliary lighting assembly are respectively connected to the lighting optical fiber.

[0016] In one embodiment, the auxiliary lighting assembly includes an auxiliary optical fiber connected to the lighting optical fiber and an auxiliary light emitting portion connected to the auxiliary optical fiber, and the first transmission member is transmissionably connected to the auxiliary light emitting portion.

[0017] In one embodiment, the main lighting assembly includes a main optical fiber connected to the lighting optical fiber, a main light emitting portion connected to the main optical fiber, and a reflector disposed in a main lighting light path of the main light emitting portion.

[0018] In one embodiment, the image acquisition module includes a first image sensor, a second image sensor, a first lens group, a second lens group and a third lens group. The first image sensor and the second image sensor are arranged at intervals, the first lens group is arranged between the first image sensor and the third lens group, and the second lens group is arranged between the second image sensor and the third lens group. The first image sensor and the second image sensor are used to respectively capture images of one optical path to form a dual-optical path 3D image.

[0019] An exterior mirror, comprising:

[0020] Trolley;

[0021] A mechanical arm, one end of which is fixedly mounted on the trolley;

[0022] As any of the above-mentioned illumination collection devices, the illumination collection device is fixedly mounted at the other end of the mechanical arm;

[0023] A light source, the light source is connected to the illumination optical fiber of the illumination collection device,

[0024] A display assembly, the display assembly is fixedly mounted on the trolley and electrically connected to the illumination collection device; and

[0025] A main control device, wherein the main control device is electrically connected to the mechanical arm and the lighting collection device.

[0026] An automatic tracking lighting method comprises the following steps:

[0027] The image acquisition module is used to acquire the image in the surgical bone window and process the image to form an image signal;

[0028] By means of an image processing module, according to the image signal collected and output by the image acquisition module, the position of the minimum brightness value area in the surgical bone window is identified, and a position signal is output;

[0029] Processing the position signal output by the image processing module through the controller module and outputting a control signal; and

[0030] The auxiliary lighting assembly is driven to move by the adjusting mechanism according to the control signal outputted by the controller module, so that the auxiliary lighting area covers the minimum brightness value area.

[0031] In one embodiment, the step of identifying the position of the minimum brightness value area in the surgical bone window according to the image signal collected and output by the image acquisition module through the image processing module and outputting the position signal comprises:

[0032] According to the image signal collected and output by the image acquisition module, the width W and the height H of the image in the surgical bone window are equally divided into n parts and m parts respectively, so as to divide the image in the surgical bone window into a plurality of regions, and the coordinates of each region are recorded as (x, y), wherein 0≤x≤n, 0≤y≤m;

[0033] Count the brightness value of each area respectively, and record the brightness value of each area as L(x, y);

[0034] identifying the coordinates of the region of minimum brightness value; and

[0035] Output position signal.

[0036] In one of the embodiments, in the step of identifying the coordinates of the minimum brightness value area, a global photometry method is used to compare the brightness values ​​L(x, y) of various areas respectively to identify the coordinates of the minimum brightness value area.

[0037] In one embodiment, in the step of identifying the coordinates of the minimum brightness value area, a central light measurement method is used to count the central brightness value L of the entire displayed image. 中心 , and compare the L(x, y) of each area with the central brightness value L 中心 Compare to identify the coordinates of the area with the minimum brightness value.

[0038] In one embodiment, the step of identifying the position of the minimum brightness value area in the surgical bone window according to the image signal collected and output by the image acquisition module through the image processing module and outputting the position signal comprises:

[0039] According to the image signal collected and output by the image acquisition module, the brightness value of each pixel in the image of the surgical bone window is counted respectively to obtain a brightness value ranking table of the whole image and the coordinates (a1, b1) of the pixel with the highest brightness value;

[0040] According to the full image brightness value sorting table, calculating the average brightness value Lavg of all pixels in the image within the surgical bone window; and

[0041] With (a1, b1) as the center and t*Lavg as the brightness boundary, identify the minimum brightness value area where the pixels with brightness values ​​less than t*Lavg are located, where t is the threshold and satisfies 0 <t<1;

[0042] Output position signal.

[0043] The lighting acquisition device of the present application can ensure basic lighting for the field of view of the surgical bone window by maintaining the lighting angle of the main lighting component unchanged. During the operation, when obstructions such as the doctor's hand or a scalpel block the main lighting area, causing the brightness value of some areas within the surgical bone window to decrease, the image processing module can be used to identify the minimum brightness value area within the surgical bone window, and the controller module can be used to control the adjustment mechanism to drive the auxiliary lighting component to move, so that the auxiliary lighting area always covers the minimum brightness value area to supplement the lighting of the minimum brightness value area, thereby solving the problem of lighting blind spots and achieving the effect of quickly adjusting the field of view lighting without interrupting the operation, which can greatly improve surgical efficiency and safety.

[0044] The main lighting component and the auxiliary lighting component of the lighting collection device of the present application use the same light source, which can avoid color distortion and visual fatigue. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A schematic diagram of an exterior mirror provided for one embodiment of the present application;

[0046] Figure 2 A schematic diagram of a lighting collection device provided for one embodiment of the present application;

[0047] Figure 3 A schematic diagram showing an auxiliary lighting component of the lighting collection device provided according to the above embodiment of the present application is shown;

[0048] Figure 4 A schematic diagram showing the rotational movement of the auxiliary lighting assembly of the lighting collection device provided according to the above embodiment of the present application is shown;

[0049] Figure 5 A schematic diagram showing the pitch motion of the auxiliary lighting assembly of the lighting collection device provided according to the above embodiment of the present application is shown;

[0050] Figure 6 A schematic diagram of a control flow of a control component of a lighting collection device provided in the above embodiment of the present application is shown;

[0051] Figure 7 A schematic diagram of the steps of an automatic tracking lighting method provided by an embodiment of the present application;

[0052] Figure 8 A schematic diagram showing an example of step S200 of the automatic tracking lighting method according to the above embodiment of the present application;

[0053] Fig. 9 A flowchart showing an example of step S200 of the automatic tracking lighting method according to the above embodiment of the present application;

[0054] Fig.10 A schematic diagram of another example of step S200 of the automatic tracking lighting method according to the above embodiment of the present application is shown.

[0055] Figure numerals: 10, lighting acquisition device; 11, image acquisition module; 111, first image sensor; 112, second image sensor; 113, first lens group; 114, second lens group; 115, third lens group; 12, lighting device; 121, lighting optical fiber; 122, main lighting assembly; 1220, main lighting area; 1221, main optical fiber; 1222, main light emitting part; 1223, reflector; 123, auxiliary lighting assembly; 1230, auxiliary lighting area; 1231, auxiliary optical fiber; 1232, auxiliary light emitting part; 13, adjustment mechanism; 131, first driving member; 132, first transmission member; 133, second driving member; 134, second transmission member; 14, surgical bone window; 20, trolley; 30, robotic arm; 40, display assembly; 50, main control device. DETAILED DESCRIPTION

[0056] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0057] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0058] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0059] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0060] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0061] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0062] Based on the problem that existing medical microscopes or exoscopes are prone to blind spots in lighting, the present application provides a lighting collection device. The lighting collection device of the present application can automatically track the auxiliary lighting component to supplement the lighting blind spot of the main lighting component, and can achieve real-time automatic adjustment without interrupting the operation.

[0063] For details, please refer to Figure 1 , Figure 2 and Figure 6The lighting acquisition device 10 of the present application may include an image acquisition module 11, a lighting device 12, an adjustment mechanism 13, an image processing module and a controller module. The image acquisition module 11 is used to acquire images in a surgical bone window 14 and process the images to form an image signal. The lighting device 12 includes a main lighting component 122 and an auxiliary lighting component 123. The main lighting component 122 is fixed on one side of the image acquisition module 11, and the auxiliary lighting component 123 can be movably arranged on the other side of the image acquisition module 11, that is, the main lighting component 122 and the auxiliary lighting component 123 are respectively arranged on both sides of the surgical bone window 14, and the main lighting component 122 and the auxiliary lighting component 123 respectively emit main lighting light and auxiliary lighting light into the surgical bone window 14 to form a main lighting area 1220 and an auxiliary lighting area 1230. The image processing module is electrically connected to the image acquisition module 11, and is used to identify the position of the minimum brightness value area and output the position signal according to the image signal acquired and output by the image acquisition module 11; the controller module is electrically connected to the image processing module, and is used to process the position signal output by the image processing module and output the control signal. The adjustment mechanism 13 is drivably connected to the auxiliary lighting component 123, and the adjustment mechanism 13 is electrically connected to the controller module, and is used to drive the auxiliary lighting component 123 to move according to the control signal output by the controller module, so that the auxiliary lighting area 1230 covers the minimum brightness value area.

[0064] In this way, by keeping the lighting angle of the main lighting component 122 unchanged, it is possible to ensure that the field of view of the surgical bone window 14 has basic lighting. During the operation, when the doctor's hand or scalpel and other obstructions block the main lighting area 1220, causing the brightness value of some areas within the surgical bone window 14 to decrease, the image processing module can be used to identify the minimum brightness value area within the surgical bone window 14, and the controller module can be used to control the adjustment mechanism 13 to drive the auxiliary lighting component 123 to move, so that the auxiliary lighting area 1230 always covers the minimum brightness value area to supplement the lighting of the minimum brightness value area, thereby solving the problem of lighting blind spots and achieving the effect of quickly adjusting the field of view lighting without interrupting the operation, which can greatly improve the efficiency and safety of the operation.

[0065] More specifically, if Figure 3 , Figure 4 and Figure 5As shown, in some embodiments, the adjustment mechanism 13 includes a first driving member 131, a first transmission member 132, a second driving member 133 and a second transmission member 134, the first driving member 131 is drivably connected to the first transmission member 132, the first transmission member 132 is drivably connected to the auxiliary lighting assembly 123, the second driving member 133 is drivably connected to the second transmission member 134, and the second transmission member 134 is drivably connected to the first driving member 131, wherein one of the first transmission member 132 or the second transmission member 134 is a rotation transmission member, and the other of the first transmission member 132 or the second transmission member 134 is a pitch transmission member. Taking the first transmission member 132 as a rotation transmission member and the second transmission member 134 as a pitch transmission member as an example, the first driving member 131 drives the auxiliary lighting assembly 123 to perform rotational motion through the first transmission member 132, so as to adjust the angle of the auxiliary lighting assembly 123 in the left-right direction, and the second driving member 133 drives the first driving member 131 and the auxiliary lighting assembly 123 to perform pitch motion together through the second transmission member 134, so as to adjust the angle of the auxiliary lighting assembly 123 in the front-back direction. Similarly, when the first transmission member 132 is a pitch transmission member and the second transmission member 134 is a rotation transmission member, the first driving assembly can drive the auxiliary lighting assembly 123 to perform pitch motion through the first transmission member 132, and the second driving assembly can drive the first driving member 132 and the auxiliary lighting assembly 123 to perform rotational motion together through the second transmission member 134. In this way, the adjustment mechanism 13 can simultaneously adjust the angle of the auxiliary lighting assembly 123 in the front-to-back direction and the left-to-right direction, and can more accurately track the lighting minimum brightness value area.

[0066] Optionally, in some embodiments, the first driving member 131 can be implemented as a stepper motor or a steering gear, and the second driving member 133 can also be implemented as a stepper motor or a steering gear. The stepper motor and the steering gear can rotate a set angle according to the received control signal, and can more accurately control the rotation angle of the auxiliary lighting assembly 123.

[0067] Optionally, in some embodiments, when the first transmission member 132 is a rotation transmission member and the second transmission member 134 is a pitch transmission member, the first transmission member 132 may be a rotation shaft, one end of which is fixedly connected to the rotation shaft of the stepping motor or the servo, and the other end is fixedly connected to the auxiliary lighting assembly 123, the angle between the rotation shaft and the rotation shaft of the stepping motor or the servo is 180°, when the stepping motor or the servo rotates, it can drive the rotation shaft to rotate in the same direction, thereby driving the auxiliary lighting assembly 123 to rotate together. The second transmission member 134 may be a swing shaft, one end of which is fixedly connected to the rotation shaft of the stepping motor or the servo, and the other end is fixedly connected to the first driving member 131, the angle between the swing shaft and the rotation shaft of the stepping motor or the servo is 90°, when the stepping motor or the servo rotates, it can drive the rotation shaft to rotate, thereby driving the first driving member 131 and the auxiliary lighting assembly 123 to swing together.

[0068] Preferably, in some embodiments, the range of the rotation angle output by the first driving member 131 is at least -45° to 45°, in other words, the range of the rotation angle output by the first driving member 131 is at least greater than 90°, and the range of the rotation angle output to both sides is at least greater than 45° based on the midline of the first driving member 131. In this way, the auxiliary lighting assembly 123 can have a sufficient range of adjustment angles to ensure that the lighting blind area in the entire surgical bone window 14 can be fully covered.

[0069] Preferably, in some embodiments, the lighting device 12 further includes a lighting optical fiber 121, which is used to connect the light source. The main lighting component 122 and the auxiliary lighting component 123 are both connected to the lighting optical fiber 121, and the lighting optical fiber 121 is used to guide light to the main lighting component 122 and the auxiliary lighting component 123. With this arrangement, the main lighting component 122 and the auxiliary lighting component 123 use the same light source, which can avoid color distortion and visual fatigue.

[0070] Furthermore, if Figure 3 As shown, in some embodiments, the auxiliary lighting assembly 123 may include an auxiliary optical fiber 1231 and an auxiliary light emitting portion 1232, wherein the auxiliary optical fiber 1231 is connected to the illumination optical fiber 121, and the auxiliary light emitting portion 1232 is connected to the auxiliary optical fiber 1231. The auxiliary light emitting portion 1232 transmits the illumination light emitted by the light source to the auxiliary light emitting portion 1232 through the auxiliary optical fiber 1231 and the illumination optical fiber 121, and the auxiliary illumination light is emitted into the surgical bone window 14 through the auxiliary light emitting portion 1232, thereby forming an auxiliary illumination area 1230. The first transmission member 132 is transmissionably connected to the auxiliary light emitting portion 1232, and the auxiliary light emitting portion 1232 is driven to move by the first driving member 131 and the second driving member 133, so that the illumination angle of the auxiliary light emitting portion 1232 can be adjusted in real time.

[0071] Preferably, if Figure 2 As shown, in some embodiments, the main lighting assembly 122 may include a main optical fiber 1221, a main light emitting portion 1222, and a reflector 1223. The main optical fiber 1221 is connected to the illumination optical fiber 121, the main light emitting portion 1222 is connected to the main optical fiber 1221, and the reflector 1223 is arranged in the main illumination path of the main light emitting portion 1222. The main light emitting portion 1222 transmits the illumination light emitted by the light source to the main light emitting portion 1222 through the main optical fiber 1221 and the illumination optical fiber 121, and the main illumination light is emitted to the reflector 1223 through the main light emitting portion 1222, and the main illumination light is reflected into the surgical bone window 14 through the reflector 1223, thereby forming a main illumination area 1220. In this way, the optical path of the main illumination light can be changed by the reflector 1223, thereby expanding the size of the main illumination area 1220. In addition, by adjusting the angle of the reflector 1223, the position of the main illumination area 1220 can be adjusted.

[0072] In particular, if Figure 2 As shown, in some embodiments, the image acquisition module 11 includes a first image sensor 111, a second image sensor 112, a first lens group 113, a second lens group 114 and a third lens group 115, the first image sensor 111 and the second image sensor 112 are arranged at intervals, the first image sensor 111 and the second image sensor 112 are arranged at intervals, the first lens group 113 is arranged between the first image sensor 111 and the third lens group 115, and the second lens group 114 is arranged between the second image sensor 112 and the third lens group 115. The first image sensor 111 and the second image sensor 112 are used to respectively capture an image of one optical path to form a 3D image of a dual optical path. That is, the first image sensor 111 corresponds to the left eye, and the second image sensor 112 corresponds to the right eye, which can simulate the human eye and realize three-dimensional image acquisition. By adjusting the first lens group 113 and the second lens group 114, the images captured by the first image sensor 111 and the second image sensor 112 can be enlarged or reduced respectively. The focal length can be adjusted by adjusting the third lens group 115 to achieve a focusing function, so that the first image sensor 111 and the second image sensor 112 can capture clearer images.

[0073] Exemplarily, the first image sensor 111 and the second image sensor 112 may be implemented as CMOS sensors, which are capable of capturing images within a surgical bone window, processing the images, and outputting corresponding CMOS signals.

[0074] For example, in some embodiments, the image processing module can be implemented as a GPU, which can receive the CMOS signal output by the image acquisition module 11, convert it into a position signal, and can also output an image for subsequent 3D display through the display component 40. The controller module can include a CPU or an NPU, which can receive the position signal and convert it into a control signal to control the adjustment mechanism 13 to drive the auxiliary lighting component 123 to move.

[0075] It is worth noting that after the adjustment mechanism 13 drives the auxiliary lighting assembly 123 to move, the minimum brightness value area is located at the center of the auxiliary lighting area 1230 to ensure that sufficient auxiliary lighting can be provided to illuminate the minimum brightness value area.

[0076] Furthermore, if Figure 1 As shown, the present application also provides an exterior mirror, which may include a trolley 20, a robotic arm 30, a light source, a lighting collection device 10 as described in any one of the above, a display component 40 and a main control device 50.

[0077] One end of the robotic arm 30 is fixed to the trolley 20, the lighting collection device 10 is fixed to the other end of the robotic arm 30, the display component 40 is fixed to the trolley 20 and electrically connected to the lighting collection device 10, and the main control device is electrically connected to the robotic arm 30 and the lighting collection device 10.

[0078] The light source is connected to the illumination optical fiber 121 of the illumination collection device 10 . The light source can be implemented as an LED lamp or a xenon lamp as a light source. The light can be guided through the main illumination optical fiber 121 and divided into the main illumination component 122 and the auxiliary illumination component 123 .

[0079] The manipulator 30 has six degrees of freedom and can drive the lighting acquisition device 10 to move in three-dimensional space to meet the doctor's observation needs during surgery. The main control device 50 is used to operate and control the entire exoscope, can be used to control the movement of the manipulator 30, can be used to control the lighting acquisition device 10's functions such as photo taking, video recording, display mode, and dual mirror combination, and can also be used to control the lighting acquisition device 10's white balance adjustment, light source adjustment, focal length adjustment, magnification adjustment, image adjustment and other parameter adjustments. The display component 40 can receive the position signal output by the lighting acquisition device 10 and provide a display screen so that the doctor can observe the image in the surgical bone window 14 more intuitively.

[0080] For example, in some embodiments, the display component 40 may be implemented as a 3D monitor capable of 3D display to provide clear and enlarged three-dimensional images and fluorescent images.

[0081] Exemplarily, the main control device 50 may include a touch control screen, which can be used for touch manipulation to achieve control of the exterior mirror.

[0082] Preferably, in some embodiments, the bottom of the trolley 20 may be provided with four locking casters to enable the trolley 20 to be moved or caused. A balancing device may be provided inside the trolley 20 to ensure that the stability of the trolley 20 can be maintained when the exterior mirror moves or the mechanical arm 30 moves.

[0083] Furthermore, if Figure 7 As shown, the present application also provides an automatic tracking lighting method, which can realize automatic tracking lighting through the above-mentioned exterior mirror and lighting collection device 10, and the automatic tracking lighting method includes the following steps:

[0084] S100, collecting images in the surgical bone window through an image collection module and processing the images to form image signals;

[0085] S200, identifying the position of the minimum brightness value area through the image processing module according to the image signal collected and output by the image acquisition module, and outputting a position signal;

[0086] S300, processing the position signal output by the image processing module through the controller module, and outputting a control signal; and

[0087] S400, driving the auxiliary lighting assembly to move according to the control signal outputted by the controller module through the adjusting mechanism, so that the auxiliary lighting area of ​​the auxiliary lighting assembly covers the minimum brightness value area.

[0088] It is understandable that during the doctor's operation, the image acquisition module 11 can be used to capture the image in the surgical bone window 14 in real time and output it to the image processing module. The image processing module can identify the minimum brightness value area and output it to the controller module. The controller module can calculate the position difference between the auxiliary lighting area 1230 and the minimum brightness value area, and output a control signal. The adjustment mechanism 13 can drive the auxiliary lighting component 123 to move according to the control signal, so that the tracking target remains in the auxiliary lighting area 1230, thereby realizing automatic tracking lighting.

[0089] Alternatively, if Figure 8 and Fig. 9 As shown, in some embodiments, the step S200 may include:

[0090] S210, according to the image signal collected and output by the image acquisition module, the width W and the height H of the image in the surgical bone window are equally divided into n parts and m parts respectively, so as to divide the image in the surgical bone window into a plurality of regions, and the coordinates of each region are recorded as (x, y), wherein 0≤x≤n, 0≤y≤m;

[0091] S220, counting the brightness value of each area respectively, and recording the brightness value of each area as L(x, y);

[0092] S230, identifying the coordinates of the minimum brightness value area; and

[0093] S240, output position signal.

[0094] In this way, by counting and comparing the brightness values ​​L(x, y) of each region, the minimum brightness value region can be accurately identified.

[0095] Optionally, in some embodiments, in step S230, a global photometry method may be used to compare the brightness values ​​L(x, y) of various regions respectively, so as to identify the coordinates of the region with the minimum brightness value.

[0096] Optionally, in some embodiments, in step S230, a central light metering method may be used to count the central brightness value L of the entire image. 中心 The central brightness value is the brightness value of the area with the intersection of the diagonal lines of the area width and height as the center and r as the radius (0≤r≤1 / H). The L(x, y) of each area is compared with the central brightness value L 中心 By comparing to identify the coordinates of the minimum brightness value area, the coordinates of the minimum brightness value area can be identified.

[0097] Illustratively, the present application provides a specific example, the width W of the image in the surgical bone window 14 is 3840 mm, and the height H is 2160 mm. The width W of the image can be divided into n=16 parts, and the height H can be divided into m=9 parts. When calculating the central brightness value of the image, the radius r=876 mm.

[0098] Alternatively, if Fig.10 As shown, in some embodiments, the step S200 may also include:

[0099] S250, according to the image signal collected and output by the image acquisition module, respectively counting the brightness value of each pixel in the image in the surgical bone window to obtain a brightness value ranking table of the entire image and the coordinates (a1, b1) of the pixel with the highest brightness value;

[0100] S260, calculating the average brightness value Lavg of all pixels in the image of the surgical bone window according to the full image brightness value sorting table; and

[0101] S270, with (a1, b1) as the center of the circle and t*Lavg as the brightness boundary, identify the minimum brightness value area where the pixels with brightness values ​​less than t*Lavg are located, where t is the threshold and satisfies 0 <t<1;

[0102] S280, output position signal.

[0103] With this setting, the brightness value of each pixel in the image of the surgical bone window is counted separately and the average brightness value is calculated. The product t*Lavg of the set threshold and the average brightness value is used as the brightness boundary. The area where the pixels with brightness values ​​less than t*Lavg are located is the minimum brightness value area.

[0104] Exemplarily, the threshold t may be set to 0.6, that is, the area where pixels having brightness values ​​less than 0.6*Lavg are located is divided into the minimum brightness area.

[0105] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0106] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A lighting collection device, characterized in that: include: An image acquisition module, the image acquisition module is used to acquire images in the surgical bone window and process the images to form image signals; An illumination device, the illumination device comprising a main illumination component and an auxiliary illumination component, the main illumination component being fixedly arranged on one side of the image acquisition module, and being used to emit main illumination light into the surgical bone window and form a main illumination area, the auxiliary illumination component being movably arranged on the other side of the image acquisition module, and being used to emit auxiliary illumination light into the surgical bone window and form an auxiliary illumination area; An image processing module, the image processing module is electrically connected to the image acquisition module, and is used to identify the position of the minimum brightness value area in the surgical bone window and output a position signal according to the image signal acquired and output by the image acquisition module; a controller module, the controller module being electrically connected to the image processing module and configured to process a position signal outputted by the image processing module and output a control signal; as well as An adjusting mechanism, wherein the adjusting mechanism is drivably connected to the auxiliary lighting assembly; the adjusting mechanism is electrically connected to the controller module, and is used to drive the auxiliary lighting assembly to move according to a control signal outputted via the controller module, so that the auxiliary lighting area covers the minimum brightness value area.

2. The lighting collection device according to claim 1, characterized in that: The adjustment mechanism includes a first driving member, a first transmission member, a second driving member and a second transmission member, the first driving member is drivably connected to the first transmission member, the first transmission member is drivably connected to the auxiliary lighting assembly, the second driving member is drivably connected to the second transmission member, and the second transmission member is drivably connected to the first driving member, wherein one of the first transmission member or the second transmission member is a rotation transmission member, and the other of the first transmission member or the second transmission member is a pitch transmission member.

3. The lighting collection device according to claim 2, characterized in that: The first driving member and the second driving member are stepping motors or steering gears.

4. The lighting collection device according to claim 2, characterized in that: The range of the rotation angle output by the first driving member and / or the second driving member is at least -45° to 45°.

5. The lighting collection device according to any one of claims 2 to 4, characterized in that: The lighting assembly further comprises a lighting optical fiber for connecting to a light source, and the main lighting assembly and the auxiliary lighting assembly are respectively connected to the lighting optical fiber.

6. The lighting collection device according to claim 5, characterized in that: The auxiliary lighting assembly includes an auxiliary optical fiber connected to the lighting optical fiber and an auxiliary light emitting portion connected to the auxiliary optical fiber, and the first transmission member is transmissionably connected to the auxiliary light emitting portion.

7. The lighting collection device according to claim 5, characterized in that: The main lighting assembly includes a main optical fiber connected to the lighting optical fiber, a main light emitting portion connected to the main optical fiber, and a reflector arranged in the main lighting light path of the main light emitting portion.

8. The lighting collection device according to any one of claims 1 to 4, characterized in that: The image acquisition module includes a first image sensor, a second image sensor, a first lens group, a second lens group and a third lens group. The first image sensor and the second image sensor are arranged at intervals, the first lens group is arranged between the first image sensor and the third lens group, and the second lens group is arranged between the second image sensor and the third lens group. The first image sensor and the second image sensor are used to respectively capture an image of one optical path to form a 3D image of a dual optical path.

9. An exterior mirror, characterized in that: include: Trolley; A mechanical arm, one end of which is fixedly mounted on the trolley; The lighting collection device according to any one of claims 1 to 8, wherein the lighting collection device is fixedly mounted at the other end of the robotic arm; A light source, the light source is connected to the illumination optical fiber of the illumination collection device, A display assembly, the display assembly is fixedly mounted on the trolley and electrically connected to the illumination collection device; as well as A main control device, wherein the main control device is electrically connected to the mechanical arm and the lighting collection device.

10. An automatic tracking lighting method, characterized in that: The following steps are involved: The image acquisition module is used to acquire the image in the surgical bone window and process the image to form an image signal; By means of an image processing module, according to the image signal collected and output by the image acquisition module, the position of the minimum brightness value area in the surgical bone window is identified, and a position signal is output; Processing the position signal output by the image processing module through the controller module and outputting a control signal; as well as The auxiliary lighting assembly is driven to move according to the control signal outputted by the controller module through the adjusting mechanism, so that the auxiliary lighting area of ​​the auxiliary lighting assembly covers the minimum brightness value area.

11. The automatic tracking lighting method according to claim 10, characterized in that: The step of identifying the position of the minimum brightness value area in the surgical bone window by the image processing module according to the image signal collected and output by the image acquisition module, and outputting the position signal comprises: According to the image signal collected and output by the image acquisition module, the width W and the height H of the image in the surgical bone window are equally divided into n parts and m parts respectively, so as to divide the image in the surgical bone window into a plurality of regions, and the coordinates of each region are recorded as (x, y), wherein 0≤x≤n, 0≤y≤m; Count the brightness value of each area respectively, and record the brightness value of each area as L(x, y); identifying the coordinates of the region of minimum brightness value; and Output position signal.

12. The automatic tracking lighting method according to claim 11, characterized in that: In the step of identifying the coordinates of the minimum brightness value area, a global photometry method is used to compare the brightness values ​​L(x, y) of various areas respectively to identify the coordinates of the minimum brightness value area.

13. The automatic tracking lighting method according to claim 11, characterized in that: In the step of identifying the coordinates of the minimum brightness value area, a central light metering method is used to count the central brightness value L of the entire displayed image. 中心 , and compare the L(x, y) of each area with the central brightness value L 中心 Compare to identify the coordinates of the area with minimum brightness value.

14. The automatic tracking lighting method according to claim 10, characterized in that: The step of identifying the position of the minimum brightness value area in the surgical bone window by the image processing module according to the image signal collected and output by the image acquisition module, and outputting the position signal comprises: According to the image signal collected and output by the image acquisition module, the brightness value of each pixel in the image of the surgical bone window is counted respectively to obtain a brightness value ranking table of the whole image and the coordinates (a1, b1) of the pixel with the highest brightness value; According to the full image brightness value sorting table, calculating the average brightness value Lavg of all pixels in the image within the surgical bone window; and With (a1, b1) as the center and t*Lavg as the brightness boundary, identify the minimum brightness value area where the pixels with brightness values ​​less than t*Lavg are located, where t is the threshold and satisfies 0 <t<1; Output position signal.

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