Lighting acquisition device, external viewing mirror and automatic tracking lighting method

Abstract

This invention relates to an illumination acquisition device, an external viewing mirror, and an automatic tracking illumination method. The illumination acquisition device includes an image acquisition module, an illumination device, an adjustment mechanism, an image processing module, and a controller module. The image acquisition module is used to acquire images within a surgical bone window. The illumination device includes a main illumination component and an auxiliary illumination component. The main illumination component is fixed to one side of the image acquisition module and is used to emit main illumination light into the surgical bone window to form a main illumination area. The auxiliary illumination component is movably disposed on the other side of the image acquisition module and is used to emit auxiliary illumination light into the surgical bone window to form an auxiliary illumination area. The image processing module identifies the minimum brightness value area, and the controller module controls the adjustment mechanism to move the auxiliary illumination component, ensuring that the auxiliary illumination area always covers the minimum brightness value area, thereby solving the problem of illumination blind spots.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an illumination acquisition device, an external viewing mirror, and an automatic tracking illumination method. Background Technology

[0002] With the development of microscopy technology, medical instruments such as medical microscopes or exoscopes are becoming more and more common. With the assistance of medical instruments such as medical microscopes or exoscopes, surgery can be performed with greater precision.

[0003] In some microsurgeries, the surgical window is generally small; in neurosurgery, the bone window is typically around 3-10 cm. However, the actual internal cavity used for surgery is much larger. Most medical microscopes use oblique illumination, which can easily create blind spots. Furthermore, during surgery, the movement of the surgeon's hands or instruments can further obstruct the illumination, leading to an obstructed field of vision and hindering the progress of the surgery.

[0004] To address these issues, some medical microscopes currently employ auxiliary illumination. This involves adding an additional light source at a different angle to cover blind spots and prevent obstruction of the field of view. However, this solution doesn't completely eliminate obstructions caused by the surgeon's hand or instrument movement during surgery, still creating blind spots. When blind spots occur, surgery must be interrupted, and the microscope or external viewing lens must be moved to adjust the illumination, significantly impacting the surgical procedure. Furthermore, existing auxiliary illumination schemes use different light sources than the main illumination, leading to spectral differences and color temperatures, which can cause color distortion. Summary of the Invention

[0005] Therefore, it is necessary to provide an illumination acquisition device, an external mirror, and an automatic tracking illumination method to address the problem that existing medical microscopes or external mirrors are prone to producing illumination blind spots.

[0006] A lighting acquisition device, comprising:

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

[0008] The lighting device includes a main lighting component and an auxiliary lighting component. The main lighting component is fixed to one side of the image acquisition module and is used to emit main lighting light into the surgical bone window and form a main lighting area. The auxiliary lighting component is movably disposed on the other side of the image acquisition module and is used to emit auxiliary lighting light into the surgical bone window and form an auxiliary lighting area.

[0009] An image processing module, electrically connected to the image acquisition module, is used to identify the position of the minimum brightness value region within the surgical bone window and output a position signal based on the image signal acquired and output by the image acquisition module.

[0010] A controller module, electrically connected to the image processing module, is used to process the position signal output via the image processing module and output a control signal; and

[0011] An adjustment mechanism is tractably connected to the auxiliary lighting component; the adjustment mechanism is electrically connected to the controller module and is used to drive the auxiliary lighting component to move according to the control signal output by 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, and 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. One of the first transmission member or the second transmission member is a rotational 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 drive and the second drive are stepper motors or servo motors.

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

[0015] In one embodiment, the lighting assembly further includes an illumination optical fiber for connecting a light source, with the main lighting assembly and the auxiliary lighting assembly respectively connected to the illumination 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 section connected to the auxiliary optical fiber, wherein the first transmission member is tractably connected to the auxiliary light-emitting section.

[0017] In one embodiment, the main illumination component includes a main optical fiber connected to the illumination optical fiber, a main light-emitting section connected to the main optical fiber, and a reflector disposed in the main illumination optical path of the main light-emitting section.

[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 disposed between the first image sensor and the third lens group, and the second lens group is disposed between the second image sensor and the third lens group. The first image sensor and the second image sensor are used to acquire images of one optical path respectively to form a dual-optical-path 3D image.

[0019] An external viewing mirror, comprising:

[0020] trolley;

[0021] A robotic arm, one end of which is fixed to the trolley;

[0022] The lighting acquisition device as described above is fixed at the other end of the robotic arm;

[0023] The light source is connected to the illumination optical fiber of the illumination acquisition device.

[0024] A display component, fixed to the trolley and electrically connected to the lighting acquisition device; and

[0025] The main control device is electrically connected to the robotic arm and the lighting acquisition device.

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

[0027] The image acquisition module acquires images within the surgical bone window and processes them to form image signals.

[0028] The image processing module identifies the location of the minimum brightness value region within the surgical bone window based on the image signal acquired and output by the image acquisition module, and outputs the location signal.

[0029] The controller module processes the position signal output from the image processing module and outputs a control signal; and

[0030] The auxiliary lighting component is activated by the adjustment mechanism according to the control signal output 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 location of the minimum brightness value region within the surgical bone window and outputting a location signal based on the image signal acquired and output by the image processing module includes:

[0032] Based on the image signal acquired and output by the image acquisition module, the width W and height H of the image within the surgical bone window are divided into n and m equal parts, respectively, so that the image within the surgical bone window is divided into multiple regions. The coordinates of each region are denoted as (x, y), where 0≤x≤n and 0≤y≤m.

[0033] Calculate the brightness value of each region separately, and denote the brightness value of each region as L(x, y);

[0034] Identify the coordinates of the region with the lowest brightness value; and

[0035] Output position signal.

[0036] In one embodiment, in the step of identifying the coordinates of the region with the minimum brightness value, a global metering method is used to compare the brightness values ​​L(x, y) of each region to identify the coordinates of the region with the minimum brightness value.

[0037] In one embodiment, in the step of identifying the coordinates of the region with the minimum brightness value, a center-based metering method is used to calculate the center brightness value L of the entire displayed image. 中心 And compare the L(x, y) of each region with the central brightness value L. 中心 The coordinates of the region with the lowest brightness value are identified by comparison.

[0038] In one embodiment, the step of identifying the location of the minimum brightness value region within the surgical bone window and outputting a location signal based on the image signal acquired and output by the image processing module includes:

[0039] Based on the image signal acquired and output by the image acquisition module, the brightness value of each pixel in the image within the surgical bone window is statistically analyzed to obtain a full image brightness value sorting table and the coordinates (a1, b1) of the pixel with the highest brightness value.

[0040] Based on the full image brightness value sorting table, calculate the average brightness value Lavg of all pixels in the image within the surgical bone window; and

[0041] Using (a1, b1) as the center and t*Lavg as the brightness boundary, identify the minimum brightness value region where 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 illumination acquisition device of this application ensures basic illumination of the surgical bone window's field of vision by maintaining a constant illumination angle of the main illumination component. During surgery, when the surgeon's hand or scalpel obstructs the main illumination area, causing a decrease in the brightness value of some areas within the surgical bone window, the image processing module identifies the area with the lowest brightness value within the surgical bone window. The controller module then controls the adjustment mechanism to move the auxiliary illumination component, ensuring that the auxiliary illumination area always covers the area with the lowest brightness value, thus supplementing the illumination of that area. This solves the problem of blind spots and allows for rapid adjustment of the field of vision illumination without interrupting the surgery, significantly improving surgical efficiency and safety.

[0044] The main lighting component and auxiliary lighting component of the lighting acquisition device of this application use the same source light source, which can avoid color distortion and visual fatigue. Attached Figure Description

[0045] Figure 1 A schematic diagram of an external viewing mirror provided for one embodiment of this application;

[0046] Figure 2 A schematic diagram of a lighting acquisition device provided in one embodiment of this application;

[0047] Figure 3 A schematic diagram of the auxiliary lighting component of the lighting acquisition device provided in the above embodiments of this application is shown;

[0048] Figure 4 A schematic diagram of the rotational motion of the auxiliary lighting component of the lighting acquisition device provided in the above embodiments of this application is shown;

[0049] Figure 5 A schematic diagram of the pitch motion of the auxiliary lighting component of the lighting acquisition device provided in the above embodiments of this application is shown;

[0050] Figure 6 A schematic diagram of the control flow of the control component of the lighting acquisition device provided in the above embodiments of this application is shown;

[0051] Figure 7 A schematic diagram illustrating the steps of an automatic tracking lighting method provided in one embodiment of this application;

[0052] Figure 8 A schematic diagram illustrating an example of step S200 of the automatic tracking lighting method according to the above embodiments of this application is shown.

[0053] Figure 9 A flowchart illustrating an example of step S200 of the automatic tracking lighting method according to the above embodiments of this application is shown;

[0054] Figure 10 A schematic diagram illustrating another example of step S200 of the automatic tracking lighting method according to the above embodiments of this application is shown.

[0055] Reference numerals: 10, Illumination 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, Illumination device; 121, Illumination fiber; 122, Main illumination assembly; 1220, Main illumination area; 1221, Main fiber; 1222, Main light output section; 1223, Reflector; 123, Auxiliary illumination assembly; 1230, Auxiliary illumination area; 1231, Auxiliary fiber; 1232, Auxiliary light output section; 13, Adjustment mechanism; 131, First driving component; 132, First transmission component; 133, Second driving component; 134, Second transmission component; 14, Surgical bone window; 20, Cart; 30, Robotic arm; 40, Display assembly; 50, Main control device. Detailed Implementation

[0056] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0057] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0058] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0059] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0060] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0061] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0062] Addressing the issue of blind spots in existing medical microscopes or exoscopes, this application provides an illumination acquisition device. This device automatically tracks auxiliary illumination components to supplement the illumination blind spots of the main illumination component, enabling real-time automatic adjustment without interrupting surgery.

[0063] Specifically, please refer to Figure 1 , Figure 2 and Figure 6The illumination acquisition device 10 of this application may include an image acquisition module 11, an illumination device 12, an adjustment mechanism 13, an image processing module, and a controller module. The image acquisition module 11 is used to acquire images within the surgical bone window 14 and process the images to form image signals. The illumination device 12 includes a main illumination component 122 and an auxiliary illumination component 123. The main illumination component 122 is fixed to one side of the image acquisition module 11, and the auxiliary illumination component 123 is movably disposed on the other side of the image acquisition module 11. That is, the main illumination component 122 and the auxiliary illumination component 123 are respectively disposed on both sides of the surgical bone window 14. The main illumination component 122 and the auxiliary illumination component 123 emit main illumination light and auxiliary illumination light into the surgical bone window 14, respectively, forming a main illumination area 1220 and an auxiliary illumination 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 a position signal based on 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 a control signal. The adjustment mechanism 13 is tractably connected to the auxiliary lighting component 123 and is electrically connected to the controller module. The adjustment mechanism 13 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 illumination angle of the main illumination component 122 constant, the field of vision of the surgical bone window 14 can be ensured to have basic illumination. During the operation, when the surgeon's hand or scalpel or other obstruction blocks the main illumination area 1220, causing the brightness value of some areas within the surgical bone window 14 to decrease, the minimum brightness value area within the surgical bone window 14 can be identified by the image processing module. Through the controller module, the adjustment mechanism 13 is controlled to drive the auxiliary illumination component 123 to move, so that the auxiliary illumination area 1230 always covers the minimum brightness value area to supplement the illumination of the minimum brightness value area. This solves the problem of blind spots in illumination and achieves the effect of quickly adjusting the field of vision illumination without interrupting the operation, which can greatly improve the efficiency and safety of the operation.

[0065] More specifically, such as Figure 3 , Figure 4 and Figure 5As shown, in some embodiments, the adjustment mechanism 13 includes a first drive member 131, a first transmission member 132, a second drive member 133, and a second transmission member 134. The first drive 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 drive member 133 is drivably connected to the second transmission member 134, and the second transmission member 134 is drivably connected to the first drive member 131. One of the first transmission member 132 or the second transmission member 134 is a rotary 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 rotary transmission member and the second transmission member 134 as a pitch transmission member as an example, the first drive member 131 drives the auxiliary lighting component 123 to rotate via the first transmission member 132, thereby adjusting the angle of the auxiliary lighting component 123 in the left-right direction. The second drive member 133 drives the first drive member 131 and the auxiliary lighting component 123 to pitch together via the second transmission member 134, thereby adjusting the angle of the auxiliary lighting component 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 rotary transmission member, the first drive member can drive the auxiliary lighting component 123 to pitch via the first transmission member 132, and the second drive member can drive the first transmission member 132 and the auxiliary lighting component 123 to rotate together via the second transmission member 134. In this way, the adjustment mechanism 13 can simultaneously adjust the angles of the auxiliary lighting component 123 in both the front-back and left-right directions, enabling it to more accurately track the minimum brightness value area of ​​the lighting.

[0066] Optionally, in some embodiments, the first drive unit 131 can be implemented as a stepper motor or a servo motor, and the second drive unit 133 can also be implemented as a stepper motor or a servo motor. The stepper motor and the servo motor can rotate a set angle according to the received control signal, which 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 rotary transmission member and the second transmission member 134 is a pitch transmission member, the first transmission member 132 can be a rotary shaft. One end of the rotary shaft is fixed to the shaft of a stepper motor or servo motor, and the other end is fixed to the auxiliary lighting component 123. The angle between the rotary shaft and the shaft of the stepper motor or servo motor is 180°. When the stepper motor or servo motor rotates, it can drive the rotary shaft to rotate in the same direction, thereby driving the auxiliary lighting component 123 to rotate together. The second transmission member 134 can be a swing shaft. One end of the swing shaft is fixed to the shaft of a stepper motor or servo motor, and the other end is fixed to the first drive member 131. The angle between the swing shaft and the shaft of the stepper motor or servo motor is 90°. When the stepper motor or servo motor rotates, it can drive the rotary shaft to rotate, thereby driving the first drive member 131 and the auxiliary lighting component 123 to swing together.

[0068] Preferably, in some embodiments, the rotation angle output by the first drive member 131 is at least -45° to 45°, that is, the rotation angle output by the first drive member 131 is at least greater than 90°, and the range of rotation angles output to both sides with the centerline of the first drive member 131 as a reference is at least greater than 45°. In this way, the auxiliary lighting assembly 123 can have a sufficient range of adjustment angles to ensure that it can fully cover the lighting blind spots within the entire surgical bone window 14.

[0069] Preferably, in some embodiments, the lighting device 12 further includes an illumination optical fiber 121 for connecting a light source. The main lighting component 122 and the auxiliary lighting component 123 are both connected to the illumination optical fiber 121. The illumination optical fiber 121 guides light to the main lighting component 122 and the auxiliary lighting component 123. With this configuration, 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, such as Figure 3 As shown, in some embodiments, the auxiliary lighting assembly 123 may include an auxiliary optical fiber 1231 and an auxiliary light-emitting section 1232. The auxiliary optical fiber 1231 is connected to the lighting optical fiber 121, and the auxiliary light-emitting section 1232 is connected to the auxiliary optical fiber 1231. The auxiliary light-emitting section 1232 transmits illumination light emitted by the light source to the auxiliary light-emitting section 1232 through the auxiliary optical fiber 1231 and the lighting optical fiber 121, and emits auxiliary illumination light into the surgical bone window 14, thereby forming an auxiliary lighting area 1230. The first transmission member 132 is tractably connected to the auxiliary light-emitting section 1232. The first driving member 131 and the second driving member 133 drive the auxiliary light-emitting section 1232 to move, enabling real-time adjustment of the illumination angle of the auxiliary light-emitting section 1232.

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

[0072] In particular, such as 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 alternately. The first lens group 113 is disposed between the first image sensor 111 and the third lens group 115, and the second lens group 114 is disposed 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 acquire images from one optical path respectively to form a dual-optical-path 3D image. 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 acquired by the first image sensor 111 and the second image sensor 112 can be magnified or reduced respectively. The focal length can be adjusted by adjusting the third lens group 115 to achieve focusing, so that the first image sensor 111 and the second image sensor 112 can acquire clearer images.

[0073] For example, the first image sensor 111 and the second image sensor 112 can be implemented as CMOS sensors, capable of acquiring images within the surgical bone window, processing the images, and outputting corresponding CMOS signals.

[0074] For example, in some embodiments, the image processing module may be implemented as a GPU, capable of receiving CMOS signals output by the image acquisition module 11, converting them into position signals, and outputting images for subsequent 3D display via the display component 40. The controller module may include a CPU or NPU, capable of receiving position signals and converting them into control signals to control the adjustment mechanism 13 to move the auxiliary lighting component 123.

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

[0076] Furthermore, such as Figure 1 As shown, this application also provides an external viewing mirror, which may include a trolley 20, a robotic arm 30, a light source, an illumination acquisition device 10 as described 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 acquisition 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 acquisition device 10, and the main control device is electrically connected to the robotic arm 30 and the lighting acquisition device 10.

[0078] The light source is connected to the lighting fiber 121 of the lighting acquisition device 10. The light source can be implemented as an LED lamp or a xenon lamp as the light source. It can guide the light through the main lighting fiber 121 and split the light into the main lighting component 122 and the auxiliary lighting component 123.

[0079] The robotic arm 30 has six degrees of freedom, enabling it to drive the illumination acquisition device 10 in three-dimensional space to meet the observation needs of surgeons during surgery. The main control device 50 is used to operate and control the entire external endoscope, controlling the movement of the robotic arm 30, and managing the illumination acquisition device 10's functions such as taking photos, recording videos, display modes, and dual-mirror operation. It also controls the white balance, light source, focus, magnification, and image adjustment parameters of the illumination acquisition device 10. The display component 40 receives the position signal output from the illumination acquisition device 10 and provides a display screen, allowing surgeons to more intuitively observe the images within the surgical bone window 14.

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

[0081] For example, the main control device 50 may include a touch control screen, which can be used for touch operation to control the exterior mirror.

[0082] Preferably, in some embodiments, the bottom of the trolley 20 may be provided with four locking casters, allowing the trolley 20 to move or be moved. The trolley 20 may be provided with a balancing device to ensure the stability of the trolley 20 when the exterior mirror or the robotic arm 30 moves.

[0083] Furthermore, such as Figure 7 As shown, this application also provides an automatic tracking lighting method, which can achieve automatic tracking lighting through the above-mentioned external viewing mirror and lighting acquisition device 10. The automatic tracking lighting method includes the following steps:

[0084] S100: The image acquisition module acquires images within the surgical bone window and processes the images to form image signals.

[0085] S200: The image processing module identifies the location of the region with the lowest brightness value based on the image signal acquired and output by the image acquisition module, and outputs the location signal.

[0086] S300, via the controller module, processes the position signal output from the image processing module and outputs a control signal; and

[0087] S400. The auxiliary lighting component is moved by the adjustment mechanism according to the control signal output by the controller module, so that the auxiliary lighting area of ​​the auxiliary lighting component covers the minimum brightness value area.

[0088] Understandably, during the operation, the image acquisition module 11 can acquire images within the surgical bone window 14 in real time and output them to the image processing module. The image processing module can identify the area with the minimum brightness value and output it to the controller module. The controller module can calculate the positional difference between the auxiliary lighting area 1230 and the area with the minimum brightness value 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 target being followed is kept within the auxiliary lighting area 1230, thereby achieving automatic tracking lighting.

[0089] Optionally, such as Figure 8 and Figure 9 As shown, in some embodiments, step S200 may include:

[0090] S210. Based on the image signal acquired and output by the image acquisition module, the width W and height H of the image within the surgical bone window are divided into n and m equal parts, respectively, so that the image within the surgical bone window is divided into multiple regions. The coordinates of each region are recorded as (x, y), where 0≤x≤n and 0≤y≤m.

[0091] S220. Calculate the brightness value of each region separately, and record the brightness value of each region as L(x, y);

[0092] S230, Identify the coordinates of the region with the lowest brightness value; and

[0093] S240, Output position signal.

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

[0095] Optionally, in some embodiments, in step S230, a global photometric method can be used to compare the brightness values ​​L(x, y) of each region to identify the coordinates of the region with the lowest brightness value.

[0096] Optionally, in some embodiments, in step S230, a center-based metering method may be used to calculate the center brightness value L of the entire image. 中心 The center brightness value is the brightness value of a region with a radius of r (0≤r≤1 / H) centered at the intersection of the diagonals of the region's width and height. It is calculated by comparing the L(x,y) of each region with this center brightness value L. 中心 By comparison, the coordinates of the region with the lowest brightness value can be identified.

[0097] For example, this application provides a specific example in which the image within the surgical bone window 14 has a width W of 3840 mm and a height H of 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 center brightness value of the image, the radius r = 876 mm.

[0098] Optionally, such as Figure 10 As shown, in some embodiments, step S200 may further include:

[0099] S250. Based on the image signal acquired and output by the image acquisition module, the brightness value of each pixel in the image within the surgical bone window is calculated to obtain a full image brightness value sorting table and the coordinates (a1, b1) of the pixel with the highest brightness value.

[0100] S260. Based on the full image brightness value sorting table, calculate the average brightness value Lavg of all pixels in the image within the surgical bone window; and

[0101] S270. Using (a1, b1) as the center and t*Lavg as the brightness boundary, identify the minimum brightness value region where 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 setup, by separately counting the brightness value of each pixel in the image within the surgical bone window and calculating the average brightness value, the brightness boundary is determined by the product of the set threshold and the average brightness value, t*Lavg. The area where the brightness value of the pixels is less than t*Lavg is the area with the minimum brightness value.

[0104] For example, the threshold t can be 0.6, which means that the area where the pixels with a brightness value less than 0.6*Lavg are located is the minimum brightness area.

[0105] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0106] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A lighting acquisition device, characterized in that, include: An image acquisition module is used to acquire images within the surgical bone window and process the images to form image signals; The lighting device includes a main lighting component and an auxiliary lighting component. The main lighting component is fixed to one side of the image acquisition module and is used to emit main lighting light into the surgical bone window and form a main lighting area. The auxiliary lighting component is movably disposed on the other side of the image acquisition module and is used to emit auxiliary lighting light into the surgical bone window and form an auxiliary lighting area. An image processing module, electrically connected to the image acquisition module, is used to identify the position of the minimum brightness value region within the surgical bone window and output a position signal based on the image signal acquired and output by the image acquisition module. A controller module, electrically connected to the image processing module, is used to process the position signal output by the image processing module and output a control signal. as well as An adjustment mechanism is tractably connected to the auxiliary lighting component; the adjustment mechanism is electrically connected to the controller module and is used to drive the auxiliary lighting component to move according to the control signal output by the controller module, so that the auxiliary lighting area covers the minimum brightness value area.

2. The lighting acquisition 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, and 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. One of the first transmission member or the second transmission member is a rotational transmission member, and the other of the first transmission member or the second transmission member is a pitch transmission member.

3. The lighting acquisition device according to claim 2, characterized in that, The first driving component and the second driving component are stepper motors or servo motors.

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

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

6. The lighting acquisition 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 part connected to the auxiliary optical fiber, and the first transmission member is tractably connected to the auxiliary light-emitting part.

7. The lighting acquisition device according to claim 5, characterized in that, The main illumination assembly includes a main optical fiber connected to the illumination optical fiber, a main light-emitting section connected to the main optical fiber, and a reflector disposed in the main illumination optical path of the main light-emitting section.

8. The lighting acquisition 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 acquire images of one optical path respectively to form a dual-optical-path 3D image.

9. An external viewing mirror, characterized in that, include: trolley; A robotic arm, one end of which is fixed to the trolley; The lighting acquisition device as described in any one of claims 1 to 8, wherein the lighting acquisition device is fixed to the other end of the robotic arm; The light source is connected to the illumination optical fiber of the illumination acquisition device. The display component is fixed to the trolley and electrically connected to the lighting acquisition device; as well as The main control device is electrically connected to the robotic arm and the lighting acquisition device.

10. An automatic tracking lighting method, characterized in that, Includes the following steps: The image acquisition module acquires images within the surgical bone window and processes them to form image signals. The image processing module identifies the location of the minimum brightness value region within the surgical bone window based on the image signal acquired and output by the image acquisition module, and outputs the location signal. The controller module processes the position signal output from the image processing module and outputs a control signal. as well as The adjustment mechanism, based on the control signal output from the controller module, drives the auxiliary lighting component to move so that the auxiliary lighting area of ​​the auxiliary lighting component covers the minimum brightness value area.

11. The automatic tracking lighting method according to claim 10, characterized in that, The step of identifying the location of the minimum brightness value region within the surgical bone window and outputting a location signal based on the image signal acquired and output by the image processing module includes: Based on the image signal acquired and output by the image acquisition module, the width W and height H of the image within the surgical bone window are divided into n and m equal parts, respectively, so that the image within the surgical bone window is divided into multiple regions. The coordinates of each region are denoted as (x, y), where 0≤x≤n and 0≤y≤m. Calculate the brightness value of each region separately, and denote the brightness value of each region as L(x, y); Identify the coordinates of the region with the lowest 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 region with the minimum brightness value, a global photometry method is used to compare the brightness values ​​L(x, y) of each region to identify the coordinates of the region with the minimum brightness value.

13. The automatic tracking lighting method according to claim 11, characterized in that, In the step of identifying the coordinates of the region with the minimum brightness value, a center-based metering method is used to statistically analyze the center brightness value L of the entire displayed image. 中心 And compare the L(x, y) of each region with the central brightness value L. 中心 The coordinates of the region with the lowest brightness value are identified by comparison.

14. The automatic tracking lighting method according to claim 10, characterized in that, The step of identifying the location of the minimum brightness value region within the surgical bone window and outputting a location signal based on the image signal acquired and output by the image processing module includes: Based on the image signal acquired and output by the image acquisition module, the brightness value of each pixel in the image within the surgical bone window is statistically analyzed to obtain a full image brightness value sorting table and the coordinates (a1, b1) of the pixel with the highest brightness value. Based on the full image brightness value sorting table, calculate the average brightness value Lavg of all pixels in the image within the surgical bone window; and Using (a1, b1) as the center and t*Lavg as the brightness boundary, identify the minimum brightness value region where 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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