A medical optical positioning and imaging device

Abstract

This application discloses a medical optical positioning and imaging device, belonging to the field of medical device technology. It includes a connecting frame that can be connected to a shadowless lamp and two sets of imaging units. The connecting frame has an insertion hole through which the central handle of the shadowless lamp passes. The two imaging units are connected to the connecting frame. In each imaging unit, two cameras furthest apart are symmetrically arranged about the insertion hole. The line connecting the two furthest cameras in each imaging unit is an array line. The array lines of the two imaging units intersect at the insertion hole. The length of the array line of one imaging unit is less than the length of the array line of the other imaging unit. Using the above structure, this application can mount the cameras of a binocular stereo vision system onto a shadowless lamp. Furthermore, this application has two different sets of imaging units, allowing different imaging units to be used according to actual needs.

Description

Technical Field

[0001] This application belongs to the field of medical device technology, specifically a medical optical positioning and imaging device. Background Technology

[0002] Optical positioning systems have been widely used in the field of surgical navigation technology. Among them, the binocular vision optical positioning surgical navigation system is a high-precision intraoperative real-time positioning technology based on the principle of stereo vision. It uses dual cameras to capture the spatial position of surgical instruments and anatomical landmarks of the patient, and combines medical imaging data to assist doctors in accurately completing complex surgical operations.

[0003] Currently, the common setup for binocular vision optical positioning surgical navigation systems in clinical use is to integrate the camera, display screen, and main unit together. During use, this surgical navigation hardware assembly is placed next to the operating table. However, because medical staff need to move around, they or the surgical equipment may obstruct the camera, affecting the camera's ability to collect image information from the tracker. This, in turn, affects the main unit's determination of the medical device's position relative to the patient, impacting the display of the medical device on the medical image. If the position of the surgical navigation hardware assembly is changed to ensure the camera can always capture the tracker's image information, ensuring effective image acquisition, interference can occur between the operating room's wiring and the surgical navigation hardware assembly during movement, posing a safety hazard.

[0004] In a binocular vision optical positioning surgical navigation system, the distance between the two cameras affects the shooting range. Therefore, different camera modules are selected based on factors such as the distance between the surgical navigation hardware assembly and the bed to ensure the image quality captured by the cameras. Summary of the Invention

[0005] In order to ensure that the camera can always capture the image information of the tracker to determine the positional relationship of the surgical instruments relative to the patient and to ensure the image quality captured by the camera, this application provides a medical optical positioning and imaging device.

[0006] A medical optical positioning imaging device includes a connecting frame that can be connected to an operating light and two imaging units. The connecting frame has an insertion hole through which the central handle of the operating light passes. The two imaging units are connected to the connecting frame. In each imaging unit, two cameras that are furthest apart are symmetrically arranged about the insertion hole. The line connecting the two cameras that are furthest apart in each imaging unit is an arrangement line. The arrangement lines of the two imaging units intersect at the insertion hole. The length of the arrangement line of one imaging unit is less than the length of the arrangement line of the other imaging unit.

[0007] The medical optical positioning and imaging device can be connected to the operating light via a connecting bracket. The camera can be directly aimed at the surgical site to capture images, ensuring that the device accurately captures the tracer's image information. Even if the camera position needs to be adjusted, it can be done using the operating light's own adjustment mechanism, avoiding interference between the operating room's wiring and the camera's movement. Furthermore, it can select the appropriate imaging unit based on the distance between the camera and the surgical site.

[0008] In one embodiment of this application, the connecting frame is also connected to a wireless transmission unit capable of interacting with the outside world, and the wireless transmission unit is electrically connected to the cameras in the two shooting units.

[0009] The camera can interact with the main unit placed in the operating room via a wireless transmission unit. The main unit's processor processes the image information captured by the camera, and the relevant image information is displayed on the main unit's screen. Thus, the medical optical positioning and imaging device can be designed separately from the main unit, and the positions of the two are not restricted to each other. Their positions can be adjusted according to the needs of the surgery, which facilitates the operation.

[0010] In one embodiment of this application, the camera in the shooting unit is an infrared camera.

[0011] In one embodiment of this application, the lines connecting the two imaging units are perpendicular to each other.

[0012] By arranging the two camera units with perpendicular lines, the cameras in the two units can capture significantly different fields of view, allowing the appropriate camera unit to be selected based on the surgical needs to obtain different surgical views.

[0013] In one embodiment of this application, the connecting frame includes a working part equipped with a camera. The working part is elongated, and four working parts are arranged in an array around the axis of the insertion hole.

[0014] In one embodiment of this application, the connecting frame is also fixedly connected to a split threaded connector, which is located at the insertion hole and is coaxially arranged with the insertion hole.

[0015] When the central handle passes through the insertion hole and the split threaded connector, the split threaded connector can restrict the movement of the insertion hole relative to the central handle. The medical optical positioning imaging device can be fixed at the central handle of the shadowless lamp through the split threaded connector to prevent the connecting frame from moving along the central handle and falling off.

[0016] A medical optical positioning system includes any of the above-mentioned medical optical positioning and imaging devices, and also includes a shadowless lamp with a central handle; the shadowless lamp includes an illumination surface, the illumination surface is provided with a mounting groove, and the area of ​​the illumination surface other than the mounting groove is provided with an electric light source for surgical illumination; a connecting frame is detachably connected to the shadowless lamp, and when the connecting frame is connected to the shadowless lamp, the working part of the connecting frame with the camera can enter the mounting groove.

[0017] The working part can enter the mounting slot and adjust parameters such as the arrangement and orientation of the electric light source on the shadowless lamp panel to ensure the illumination effect of the electric light source on the surgical site. This prevents the medical optical positioning imaging device from blocking the light emitted by the shadowless lamp and affecting the lighting effect. At the same time, the mounting slot can also limit the connection frame to prevent the medical optical positioning imaging device from shifting relative to the central handle of the shadowless lamp when the medical staff adjusts the position of the shadowless lamp.

[0018] In one embodiment of this application, the irradiation surface is further provided with a fixing lever, which is located at the mounting groove. The fixing lever is pivotally connected to the shadowless lamp and can move between a locked position and an unlocked position. When the fixing lever is in the locked position, the fixing lever restricts the working part from leaving the mounting groove. When the fixing lever is in the unlocked position, the working part can leave the mounting groove.

[0019] In one embodiment of this application, the illumination surface is a plane, and when the connecting frame is connected to the shadowless lamp, the main optical axis of the camera is perpendicular to the illumination surface.

[0020] In one embodiment of this application, the medical optical positioning system further includes a processor, and the image information captured by the camera can be sent to the processor. The processor makes a judgment based on the image information and calls one of the imaging units.

[0021] The processor can select different shooting units based on parameters such as image sharpness to ensure the quality of images captured by the camera.

[0022] The beneficial effects of this application are at least as follows:

[0023] 1. The medical optical positioning and imaging device can be connected to the shadowless lamp via a connecting bracket. The camera can be directly aimed at the surgical site to capture images, ensuring that the medical optical positioning and imaging device can accurately capture the image information from the tracer. Even if the camera position needs to be adjusted, it can be adjusted using the shadowless lamp's own adjustment mechanism, avoiding interference between the wiring in the operating room and the movement of the camera. Furthermore, it can select the appropriate imaging unit based on the distance between the camera and the surgical site.

[0024] 2. The camera can interact with the host computer placed in the operating room via a wireless transmission unit. The host processor in the host computer processes the image information captured by the camera and displays the relevant image information on the host computer's screen. Thus, the medical optical positioning and shooting device can be designed separately from the host computer, and the positions of the two are not restricted to each other. The positions can be adjusted according to the needs of the surgery, which facilitates the operation. Attached Figure Description

[0025] Figure 1 This is a schematic structural diagram of one embodiment of the present application;

[0026] Figure 2 This is a schematic structural diagram of one embodiment of the working part in this application;

[0027] Figure 3 This is a schematic structural diagram of one embodiment of the split threaded connector in this application;

[0028] Figure 4 This is a schematic diagram of one embodiment of the present application with four second cameras;

[0029] Figure 5 This is a schematic structural diagram of one embodiment of the shadowless lamp in this application;

[0030] Figure 6 This is a schematic diagram of one embodiment of the medical optical positioning and imaging device in this application when connected to a shadowless lamp;

[0031] Figure 7 This is a schematic diagram of one embodiment of the connection frame in this application when an antenna is mounted on it.

[0032] In the picture:

[0033] 101. Connecting frame; 102. Working part; 103. Insertion hole; 104. Split-type threaded connector; 105. First camera; 106. Second camera; 107. Antenna;

[0034] 201. Shadowless lamp; 202. Central handle; 203. Electric light source; 204. Illumination surface; 205. Mounting slot; 206. Fixing lever;

[0035] 301. Host computer; 302. Host processor; 303. Display screen. Detailed Implementation

[0036] To provide a clearer understanding of the technical features, objectives, and effects of this application, specific embodiments of this application are now described with reference to the accompanying drawings. In the drawings, the same reference numerals indicate components with the same or similar structures but the same function.

[0037] In this document, “illustrative” means “serving as an example, illustration or description”, and any illustration or implementation described herein as “illustrative” should not be construed as a more preferred or advantageous technical solution.

[0038] To keep the drawings concise, only the parts relevant to this application are shown schematically in each drawing, and they do not represent the actual structure of the product. In addition, to make the drawings concise and easy to understand, in some drawings, only one of the components with the same structure or function is shown schematically, or only one of them is labeled.

[0039] Please see Figures 1 to 7 Learn more about this application.

[0040] See Figure 1 A medical optical positioning and imaging device includes a connecting frame 101 that can be connected to a shadowless lamp 201 and two imaging units. The connecting frame 101 is provided with an insertion hole 103 through which the central handle 202 of the shadowless lamp 201 passes. The two imaging units are connected to the connecting frame. In each imaging unit, the two farthest cameras are symmetrically arranged about the insertion hole 103. The line connecting the two farthest cameras in each imaging unit is an arrangement line. The arrangement lines of the two imaging units intersect at the insertion hole 103. The length of the arrangement line of one imaging unit is less than the length of the arrangement line of the other imaging unit.

[0041] See Figure 1 , Figure 2 For better description of this application, the two shooting units are named the first shooting unit and the second shooting unit, respectively. The first shooting unit is provided with two first cameras 105 and the second shooting unit is provided with two second cameras 106. The two first cameras 105 and the two second cameras 106 are symmetrically arranged about the insertion hole 103. The distance between the two first cameras 105 is smaller than the distance between the two second cameras 106.

[0042] The medical optical positioning imaging device can be connected to the shadowless lamp 201 via the connecting bracket 101. For example, the connecting bracket 101 can be connected to the existing central handle 202 of the shadowless lamp 201 via pin hole engagement, threaded connection, snap-fit, etc. Of course, there are other ways to connect the connecting bracket 101 to the central handle 202, see [link to relevant documentation]. Figure 3In one embodiment of this application, the connecting frame 101 is further fixedly connected to a split-type threaded connector 104. The split-type threaded connector 104 is disposed at the insertion hole 103 and is coaxially arranged with the insertion hole 103. When the central handle 202 passes through the insertion hole 103 and the split-type threaded connector 104, the segments of the split-type threaded connector 104 abut against the central handle 202. As the nut of the split-type threaded connector 104 is threadedly connected to the threaded tube with threads on the outer side wall, the segments of the split-type threaded connector 104 are squeezed against the side wall of the central handle 202. The split-type threaded connector 104 can use friction to restrict the movement of the insertion hole 103 relative to the central handle 202. See also Figure 6 The medical optical positioning and imaging device can be fixed to the central handle 202 of the shadowless lamp 201 by the split threaded connector 104 to prevent the connecting frame 101 from moving along the central handle 202 and falling off.

[0043] This allows the medical optical positioning and imaging device to be fixed on the shadowless lamp 201, enabling the camera to be directly facing the surgical site and ensuring that the medical optical positioning and imaging device can accurately capture the image information of the tracer. Even if the position of the camera needs to be adjusted, the posture can be adjusted using the shadowless lamp 201's own adjustment mechanism, avoiding interference between the wiring in the operating room and the movement of the camera.

[0044] In a binocular vision system, the distance between the two cameras is called the baseline distance, which is one of the core parameters affecting system performance. Different baseline distances directly affect the ranging range, depth accuracy, and field of view overlap of binocular vision. A larger baseline distance results in higher sensitivity for depth calculation at the same pixel resolution, and smaller depth errors for distant objects. A smaller baseline distance provides better depth resolution for near objects, but significantly increases errors at distant objects. Because the distance between the two furthest cameras in each imaging unit varies, a suitable imaging unit can be selected based on actual needs. Furthermore, during surgery, medical personnel can adjust the position of the shadowless lamp 201, thus changing the distance between the lamp and the surgical site. Since the distance between the two furthest cameras in the two imaging units varies, a suitable imaging unit can be selected to ensure that the camera can capture accurate image information from the tracer.

[0045] See Figure 1 In one embodiment of this application, the lines connecting the two imaging units are perpendicular to each other.

[0046] By arranging the two camera units with perpendicular lines, the cameras in the two units can acquire significantly different fields of view, allowing the appropriate camera unit to be selected according to the needs of the surgery, thus ensuring the normal operation of the surgical navigation.

[0047] In one embodiment of this application, the connecting frame 101 includes a working part 102 equipped with a camera. The working part 102 is elongated, and four working parts 102 are arranged in an array around the axis of the insertion hole 103. Since the working part 102 is elongated, the working part 102 blocks less light from the shadowless lamp 201, thus avoiding the possibility of shadows appearing in the surgical field.

[0048] In one embodiment of this application, the working part 102 is also provided with a supplementary light, which can supplement the light of the shadowless lamp 201 that is blocked, so as to avoid shadows appearing in the surgical field.

[0049] In one embodiment of this application, the connecting frame 101 is also connected to a wireless transmission unit capable of interacting with the outside world, and the wireless transmission unit is electrically connected to the cameras in the two shooting units.

[0050] The camera can interact with the host unit 301 placed in the operating room via the antenna 107 of the wireless transmission unit. The host processor 302 in the host unit 301 processes the image information captured by the camera, and displays the relevant image information on the display screen 303 of the host unit 301. Thus, the medical optical positioning imaging device and the host unit 301 can be designed separately, and their positions are not restricted to each other. Their positions can be adjusted according to the needs of the surgery, which facilitates the operation and reduces the data processing difficulty of the medical optical positioning imaging device. This reduces the complexity of the integrated circuit of the medical optical positioning imaging device and is conducive to the miniaturization of the medical optical positioning imaging device.

[0051] Preferably, the antenna 107 of the wireless transmission unit is arranged along the length of the working part 102 and around the insertion hole 103 to increase the size of the antenna 107 and ensure the stability of signal transmission.

[0052] In one embodiment of this application, the camera in the shooting unit is an infrared camera, preferably a near-infrared camera.

[0053] In one embodiment of this application, the connecting bracket 101 is also connected to a battery, which can power the circuitry in the medical optical positioning imaging device, such as the camera and wireless transmission unit. The insertion hole 103 is detachably connected to the central handle 202, allowing the connecting bracket 101 to be detached from the operating light 201 and the battery to be charged. Alternatively, a power interface can be provided on the operating light 201, allowing power to be supplied to the circuitry in the medical optical positioning imaging device when it is connected to the operating light 201. Alternatively, the operating light 201 can be equipped with a wireless charging transmitting coil, and the connecting bracket 101 with a wireless charging receiving coil, thereby enabling wireless charging to power the medical optical positioning imaging device.

[0054] Those skilled in the art to which this application pertains will understand that the number of cameras in a single imaging unit in this application is not limited to two, but can also be three, four, or more, see [link to relevant documentation]. Figure 4 The second shooting unit is equipped with four second cameras 106.

[0055] A medical optical positioning system includes any of the above-mentioned medical optical positioning and imaging devices, and further includes a shadowless lamp 201 with a central handle 202; the shadowless lamp 201 includes an illumination surface 204, the illumination surface 204 is provided with a mounting groove 205, and the area of ​​the illumination surface 204 other than the mounting groove 205 is provided with an electric light source 203 for surgical illumination; a connecting frame 101 is detachably connected to the shadowless lamp 201, and when the connecting frame 101 is connected to the shadowless lamp 201, the working part 102 of the connecting frame 101 with the camera can enter the mounting groove 205.

[0056] The working part 102 can enter the mounting slot 205. By adjusting the relative size relationship between the mounting slot 205 and the working part 102, the arrangement and orientation of the electric light source 203 on the lamp panel of the shadowless lamp 201 can be ensured, thus guaranteeing the illumination effect of the electric light source 203 on the surgical site. This prevents the medical optical positioning imaging device from blocking the light source of the shadowless lamp 201 and affecting its illumination effect. At the same time, the mounting slot 205 can also limit the connection frame 101 to prevent the medical optical positioning imaging device from shifting due to the adjustment of the position of the shadowless lamp 201 when medical staff adjust it.

[0057] In one embodiment of this application, the irradiation surface 204 is further provided with a fixing lever 206, which is located at the mounting groove 205. The fixing lever 206 is pivotally connected to the shadowless lamp 201 and can move between a locked position and an unlocked position. When the fixing lever 206 is in the locked position, it restricts the working part 102 from leaving the mounting groove 205. When the fixing lever 206 is in the unlocked position, the working part 102 can leave the mounting groove 205. See also Figure 5 In one embodiment of this application, the fixed lever 206 can rotate parallel to the cross-section of the central handle 202. When the fixed lever 206 blocks the mounting groove 205, the fixed lever 206 is in a locked position, preventing the working part 102 from leaving the mounting groove 205. When the fixed lever 206 no longer blocks the mounting groove 205, the working part 102 leaves the mounting groove 205 through the groove opening. Of course, the fixed lever 206 can also rotate in a plane parallel to the longitudinal section of the central handle 202. When the fixed lever 206 is in the locked position, the fixed lever 206 is fixedly connected to the shadowless lamp 201 by means of pin hole engagement, threaded connection, etc., and the fixed lever 206 can be kept in the locked position.

[0058] In one embodiment of this application, the illumination surface 204 is a plane. When the connecting frame 101 is connected to the shadowless lamp 201, the main optical axis of the camera is perpendicular to the illumination surface 204 to reduce the interference of the light from the shadowless lamp 201 on the camera.

[0059] In one embodiment of this application, the medical optical positioning system further includes a processor. Image information captured by the camera can be sent to the processor, which then determines whether to activate one of the imaging units based on the image information. See also Figure 7 The medical optical positioning system includes a host 301 and a medical optical positioning imaging device. Both the host 301 and the medical optical positioning imaging device are equipped with antennas 107. The host 301 is equipped with a host processor 302. The host processor 302 can call different imaging units according to image information to ensure the image quality captured by the camera, thereby ensuring the normal operation of surgical navigation and enabling medical images to be displayed on the display screen 303.

[0060] It should be understood that although this specification describes various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0061] The detailed descriptions listed above are merely specific descriptions of feasible embodiments of this application and are not intended to limit the scope of protection of this application. All equivalent implementations or modifications made without departing from the spirit of the art of this application, such as combinations, divisions or repetitions of features, should be included within the scope of protection of this application.

Claims

1. A medical optical positioning system, characterized in that, Including medical optical positioning imaging devices and shadowless lamps with a central handle; The shadowless lamp includes an irradiation surface, the irradiation surface is provided with a mounting groove, and the area of ​​the irradiation surface other than the mounting groove is provided with an electric light source for surgical illumination; The medical optical positioning and imaging device includes a connecting frame that can be connected to a shadowless lamp and two sets of imaging units. The connecting frame has an insertion hole through which the central handle of the shadowless lamp passes. The two imaging units are connected to the connecting frame. In each imaging unit, two cameras that are furthest apart are symmetrically arranged about the insertion hole. The line connecting the two cameras that are furthest apart in each imaging unit is an array line. The array lines of the two imaging units intersect at the insertion hole. The length of the array line of one imaging unit is less than the length of the array line of the other imaging unit. The connecting frame includes a working part with a camera. The working part is elongated, and four working parts are arranged in an array around the axis of the insertion hole. The connecting frame is also fixedly connected to a split-type threaded joint. The split-type threaded joint is located at the insertion hole and is coaxial with the insertion hole. The connecting frame is detachably connected to the shadowless lamp through the split-type threaded joint. When the connecting frame is connected to the shadowless lamp, the working part of the connecting frame with the camera can enter the mounting slot. The shadowless lamp is also equipped with a wireless charging transmitting coil, and the connecting frame is equipped with a wireless charging receiving coil. The medical optical positioning system also includes a processor located externally and separately connected to the medical optical positioning and imaging device. The connecting frame is also connected to a wireless transmission unit, which is electrically connected to the cameras in the two imaging units. The image information captured by the cameras can be transmitted to the processor through the wireless transmission unit.

2. The medical optical positioning system according to claim 1, characterized in that, The irradiation surface is also provided with a fixing lever, which is located at the mounting groove. The fixing lever is pivotally connected to the shadowless lamp and can move between a locked position and an unlocked position. When the fixed lever is in the locked position, the fixed lever prevents the working part from leaving the mounting slot; When the fixed lever is in the unlocked position, the working part can leave the mounting slot.

3. The medical optical positioning system according to claim 1, characterized in that, The illumination surface is a plane, and when the connecting frame is connected to the shadowless lamp, the main optical axis of the camera is perpendicular to the illumination surface.

4. A medical optical positioning system according to claim 1, characterized in that, The medical optical positioning system also includes a processor. The image information captured by the camera can be sent to the processor, and the processor makes a judgment based on the image information and calls one of the shooting units.

5. A medical optical positioning system according to claim 1, characterized in that, The antenna of the wireless transmission unit is arranged along the length of the working part and around the insertion hole.

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