4K3D operation microscopic light path switchable system

Abstract

The invention provides a 4K3D operation microscopic light path switchable system which is characterized in that when a first light path switching element is switched to move into an imaging light path, the first light path switching element guides all imaging light rays to a 4K3D image processing module; when the second light path switching element is switched to move into the imaging light path, the second light path switching element transmits imaging light rays to the 4K3D image processing module and the binocular eyepiece module in a beam splitting manner; when the first light path switching element and the second light path switching element move out of the imaging light path at the same time, all imaging light rays are transmitted to the binocular eyepiece module; the 4K3D image processing module is used for generating the imaging light and outputting a stereoscopic video signal with 4K resolution; and the binocular eyepiece module is used for converting the imaging light into a physical natural image which can be observed in real time by binocular. According to the 4K3D operation microscopic optical path switchable system disclosed by the invention, a pure electronic imaging observation mode or a pure optical observation mode or an electronic imaging and optical synchronous observation mode can be switched according to operation types.

Description

Technical Field

[0001] The present invention relates to the field of microsurgery imaging technology, and in particular to a 4K3D surgical microsurgery light path switchable system. Background Art

[0002] Surgical microscopes are primarily used for dissection in teaching experiments, suturing microvessels and nerves, and other delicate surgeries or examinations requiring the aid of a microscope. Traditional surgical microscopes require the surgeon to maintain a fixed posture for extended periods, with their eyes glued to the eyepiece. Since a single surgery can last several hours, this can easily lead to strain on the shoulder and neck muscles and fatigue on the spine.

[0003] A surgical microscope with external viewing optics (SVO) is a high-end medical device that combines microscopic optical technology with surgical requirements. It is primarily used in minimally invasive surgeries (such as neurosurgery, ophthalmology, and otolaryngology), providing the surgeon with a high-resolution, adjustable-magnification, stereoscopic surgical field of view. Traditional surgical microscopes can display the tissue (target) within the incision in real-time 3D on a display screen. The surgeon, wearing polarized glasses, can observe the target's 3D structure in real time on the monitor, eliminating the need to maintain a fixed posture during surgery. Compared to surgical microscopes, this can effectively reduce shoulder and neck injuries and fatigue.

[0004] However, traditional surgical microscopes only support eyepiece observation and lack digital image output function. Although surgical exomicroscopes can output digital images, it is difficult for surgeons to dynamically adjust the imaging mode according to surgical needs, such as pure electronic imaging observation mode, pure optical observation mode, or electronic imaging and optical synchronous observation mode.

[0005] It should be noted that the above introduction to the background technology is merely for the purpose of providing a clear and complete description of the technical solutions of this application and facilitating understanding by those skilled in the art. Simply because these solutions are described in the background technology section of this application, it should not be assumed that the above technical solutions are well known to those skilled in the art. Summary of the Invention

[0006] The purpose of the present invention is to disclose a 4K3D surgical microscope light path switchable system to solve the many defects of surgical microscopes in the prior art, especially to achieve switching between pure electronic imaging observation mode, pure optical observation mode, or electronic imaging and optical synchronous observation mode according to the type of surgery.

[0007] To achieve the above-mentioned object, the present invention provides a 4K3D surgical microscope optical path switchable system, comprising: a focus module, a zoom module, and an optical path switching module, which are sequentially arranged on the same imaging optical path from the object plane to the image plane;

[0008] A 4K3D image processing module and a binocular eyepiece module optically coupled to the optical path switching module, and an adaptive lighting module independent of the imaging optical path;

[0009] The optical path switching module includes a first optical path switching element and a second optical path switching element that can be switched into the imaging optical path or simultaneously moved out of the imaging optical path;

[0010] When the first optical path switching element is switched to move into the imaging optical path, the first optical path switching element directs all imaging light to the 4K3D image processing module;

[0011] When the second optical path switching element is switched to move into the imaging optical path, the second optical path switching element splits the imaging light beam and transmits it to the 4K3D image processing module and the binocular eyepiece module;

[0012] When the first optical path switching element and the second optical path switching element are simultaneously moved out of the imaging optical path, all imaging light is transmitted to the binocular eyepiece module;

[0013] The 4K3D image processing module is used to generate and output a 4K resolution stereo video signal from the imaging light, and the binocular eyepiece module is used to convert the imaging light into a physical natural image that can be observed by both eyes in real time.

[0014] As a further improvement of the present invention, the first optical path switching element is configured as a total reflection prism, and the reflection surface of the total reflection prism is coated with a total reflection film.

[0015] As a further improvement of the present invention, the second optical path switching element is configured as a beam splitter prism, and the reflective surface of the beam splitter prism is coated with a beam splitter film.

[0016] As a further improvement of the present invention, the first optical path switching element and the second optical path switching element can be driven to move into or out of the imaging optical path;

[0017] When the first optical path switching element is driven to move into the imaging optical path, the second optical path switching element is synchronously moved out of the imaging optical path;

[0018] When the second optical path switching element is driven to move into the imaging optical path, the first optical path switching element is synchronously moved out of the imaging optical path;

[0019] The first optical path switching element and the second optical path switching element are driven to move out of the imaging optical path at the same time.

[0020] As a further improvement of the present invention, the focusing module includes: a first lens group, a second lens group, and a third lens group, which are arranged on the same optical axis in sequence from the image plane to the object plane. The first lens group and the second lens group can be driven to move along the optical axis relative to the third lens group to adjust the distance between the first lens group and the second lens group and the third lens group.

[0021] As a further improvement of the present invention, the zoom module includes: a first lens group, a second lens group, a third lens group, and a fourth lens group arranged in sequence along the imaging optical path from the image plane to the object plane;

[0022] The relative distance between the first lens group and the fourth lens group is constant, and the second lens group and the third lens group can be driven to move along the imaging optical path simultaneously to adjust the distance of the second lens group relative to the first lens group and the third lens group, and to adjust the distance of the third lens group relative to the second lens group and the fourth lens group.

[0023] As a further improvement of the present invention, the adaptive lighting module includes: a first condenser lens group, a single aperture, a second condenser lens group and a reflective element which are sequentially arranged along the illumination optical axis.

[0024] As a further improvement of the present invention, the reflective element forms an angle θ with the illumination optical axis, and the reflective element can be driven to rotate relative to the illumination optical axis to adjust the angle θ;

[0025] The reflective element rotates relative to the illumination optical axis as the object distance changes. The calculation formula for the rotation degree of the reflective element is: Among them, parameter b is the increment or decrement of the angle, and parameter β is the rotation angle corresponding to the reflected light; the calculation formula of parameter β is: Among them, parameter L2 is the fixed distance from the center of the reflective element to the minimum object distance, parameter L3 is the fixed distance from the center of the reflective element to the maximum object distance, and parameter L1 is the actual variation range of the object distance.

[0026] As a further improvement of the present invention, the first optical path switching element directs all imaging light to the 4K3D image processing module to form a digital imaging optical path;

[0027] The 4K3D image processing module includes: a lens group, a filter group and a photosensor group arranged in sequence along the digital imaging light path.

[0028] As a further improvement of the present invention, the 4K3D surgical microscope optical path switchable system further includes: an adjustable linked double diaphragm configured between the optical path switching module and the magnification module.

[0029] Compared with the prior art, the beneficial effects of the present invention are: when the first optical path switching element moves into the imaging optical path, the 4K3D surgical microscopy optical path switchable system switches to a pure ultra-high-definition electronic imaging observation mode; when the second optical path switching element moves into the imaging optical path, the 4K3D surgical microscopy optical path switchable system switches to a high-precision three-dimensional optical and ultra-high-definition electronic imaging synchronous observation mode; when the first optical path switching element and the second optical path switching element move out of the imaging optical path at the same time, the 4K3D surgical microscopy optical path switchable system switches to a pure high-precision three-dimensional optical observation mode, thereby realizing a pure high-precision three-dimensional optical observation mode, or a pure ultra-high-definition electronic imaging observation mode, or an ultra-high-definition electronic imaging and high-precision three-dimensional optical synchronous observation mode. The 4K3D surgical microscopy optical path switchable system can flexibly switch between different observation modes according to surgical requirements, provide appropriate visual support for the surgeon, avoid visual discomfort or judgment errors when the surgeon switches between different observation modes, and enable the surgeon to perform surgery without maintaining a fixed posture, ensuring that the surgeon can perform long-term surgery comfortably. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the optical path principle of the 4K3D surgical microscopy optical path switchable system disclosed in the present invention, wherein the first optical path switching element is moved into the imaging optical path;

[0031] Figure 2 A schematic diagram of the optical path principle of a 4K3D surgical microscope optical path switchable system in another embodiment, wherein the second optical path switching element is moved into the imaging optical path;

[0032] Figure 3 A schematic diagram of the optical path principle of a 4K3D surgical microscope optical path switchable system in another embodiment, wherein the first optical path switching element and the second optical path switching element are simultaneously moved out of the imaging optical path;

[0033] Figure 4 Schematic diagram of the optical path principle of the adaptive lighting module and the focus module;

[0034] Figure 5 Schematic diagram of the light path of the adaptive lighting module;

[0035] Figure 6 Schematic diagram of the optical path of the reflective element. DETAILED DESCRIPTION

[0036] The present invention is described in detail below with reference to the various embodiments shown in the accompanying drawings, but it should be noted that these embodiments are not limitations of the present invention, and any equivalent transformations or substitutions in functions, methods, or structures made by ordinary technicians in this field based on these embodiments are all within the scope of protection of the present invention.

[0037] The drawings in the present invention are not drawn strictly to scale, and the specific dimensions of each structure can be determined according to actual needs. The drawings described in the present invention are only schematic structural diagrams.

[0038] Please refer to Figures 1 to 6 A specific embodiment of a 4K 3D surgical microscopy light path switchable system 100 is disclosed.

[0039] Ginseng Figures 1 to 3 As shown, in this embodiment, the 4K3D surgical microscope optical path switchable system 100 includes: a focus module 10, a zoom module 20, and an optical path switching module 30, which are sequentially arranged on the same imaging optical path A from the object plane to the image plane; a 4K3D image processing module 40 and a binocular eyepiece module 50 optically coupled to the optical path switching module 30, and an adaptive lighting module 60 independent of the imaging optical path A; the optical path switching module 30 includes a first optical path switching element 31 and a second optical path switching element 32 that can be switched to move into the imaging optical path A or move out of the imaging optical path A at the same time; when the first optical path switching element 31 is switched to move into the imaging optical path A, the first optical path switching element 32 is switched to move out of the imaging optical path A. The switching element 31 directs all imaging light to the 4K3D image processing module 40; when the second optical path switching element 32 is switched to move into the imaging optical path A, the first optical path switching element 31 splits the imaging light and transmits it to the 4K3D image processing module 40 and the binocular eyepiece module 50; when the first optical path switching element 31 and the second optical path switching element 32 are simultaneously moved out of the imaging optical path A, all imaging light A is transmitted to the binocular eyepiece module 50; the 4K3D image processing module 40 is used to generate and output a 4K resolution stereo video signal from the imaging light, and the binocular eyepiece module 50 is used to convert the imaging light into a physical natural image that can be observed by both eyes in real time.

[0040] The adaptive lighting module 60 includes at least one lighting unit (not shown). The lighting light of the lighting unit directly illuminates the observed object without passing through the focusing module 10, so as to avoid the lighting light interfering with the imaging optical path A and avoid energy loss caused by reflection of the focusing module 10, thereby improving the utilization rate of light energy.

[0041] The imaging light sequentially passes through the focus module 10, the zoom module 20, and the optical path switching module 30, and is ultimately transmitted by the optical path switching module 30 to the 4K3D image processing module 40. Alternatively, the imaging light sequentially passes through the focus module 10, the zoom module 20, and the optical path switching module 30, and is ultimately split and transmitted by the optical path switching module 30 to the 4K3D image processing module 40 and the binocular eyepiece module 50. Alternatively, the imaging light sequentially passes through the focus module 10 and the zoom module 20, and is ultimately transmitted to the binocular eyepiece module 50.

[0042] The focusing module 10, located at the front end of the imaging optical path A, adjusts the image clarity of the object plane, ensuring accurate focus at all object distances. This provides precise focus control, adapting to dynamic changes in the position of instruments or tissues during surgery and preventing image blur caused by defocus. The zoom module 20, located after the focusing module 10, allows the surgeon to continuously adjust the optical magnification according to surgical requirements, ensuring precise observation at different stages of the procedure.

[0043] The optical path switching module 30 has three working modes:

[0044] Mode 1: When the first optical path switching element 31 moves into the imaging optical path A, it directs all imaging light to the 4K3D image processing module 40. The 4K3D image processing module 40 converts the imaging light into a stereoscopic video signal and outputs it to a display (not shown) or other device. This avoids loss of imaging light during transmission, improves the electronic imaging signal-to-noise ratio, and achieves ultra-high-definition electronic imaging, thereby enabling the 4K3D surgical microscope optical path switchable system 100 to achieve a purely electronic imaging observation mode. In some examples, the surgeon can observe the real-time, high-definition, three-dimensional tissue structure of the target object (i.e., the observation object) on the display by wearing polarized glasses, thereby assisting in surgery.

[0045] Mode 2: When the second optical path switching element 32 moves into the imaging optical path A, the second optical path switching element 32 splits the imaging light proportionally and transmits it to the 4K3D image processing module 40 and the binocular eyepiece module 50. The binocular eyepiece module 50 directly forms the split imaging light into a physical natural image observable by binoculars, allowing the surgeon to observe the high-definition target in real time through the binocular eyepiece module 50, thereby enabling the 4K3D surgical microscope optical path switchable system 100 to achieve optical observation. At the same time, the 4K3D image processing module 40 outputs a stereoscopic video signal to a display (not shown) for teaching or auxiliary display, thereby achieving electronic imaging observation. Thus, through the coordinated operation of the 4K3D image processing module 40 and the binocular eyepiece module 50, the 4K3D surgical microscope optical path switchable system 100 can achieve electronic imaging and optical synchronous observation mode, allowing the surgeon to freely choose electronic imaging observation or optical observation mode for surgery, and allowing the surgeon to perform surgery without maintaining a fixed posture, ensuring that the surgeon can comfortably perform long-term surgery.

[0046] Mode 3: When the first optical path switching element 31 and the second optical path switching element 32 simultaneously move out of the imaging optical path A, all the imaging light is transmitted to the binocular eyepiece module 50, and the binocular eyepiece module 50 directly forms the imaging light into a physical natural image observable by binoculars, so that the surgeon can observe the high-definition target in real time through the binocular eyepiece module 50, thereby enabling the 4K3D surgical microscope optical path switchable system 100 to achieve a pure optical observation mode.

[0047] The 4K 3D surgical microscope optical path switchable system 100 disclosed in this application utilizes dual imaging optical paths A. The dual imaging optical paths A share a focus module 10, and each imaging optical path A is provided with a zoom module 20. The dual imaging optical paths A share the object plane light before the focus module 10, and then transmit the light independently after splitting to ensure the consistency of the parallax angle.

[0048] The 4K3D image processing module 40 receives imaging light from the first optical path switching element 31 or the second optical path switching element 32. Using high dynamic range (HDR) processing and a 3D synthesis algorithm, it generates a 4K resolution, high frame rate stereoscopic video signal to provide ultra-high-definition stereoscopic images, restore tissue hierarchy and depth information, and facilitate accurate identification of anatomical structures. This signal can also be output to a display or other device for teaching, remote collaboration, or auxiliary display needs. The binocular eyepiece module 50 receives the split imaging light or all imaging light from the second optical path switching element 32, forming a physical, natural image observable by both eyes, allowing for real-time observation of high-definition objects.

[0049] In summary, the 4K3D surgical microscopy optical path switchable system 100 disclosed in the present application realizes a pure optical observation mode, a pure electronic imaging observation mode, or an electronic imaging and optical synchronous observation mode. The 4K3D surgical microscopy optical path switchable system 100 can flexibly switch between different observation modes according to surgical needs, providing appropriate visual support for the surgeon. When the first optical path switching element 31 moves into the imaging optical path A, the 4K3D surgical microscopy optical path switchable system 100 switches to a pure electronic imaging observation mode. When the second optical path switching element 32 moves into the imaging optical path A, the 4K3D surgical microscopy optical path switchable system 100 switches to an electronic imaging and optical synchronous observation mode. When the first optical path switching element 31 and the second optical path switching element 32 move out of the imaging optical path A at the same time, the 4K3D surgical microscopy optical path switchable system 100 switches to a pure optical observation mode.

[0050] In some examples, Figure 1 As shown, the first optical path switching element 31 is configured as a total reflection prism, and the reflective surface of the total reflection prism is coated with a total reflection film. The total reflection prism guides all imaging light to the 4K3D image processing module 40 through the principle of total internal reflection (TIR), avoiding the transmission or absorption loss of traditional beam splitters and reducing light energy loss. The total reflection prism can be configured as a right-angle prism. By coating the inclined surface of the right-angle prism with a total reflection film, the multiple reflections of traditional plane reflectors are avoided, reducing the generation of ghost images.

[0051] In some examples, Figure 2 As shown, the second optical path switching element 32 is configured as a spectroscopic prism, and the reflective surface of the spectroscopic prism is coated with a spectroscopic film. The spectroscopic prism distributes the incident light to the 4K3D image processing module 40 and the binocular eyepiece module 50 according to a preset ratio through the spectroscopic film. For example, 70% of the light is distributed to the 4K3D image processing module 40 to ensure the signal-to-noise ratio and resolution of the electronic imaging, and 30% of the light is distributed to the binocular eyepiece module 50 to ensure the brightness requirements of the surgeon's optical observation. And the splitting ratio can be adjusted according to the surgical scene, by replacing the spectroscopic film or other methods. In this way, the 4K3D surgical microscope optical path switchable system 100 can achieve the coordinated work of electronic imaging and optical synchronous observation, and dynamically balance the brightness and signal-to-noise ratio of electronic observation and optical observation, meeting the surgeon's operation and teaching / recording needs.

[0052] In some examples, Figures 1 to 3As shown, the first optical path switching element 31 and the second optical path switching element 32 can be driven to move into or out of the imaging optical path A. When the first optical path switching element 31 is driven to move into the imaging optical path A, the second optical path switching element 32 is synchronously moved out of the imaging optical path A. When the second optical path switching element 32 is driven to move into the imaging optical path A, the first optical path switching element 31 is synchronously moved out of the imaging optical path A. The first optical path switching element 31 and the second optical path switching element 32 are driven to move out of the imaging optical path A simultaneously. The first optical path switching element 31 and the second optical path switching element 32 are switched into or out of the imaging optical path A simultaneously by a mechanical driving device (not shown), ensuring that when the 4K3D surgical microscopy optical path switchable system 100 is in operation, only the first optical path switching element 31 or the second optical path switching element 32 is located in the imaging optical path A, or both the first optical path switching element 31 and the second optical path switching element 32 are not located in the imaging optical path A, thereby ensuring imaging purity.

[0053] In some examples, Figures 1 to 3 As shown, the focusing module 10 includes: a first lens group 11, a second lens group 12, and a third lens group 13, which are arranged in sequence along an imaging optical path A from the image plane to the object plane. The first lens group 11 and the second lens group 12 can be driven to move relative to the third lens group 13 along the imaging optical path A to adjust the distance between the first lens group 11 and the second lens group 12 and the third lens group 13. The first lens group 11 is close to the image plane, and the third lens group 13 is close to the object plane. The relative positions of the first lens group 11 and the second lens group 12 are fixed. A mechanical driving device (not shown) is used to simultaneously drive the first lens group 11 and the second lens group 12 to move relative to the third lens group 13 along the imaging optical path A to adjust the distance between the first lens group 11 and the second lens group 12 and the third lens group 13. The first lens group 11 and the second lens group 12 move in the same direction along the imaging optical path A to adjust the focal position and compensate for changes in object distance, thereby accommodating different surgical depths.

[0054] In some examples, the first lens group 11, the second lens group 12, and the third lens group 13 include multiple optical elements arranged along the central optical axis C. The first lens group 11 and the second lens group 12 move along the central optical axis C and cooperate with the third lens group 13 to achieve the focusing function of the 4K3D surgical microscope optical path switchable system 100. Since the parameters of the optical elements included in the first lens group 11, the second lens group 12, and the third lens group 13 are conventional optical designs, they are not further described here.

[0055] In some examples, Figures 1 to 3As shown, the zoom module 20 includes: a first lens group 21, a second lens group 22, a third lens group 23, and a fourth lens group 24, arranged in sequence along an imaging optical path A from the image plane to the object plane. The relative distance between the first lens group 21 and the fourth lens group 24 is constant, and the second lens group 22 and the third lens group 23 can be driven simultaneously to move along the imaging optical path A to adjust the distance between the second lens group 22 and the first lens group 21 and the third lens group 23, and to adjust the distance between the third lens group 23 and the second lens group 22 and the fourth lens group 24. A mechanical drive device (not shown) drives the second lens group 22 and the third lens group 23 to move simultaneously in opposite directions or in the same direction, achieving continuous adjustment of the magnification without the need for mechanical stepping or replacement of the objective lens. Exemplarily, the second lens group 22 is configured as a negative focus lens group, the third lens group 23 is configured as a negative focus lens group, the first lens group 21 is configured as a positive focus lens group, and the fourth lens group 24 is configured as a positive focus lens group. The first lens group 21 and the fourth lens group 24 maintain a fixed distance, and the second lens group 22 and the third lens group 23 automatically compensate for image plane offset when moving, ensuring that manual focusing is not required after magnification change.

[0056] In some examples, Figures 1 to 5 As shown, the adaptive illumination module 60 includes a first condenser lens group, a single iris 65, a second condenser lens group, and a reflective element 61, arranged sequentially along the illumination optical axis B. The first condenser lens group includes a fifth illumination lens 67 and a fourth illumination lens 66, while the second condenser lens group includes a third illumination lens 64, a filter 63, and a first illumination lens 62. The first illumination lens 62, the filter 63, the third illumination lens 64, the fourth illumination lens 66, and the fifth illumination lens 67 are fixed on the illumination optical axis B. The single iris 65 can be driven to move along the illumination optical axis B and can also be driven to change the size of the optical aperture. The fifth illumination lens 67 and the fourth illumination lens 66 collect and collimate the illumination light from the illumination unit to form a parallel beam. The third illumination lens 64 and the first illumination lens 62 refocus the parallel light onto the surgical area, and the single iris 65 cooperates to adjust the illumination spot size to change the illumination range. The reflective element 61 (eg, a plane reflective mirror, the mirror surface of which is coated with a total reflection film) is used to guide the illumination light to the surgical field to reduce the interference of mirror reflection.

[0057] In some examples, Figures 1 to 6As shown, the illumination optical axis B of the adaptive illumination module 60 is perpendicular to the central optical axis C of the focusing module 10. The reflective element 61 forms an angle θ with the illumination optical axis B. The reflective element 61 can be driven to rotate relative to the illumination optical axis B to adjust the angle θ. The reflective element 61 rotates relative to the illumination optical axis B as the object distance changes. When the object distance changes, the reflective element 61 is driven to rotate clockwise or counterclockwise by a mechanical drive device (not shown) to adjust the angle θ between the reflective element 61 and the illumination optical axis B. This ensures that the center of the illumination spot is always focused on the surgical field center MO at different object distances, ensures that the illumination range Z is consistent with the surgical field range M, and prevents the illumination spot from shifting due to changes in object distance.

[0058] In some examples, Figure 6 As shown in the figure, when the object is at the maximum object distance, in order to ensure that the illumination range Z is consistent with the surgical field range M, the angle θ needs to be calibrated in advance. The calculation formula of the angle θ is: Wherein, parameter θ is the angle value, parameter a is the angle between the illumination optical axis B and the central optical axis B' of the reflected light; the calculation formula of parameter a is: The parameter X is the distance from the center of the reflective element 61 to the central optical axis C of the focusing module 10 , and the parameter Y is the distance from the illumination optical axis B to the maximum object distance.

[0059] For example, the distance Y from the illumination optical axis B to the maximum object distance is set to 1024.7 mm, and the distance X from the center of the reflective element 61 to the central optical axis C of the focusing module 10 is set to 28.59 mm: a=arctan(35.84)≈88.4°, It can be concluded that when the distance Y from the illumination optical axis B to the maximum object distance is set to 1024.7 mm, the angle θ is 44.2°. At this time, the illumination range Z is consistent with the surgical field range M, and the center of the illumination spot coincides with the surgical field center MO.

[0060] For example, the distance Y from the illumination optical axis B to the minimum object distance is set to 325.7 mm, and the distance X from the center of the reflective element 61 to the central optical axis C of the focusing module 10 is set to 28.59 mm: a=arctan(11.39)≈84.7°, It can be concluded that when the distance Y from the illumination optical axis B to the minimum object distance is set to 325.7 mm, the angle θ is 42.35°. At this time, the illumination range Z is consistent with the surgical field range M, and the center of the illumination spot coincides with the surgical field center MO.

[0061] The reflective element 61 rotates relative to the illumination optical axis B as the object distance changes. The calculation formula for the rotation degree of the reflective element 61 is: Among them, parameter b is the increment or decrement of angle θ, and parameter β is the rotation angle corresponding to the reflected light. The calculation formula of parameter β is: Parameter L2 is a fixed distance from the center of the reflective element 61 to the minimum object distance, parameter L3 is a fixed distance from the center of the reflective element 61 to the maximum object distance, and parameter L1 is an actual variation range of the object distance.

[0062] For example, the fixed distance L2 from the center of the reflective element 61 to the minimum object distance is set to 325.7 mm, the fixed distance L3 from the center of the reflective element 61 to the maximum object distance is set to 1024.7 mm, and the distance L1 between the focusing module 10 and the object plane is adjusted to 700 mm: When the object distance L1 is adjusted from the maximum object distance to the minimum object distance, the mechanical drive device drives the reflective element 61 to rotate counterclockwise synchronously, 44.2°-1.85°=42.35°, and the angle θ gradually decreases from the initial 44.2° to 42.35°, to ensure that the illumination range Z is consistent with the surgical field range M, and the center of the illumination spot coincides with the surgical field center MO. When the object distance L1 is adjusted from the minimum object distance to the maximum object distance, the mechanical drive device drives the reflective element 61 to rotate clockwise synchronously, 42.35°+1.85°=44.2°, and the angle θ gradually increases from the initial 42.35° to 44.2°, to ensure that the illumination range Z is consistent with the surgical field range M, and the center of the illumination spot coincides with the surgical field center MO.

[0063] In some examples, Figure 1 and Figure 2 As shown, the first optical path switching element 31 directs all imaging light to the 4K3D image processing module 40, forming a digital imaging optical path D. The 4K3D image processing module 40 includes a lens assembly 41, a filter assembly 42, and a photosensor assembly 43, arranged sequentially along the digital imaging optical path D. The lens assembly 41 further amplifies the image from the zoom module 20. The filter assembly 42 filters out unwanted wavelengths of light, and the light is focused onto the photosensor assembly 43. The photosensor assembly 43 uses its dual CMOS sensors to simultaneously capture left-eye and right-eye parallax images, converting them into 4K stereoscopic video signals. The coordinated operation of the first optical path switching element 31 and the 4K3D image processing module 40 achieves ultra-high-definition 3D imaging through a fully internal reflection optical path and electronic signal conversion.

[0064] In some examples, Figure 1 and Figure 2As shown, the 4K3D surgical microscope optical path switchable system 100 also includes an adjustable, linked dual diaphragm 71 disposed between the optical path switching module 30 and the zoom module 20. The adjustable, linked dual diaphragm 71 can manually or automatically adjust the size of the left and right apertures synchronously, ensuring that the apertures remain the same during adjustment. The adjustable, linked dual diaphragm 71 can manually or automatically adjust the size of the left and right apertures to meet actual observation needs in either pure electronic imaging observation mode, pure optical observation mode, or simultaneous electronic and optical observation mode.

[0065] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

[0066] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0067] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of 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 implementation methods that can be understood by those skilled in the art.

Claims

1. A 4K3D surgical microscope light path switchable system, characterized in that: include: A focus module, a zoom module, and an optical path switching module are sequentially arranged on the same imaging optical path from the object plane to the image plane; A 4K3D image processing module and a binocular eyepiece module optically coupled to the optical path switching module, and an adaptive lighting module independent of the imaging optical path; The optical path switching module includes a first optical path switching element and a second optical path switching element that can be switched into the imaging optical path or simultaneously moved out of the imaging optical path; When the first optical path switching element is switched to move into the imaging optical path, the first optical path switching element directs all imaging light to the 4K3D image processing module; When the second optical path switching element is switched to move into the imaging optical path, the second optical path switching element splits the imaging light beam and transmits it to the 4K3D image processing module and the binocular eyepiece module; When the first optical path switching element and the second optical path switching element are simultaneously moved out of the imaging optical path, all imaging light is transmitted to the binocular eyepiece module; The 4K3D image processing module is used to generate and output a 4K resolution stereo video signal from the imaging light, and the binocular eyepiece module is used to convert the imaging light into a physical natural image that can be observed by both eyes in real time.

2. The 4K3D surgical microscopy optical path switchable system according to claim 1, characterized in that: The first optical path switching element is configured as a total reflection prism, and the reflection surface of the total reflection prism is coated with a total reflection film.

3. The 4K3D surgical microscopy optical path switchable system according to claim 1, characterized in that: The second optical path switching element is configured as a beam splitter prism, and a reflective surface of the beam splitter prism is coated with a beam splitter film.

4. The 4K3D surgical microscopy optical path switchable system according to claim 1, characterized in that: The first optical path switching element and the second optical path switching element can be driven to move into or out of the imaging optical path; When the first optical path switching element is driven to move into the imaging optical path, the second optical path switching element is synchronously moved out of the imaging optical path; When the second optical path switching element is driven to move into the imaging optical path, the first optical path switching element is synchronously moved out of the imaging optical path; The first optical path switching element and the second optical path switching element are driven to move out of the imaging optical path at the same time.

5. The 4K3D surgical microscopy optical path switchable system according to claim 1, characterized in that: The focusing module includes: a first lens group, a second lens group, and a third lens group, which are arranged in sequence along the optical axis from the image plane to the object plane. The first lens group and the second lens group can be driven to move along the optical axis relative to the third lens group to adjust the distance between the first lens group and the second lens group and the third lens group.

6. The 4K3D surgical microscopy optical path switchable system according to claim 1, characterized in that: The zoom module comprises: a first lens group, a second lens group, a third lens group and a fourth lens group arranged in sequence along the imaging optical path from the image plane to the object plane; The relative distance between the first lens group and the fourth lens group is constant, and the second lens group and the third lens group can be driven to move along the imaging optical path simultaneously to adjust the distance of the second lens group relative to the first lens group and the third lens group, and to adjust the distance of the third lens group relative to the second lens group and the fourth lens group.

7. The 4K3D surgical microscopy optical path switchable system according to claim 1, characterized in that: The adaptive lighting module comprises: a first condensing lens group, a single aperture, a second condensing lens group and a reflective element which are sequentially arranged along the lighting optical axis.

8. The 4K3D surgical microscopy optical path switchable system according to claim 7, characterized in that: The illumination optical axis of the adaptive illumination module is perpendicular to the central optical axis of the focusing module, the reflective element forms an angle with the illumination optical axis, and the reflective element can be driven to rotate relative to the illumination optical axis to adjust the angle; The reflective element rotates relative to the illumination optical axis as the object distance changes. The calculation formula for the rotation degree of the reflective element is: Among them, parameter b is the increment or decrement of the angle, and parameter β is the rotation angle corresponding to the reflected light; the calculation formula of parameter β is: Among them, parameter L2 is the fixed distance from the center of the reflective element to the minimum object distance, parameter L3 is the fixed distance from the center of the reflective element to the maximum object distance, and parameter L1 is the actual variation range of the object distance.

9. The 4K3D surgical microscopy optical path switchable system according to claim 1, characterized in that: The first optical path switching element directs all imaging light to the 4K3D image processing module to form a digital imaging optical path; The 4K3D image processing module includes: a lens group, a filter group and a photosensor group arranged in sequence along the digital imaging light path.

10. The 4K3D surgical microscopy optical path switchable system according to claim 1, characterized in that: The 4K3D surgical microscope optical path switchable system further includes: an adjustable linked double diaphragm configured between the optical path switching module and the magnification module.

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