Binocular surgical navigation equipment optical processing method and system

Abstract

The invention relates to an optical processing method for binocular surgical navigation equipment. The method comprises the following steps: collecting communication characteristics of a multi-mode sub-module in real time; dynamically selecting an optimal set communication algorithm based on the collected multi-mode sub-module communication characteristics; coordinating the communication time sequence of the multi-modal sub-module, and maximizing calculation and communication overlapping while ensuring the consistency of comparison loss calculation semantics; in combination with memory characteristics of the multi-mode sub-module, communication data transmission and storage strategies are adjusted, memory overflow is avoided, and the bandwidth utilization rate is improved. The invention further relates to an optical processing system of the binocular surgical navigation equipment. According to the invention, the imaging quality and reliability of the binocular surgical navigation equipment in a complex light environment can be improved.

Description

Technical Field

[0001] This invention relates to an optical processing method and system for binocular surgical navigation equipment. Background Technology

[0002] With the development of minimally invasive surgery and robot-assisted surgery, precise surgical navigation technology is being used more and more widely in the medical field. Binocular surgical navigation systems, as an important component, assist surgeons in precisely locating surgical instruments and diseased tissues by performing 3D reconstruction and real-time display of the surgical area, thereby improving surgical safety and accuracy. In such systems, image clarity and signal-to-noise ratio directly affect the accuracy and reliability of navigation. Especially in the operating room environment, complex ambient light (such as surgical lights, indoor light sources, and light emitted by other equipment) can interfere with the imaging system, thereby reducing image quality and affecting the surgeon's judgment.

[0003] To suppress ambient light interference during surgical navigation, existing technologies mainly employ two types of filters: black glass infrared filters and dielectric film filters.

[0004] (1) Black glass infrared filter Traditional binocular surgical navigation devices commonly use black glass infrared transmission and visible absorption filters. These filters achieve long-wavelength infrared transmission by allowing specific elements in the material to absorb wavelengths up to a certain range while allowing subsequent wavelengths to pass through. Their main advantages are low cost, ease of manufacturing, and suitability for mass production.

[0005] However, black glass filters have significant drawbacks: With limited cutoff depth, a conventional 3 mm thick black glass infrared filter typically has an optical density (OD) of ≤3, which limits its ability to suppress strong ambient light and cannot completely eliminate background interference.

[0006] The long-wavelength suppression is insufficient. For long-wavelength light that exceeds the operating wavelength, the black glass filter has almost no cutoff effect. Therefore, in complex background light environments, noise signals may still be introduced, affecting the navigation imaging quality.

[0007] (2) Dielectric membrane filter Dielectric film filters are fabricated by depositing multiple layers of thin films with different refractive indices and optical thicknesses on a substrate. Each layer selectively transmits or reflects light of a specific wavelength, thus achieving a precise filtering effect. Compared to black glass filters, dielectric film filters have the following advantages: With a high cutoff depth, the dielectric film design can achieve an OD≥5, which can significantly improve the ambient light suppression capability and reduce background light interference by two orders of magnitude.

[0008] With controllable bandwidth, the transmission and cutoff bands of the filter can be flexibly controlled by adjusting the design parameters of the multilayer thin film, adapting to different working environments and imaging requirements.

[0009] High-precision optical filtering provides excellent cutoff for light outside the operating wavelength range, especially long-wavelength light beyond the operating wavelength range. Dielectric film filters offer good cutoff performance, thereby improving the signal-to-noise ratio and imaging stability of the equipment.

[0010] In summary, while current filter technology can improve image quality to some extent, it still has shortcomings in terms of cutoff depth, long-wavelength suppression, and adaptability to complex ambient light. These shortcomings directly affect the imaging stability and reliability of surgical navigation, and mainly include the following issues: Firstly, the cutoff depth is limited: the ambient light suppression capability is insufficient. Traditional black glass infrared filters, with a standard thickness (approximately 3 mm), typically have an optical density (OD) of no more than 3, offering limited suppression of strong ambient light interference in operating rooms. When the ambient light intensity is high, the signal-to-noise ratio of the device's imaging decreases, potentially leading to reduced navigation accuracy.

[0011] Secondly, it has no suppression effect on light longer than the working wavelength: the black glass filter has almost no cutoff effect on long-wavelength light outside the working wavelength. In the surgical environment, this part of the light will introduce background noise, affecting the imaging contrast and accuracy.

[0012] Third, there is a lack of flexible adjustment capability for different environments: most existing filters are fixed and cannot be flexibly switched according to different lighting conditions in the operating room, resulting in unstable imaging effects in complex environments. Summary of the Invention

[0013] In view of this, it is necessary to provide an optical processing method and system for binocular surgical navigation devices, which can solve problems such as low communication efficiency, resource waste and semantic inconsistency, and improve the training efficiency of multimodal large models.

[0014] This invention provides an optical processing method for a binocular surgical navigation device, comprising the following steps: S1, acquiring optical images of the surgical scene; S2, selecting a suitable filter type from a filter library based on the lighting environment and background light complexity of the surgical scene, and installing the filter; S3, performing filtering processing based on the selected and installed filter; S4, receiving the filtered light signal and converting it into a digital image signal, and using the digital image signal for real-time display, path planning, or surgical assisted positioning.

[0015] Preferably, the method further includes: Step S5: When the lighting conditions change, dynamically adjust the filter.

[0016] Preferably, the method further includes: Step S6: Evaluate image quality in real time and provide feedback on the evaluation results in order to optimize the filter.

[0017] Preferably, step S1 includes: The collected optical signals include: target light within the working band and background light in the environment outside the working band.

[0018] Preferably, step S2 includes: Based on the lighting environment and background light complexity at the surgical site, select the appropriate filter type from the filter library: If the ambient light is weak or the interference is not obvious, choose a black glass infrared transmission visible absorption filter. If the ambient light intensity is high or the background light band is wide, a multilayer bandpass filter with dielectric film should be selected.

[0019] Preferably, step S3 includes: Dielectric multilayer filters achieve high transmittance of light in specific wavelength bands and cutoff of non-working wavelength bands by stacking thin films with different refractive indices and utilizing the interference effect. Black glass infrared transmission visible absorption filters utilize the absorption characteristics of elements in the material for specific wavelengths of light to attenuate non-working wavelengths of light. Multilayer bandpass filters with dielectric films achieve high transmittance of light in a specific operating wavelength range by utilizing the differences in optical thickness and refractive index of each dielectric film layer.

[0020] Preferably, step S4 includes: The filtered light signal is received by the binocular camera and converted into a digital image signal, which is then used for real-time display, path planning, or surgical-assisted positioning.

[0021] Preferably, step S5 includes: If the lighting conditions change during the surgery, the type of filter should be changed according to the actual situation.

[0022] Preferably, step S6 includes: Real-time evaluation of image quality and feedback of evaluation results; If the image quality is lower than the preset standard, the system will prompt the user to replace or adjust the filter, thus forming a closed-loop control.

[0023] This invention provides an optical processing system for a binocular surgical navigation device. The system includes an acquisition module, a selection module, a filtering module, and a planning module. The acquisition module acquires optical images of the surgical scene. The selection module selects a suitable filter type from a filter library based on the lighting environment and background light complexity of the surgical site, and installs the filter. The filtering module performs filtering processing based on the selected and installed filter. The planning module receives the filtered optical signal and converts it into a digital image signal, using this digital image signal for real-time display, path planning, or surgical-assisted positioning.

[0024] This application introduces a replaceable filter design: increasing the ambient light cutoff depth to ensure high signal-to-noise ratio imaging; expanding the suppression capability for light outside the operating band to reduce background interference; and providing a flexible adjustment scheme to select the most suitable filter type according to the surgical environment, thereby improving equipment stability and anti-interference capability. (1) A design scheme with replaceable filters is provided, which can select filters with higher cutoff depth (OD≥5) according to the usage scenario, thereby greatly enhancing the ambient light suppression capability and ensuring imaging stability.

[0025] (2) By introducing replaceable dielectric film filters, especially bandpass filters, non-working wavelength light can be precisely filtered out, achieving more efficient and accurate optical screening and significantly reducing background noise.

[0026] (3) Replaceable filter mechanism allows for the selection of appropriate filters based on ambient light intensity and type, enabling dynamic adaptation and improving the equipment's anti-interference capability and imaging reliability. Attached Figure Description

[0027] Figure 1 This is a flowchart of the optical processing method for the binocular surgical navigation device of the present invention; Figure 2 This is a hardware architecture diagram of the optical processing system of the binocular surgical navigation device of the present invention. Detailed Implementation

[0028] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0029] See Figure 1 The diagram shown is a flowchart of a preferred embodiment of the optical processing method for binocular surgical navigation equipment of the present invention.

[0030] Step S1: Acquire optical images of the surgical scene. Specifically: The surgical area is illuminated by surgical lights or other light sources, and light signals from the surgical scene are collected.

[0031] The collected optical signals include: target light within the working band and background light in the environment outside the working band.

[0032] The light signal is converted into an image signal, providing basic data for subsequent filtering processing.

[0033] Step S2: Based on the lighting environment and background light complexity at the surgical site, select a suitable filter type from the filter library and install the filter. Specifically: Depending on the lighting environment and the complexity of the background light at the surgical site, the operator selects the appropriate filter type from the filter library. If the ambient light is weak or the interference is not significant, a black glass infrared transmission visible absorption filter is selected; if the ambient light intensity is high or the background light wavelength is wide, a dielectric multilayer bandpass filter is selected.

[0034] After selection, install the filter into the filter slot in the camera's optical path, and use the sliding or rotating positioning mechanism to precisely align the filter with the optical axis to ensure that the filter is accurately positioned in the optical path and that light passes through evenly.

[0035] Step S3: Perform filtering treatment according to the selected and installed filter. Specifically: Multilayer dielectric filters achieve high transmittance of light in specific wavelength bands and cutoff of non-working wavelength bands by stacking thin films with different refractive indices and utilizing the interference effect.

[0036] The light reflectance of each thin film interface is:

[0037] in, , These are the refractive indices of the two adjacent media layers.

[0038] Through the stacking of multiple thin films, the transmittance is expressed as:

[0039]

[0040]

[0041] Where d is the film thickness. Angle of incidence λ is the wavelength.

[0042] For an N-layer dielectric film, the total transmittance is approximately calculated as follows:

[0043] The above formula reflects the transmission of specific wavelengths by each film and the suppression of non-working wavelengths. By adjusting the film thickness and refractive index, the effect of high transmission in the working wavelength and high cutoff in the non-working wavelength can be achieved.

[0044] After the filter is installed, light from the surgical area passes through the filter and enters the camera system. Black glass infrared transmission visible absorption filters utilize the absorption characteristics of elements in the material for specific wavelengths of light to attenuate non-working wavelengths, typically achieving an OD ≤ 3. Multilayer dielectric bandpass filters achieve high transmittance for specific working wavelengths through the differences in optical thickness and refractive index of each dielectric layer, while simultaneously providing a high cutoff depth (OD ≥ 5) for non-working wavelengths.

[0045] By using filters, ambient light interference can be effectively suppressed, the signal-to-noise ratio of the image can be improved, and conditions can be provided for binocular surgical navigation equipment to generate clear images.

[0046] Step S4: Receive the filtered optical signal and convert it into a digital image signal. Use this digital image signal for real-time display, path planning, or surgical-assisted positioning. Specifically: The filtered light signal is received by the binocular camera and converted into a digital image signal, which is then used for real-time display, path planning, or surgical-assisted positioning.

[0047] The filter blocks light in non-working wavelengths, improving image contrast and ensuring clear display of key anatomical structures and surgical field details, while reducing errors caused by background light interference.

[0048] Step S5: When lighting conditions change, dynamically adjust the filter. Specifically: If lighting conditions change during surgery, such as an increase in ambient light intensity or a change in spectral distribution, the operator can change the type of filter according to the actual situation.

[0049] Binocular surgical navigation devices can regain high signal-to-noise ratio images by quickly changing filters, ensuring imaging stability and anti-interference capabilities in different environments. The replaceable filter design allows the device to maintain high-precision imaging even in complex surgical environments.

[0050] Step S6 involves real-time evaluation of image quality and feedback of the evaluation results to optimize the filter. Specifically: The system assesses image quality in real time, including contrast, brightness, and signal-to-noise ratio, and feeds the results back to the operator. If the image quality falls below a preset standard, it prompts the operator to replace or adjust the filter, thus forming a closed-loop control system.

[0051] This feedback mechanism ensures that the optical imaging is always in optimal condition during the surgery, improving navigation accuracy and surgical safety.

[0052] See Figure 2 The diagram shown is a hardware architecture diagram of the optical processing system 10 of the binocular surgical navigation device of the present invention. The system includes: an acquisition module 101, a selection module 102, a filtering module 103, a planning module 104, an adjustment module 105, and an optimization module 106.

[0053] The acquisition module 101 is used to acquire optical images of the surgical scene. Specifically: The surgical area is illuminated by surgical lights or other light sources, and the acquisition module 101 acquires the light signals of the surgical scene.

[0054] The collected optical signals include: target light within the working band and background light in the environment outside the working band.

[0055] The acquisition module 101 converts the optical signal into an image signal, providing basic data for subsequent filtering processing.

[0056] The selection unit 102 is used to select a suitable filter type from the filter library based on the lighting environment and background light complexity of the surgical site, and then install the filter. Specifically: Depending on the lighting environment and the complexity of the background light at the surgical site, the operator selects the appropriate filter type from the filter library. If the ambient light is weak or the interference is not significant, a black glass infrared transmission visible absorption filter is selected; if the ambient light intensity is high or the background light wavelength is wide, a dielectric multilayer bandpass filter is selected.

[0057] After selection, install the filter into the filter slot in the camera's optical path, and use the sliding or rotating positioning mechanism to precisely align the filter with the optical axis to ensure that the filter is accurately positioned in the optical path and that light passes through evenly.

[0058] The filter module 103 is used to perform filtering processing according to the selected and installed filter. Specifically: Multilayer dielectric filters achieve high transmittance of light in specific wavelength bands and cutoff of non-working wavelength bands by stacking thin films with different refractive indices and utilizing the interference effect.

[0059] The light reflectance of each thin film interface is:

[0060] in, , These are the refractive indices of the two adjacent media layers.

[0061] Through the stacking of multiple thin films, the transmittance is expressed as:

[0062]

[0063]

[0064] Where d is the film thickness. Angle of incidence λ is the wavelength.

[0065] For an N-layer dielectric film, the total transmittance is approximately calculated as follows:

[0066] The above formula reflects the transmission of specific wavelengths by each film and the suppression of non-working wavelengths. By adjusting the film thickness and refractive index, the effect of high transmission in the working wavelength and high cutoff in the non-working wavelength can be achieved.

[0067] After the filter is installed, light from the surgical area passes through the filter and enters the camera system. Black glass infrared transmission visible absorption filters utilize the absorption characteristics of elements in the material for specific wavelengths of light to attenuate non-working wavelengths, typically achieving an OD ≤ 3. Multilayer dielectric bandpass filters achieve high transmittance for specific working wavelengths through the differences in optical thickness and refractive index of each dielectric layer, while simultaneously providing a high cutoff depth (OD ≥ 5) for non-working wavelengths.

[0068] By processing the filter through the filter module 103, ambient light interference can be effectively suppressed, the signal-to-noise ratio of the image can be improved, and conditions can be provided for the generation of clear images by the binocular surgical navigation device.

[0069] The planning module 104 is used to receive the filtered optical signal and convert it into a digital image signal, which is then used for real-time display, path planning, or surgical-assisted positioning. Specifically: The filtered light signal is received by the binocular camera and converted into a digital image signal. The planning module 104 uses this digital image signal for real-time display, path planning, or surgical-assisted positioning.

[0070] The filter blocks light in non-working wavelengths, improving image contrast and ensuring clear display of key anatomical structures and surgical field details, while reducing errors caused by background light interference.

[0071] The adjustment module 105 is used to dynamically adjust the filter when the lighting conditions change. Specifically: If lighting conditions change during surgery, such as an increase in ambient light intensity or a change in spectral distribution, the operator can change the type of filter according to the actual situation.

[0072] Binocular surgical navigation devices can regain high signal-to-noise ratio images by quickly changing filters, ensuring imaging stability and anti-interference capabilities in different environments. The replaceable filter design allows the device to maintain high-precision imaging even in complex surgical environments.

[0073] The optimization module 106 is used to evaluate image quality in real time and provide feedback on the evaluation results in order to optimize the filter. Specifically: The optimization module 106 evaluates image quality in real time, including contrast, brightness, and signal-to-noise ratio, and feeds the evaluation results back to the operator. If the image quality is lower than the preset standard, it prompts the operator to replace or adjust the filter, thus forming a closed-loop control.

[0074] This feedback mechanism ensures that the optical imaging is always in optimal condition during the surgery, improving navigation accuracy and surgical safety.

[0075] This invention combines the advantages of black glass filters and dielectric film bandpass filters, enabling the selection of appropriate filter types based on the actual usage environment, increasing the cutoff depth to OD≥5, effectively suppressing ambient light interference, and thus significantly improving the signal-to-noise ratio, stability, and anti-interference capability of binocular surgical navigation equipment. Replaceable dielectric membrane filter structure: The filter adopts a detachable design, which can quickly replace the dielectric membrane with different membrane parameters according to different surgical scenarios or imaging needs to adapt to a variety of optical environments; Parametric design of dielectric film: By adjusting the film thickness and refractive index, the transmission and cutoff bands can be precisely controlled to achieve optimized selection of the target spectral range and improve the optical adaptability of the system; High transmittance and high cutoff ratio filtering characteristics: The dielectric film of the present invention maintains high transmittance in the key bands, while achieving efficient cutoff of non-target bands, thereby significantly improving imaging contrast and signal-to-noise ratio; Structure and ease of installation: The filter assembly supports quick assembly and disassembly in its mechanical structure, which facilitates timely replacement during surgery, reduces downtime, and ensures continuous imaging; System-level compatibility and scalability: With its replaceable filter design, the system is compatible with different types of imaging or navigation equipment, and has strong scalability and versatility.

[0076] This application improves the imaging quality and reliability of binocular surgical navigation equipment in complex lighting environments without changing the surgical procedure, providing more stable visual assurance for clinical applications.

[0077] Although the present invention has been described with reference to the present preferred embodiments, those skilled in the art should understand that the above preferred embodiments are only used to illustrate the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An optical processing method for a binocular surgical navigation device, characterized in that, The method includes the following steps: S1, acquire optical images of the surgical scene; S2. Based on the lighting environment and background light complexity at the surgical site, select the appropriate filter type from the filter library and install the filter; S3, perform filtering treatment according to the selected and installed filter; S4 receives the filtered light signal and converts it into a digital image signal, which is then used for real-time display, path planning, or surgical-assisted positioning.

2. The method as described in claim 1, characterized in that, The method further includes: Step S5: When the lighting conditions change, dynamically adjust the filter.

3. The method as described in claim 1 or 2, characterized in that, The method further includes: Step S6: Evaluate image quality in real time and provide feedback on the evaluation results in order to optimize the filter.

4. The method as described in claim 3, characterized in that, Step S1 includes: The collected optical signals include: target light within the working band and background light in the environment outside the working band.

5. The method as described in claim 4, characterized in that, Step S2 includes: Based on the lighting environment and background light complexity at the surgical site, select the appropriate filter type from the filter library: If the ambient light is weak or the interference is not obvious, choose a black glass infrared transmission visible absorption filter. If the ambient light intensity is high or the background light band is wide, a multilayer bandpass filter with dielectric film should be selected.

6. The method as described in claim 5, characterized in that, Step S3 includes: Dielectric multilayer filters achieve high transmittance of light in specific wavelength bands and cutoff of non-working wavelength bands by stacking thin films with different refractive indices and utilizing the interference effect. Black glass infrared transmission visible absorption filters utilize the absorption characteristics of elements in the material for specific wavelengths of light to attenuate non-working wavelengths of light. Multilayer bandpass filters with dielectric films achieve high transmittance of light in a specific operating wavelength range by utilizing the differences in optical thickness and refractive index of each dielectric film layer.

7. The method as described in claim 6, characterized in that, Step S4 includes: The filtered light signal is received by the binocular camera and converted into a digital image signal, which is then used for real-time display, path planning, or surgical-assisted positioning.

8. The method as described in claim 7, characterized in that, Step S5 includes: If the lighting conditions change during the surgery, the type of filter should be changed according to the actual situation.

9. The method as described in claim 8, characterized in that, Step S6 includes: Real-time evaluation of image quality and feedback of evaluation results; If the image quality is lower than the preset standard, the system will prompt the user to replace or adjust the filter, thus forming a closed-loop control.

10. An optical processing system for a binocular surgical navigation device, characterized in that, The system includes an acquisition module, a selection module, a filtering module, and a planning module, among which: The acquisition module is used to acquire optical images of the surgical scene; The selection module is used to select a suitable filter type from the filter library based on the lighting environment and background light complexity of the surgical site, and then install the filter. The filter module is used to perform filtering processing according to the selected and installed filters; The planning module is used to receive the filtered light signal and convert it into a digital image signal, which is then used for real-time display, path planning, or surgical-assisted positioning.

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