Method and system for acquiring pulse trigger delay time difference, terminal and storage medium

Abstract

The invention provides a method and system for obtaining a pulse trigger delay time difference, a terminal and a storage medium, and the method comprises the steps: controlling a pulse unit to output a first pulse signal to a first device according to a fixed time sequence, and outputting a second pulse signal to a second device according to a stepping time sequence; the first device and the second device are one of a lighting device and a shooting device respectively, the lighting device is used for triggering lighting work based on a received pulse signal, and the shooting device is used for triggering exposure work based on the received pulse signal; according to the multiple to-be-measured images which are exposed and output by the shooting device based on the received pulse signals, the trigger delay time difference between the trigger time of the lighting device and the trigger time of the shooting device can be measured, and accurate matching of the working time periods of the shooting device and the lighting device is achieved. A series of problems and defects caused by incomplete matching of working time periods due to different trigger delays of a shooting device and a lighting device are solved.

Description

Technical Field

[0001] This application belongs to the field of surgical navigation technology, and in particular relates to a method, system, terminal and storage medium for obtaining pulse trigger delay time difference. Background Technology

[0002] In pulse-triggered illumination and imaging systems, both the light source and the camera typically operate with a delay after receiving the trigger signal. This delay varies depending on the device, meaning the camera's exposure time and the light source's operating time cannot perfectly match. In practice, to ensure image quality, the light source's operating time is often extended to guarantee its normal operation within the camera's exposure time. This results in a period of ineffective operation for the light source, especially in confined spaces such as mixed reality head-mounted navigation devices. This extra ineffective operation increases heat dissipation pressure, leading to temperature increases, reduced imaging performance, and resource waste. Summary of the Invention

[0003] In view of this, embodiments of this application provide a method, system, terminal, and storage medium for obtaining pulse trigger delay time difference, in order to solve a series of problems and defects caused by the inability of the exposure time of the pulse camera and the working time of the light source to be perfectly matched.

[0004] To address the aforementioned technical problems, in a first aspect, the present invention proposes a method for obtaining the pulse trigger delay time difference, the method comprising:

[0005] The control pulse unit outputs a first pulse signal to the first device in a fixed timing sequence, and outputs a second pulse signal to the second device in a stepped timing sequence; the first device and the second device are respectively one of an illumination device and an imaging device, the illumination device is used to trigger illumination operation based on the received pulse signal, and the imaging device is used to trigger exposure operation based on the received pulse signal;

[0006] The imaging device acquires multiple images of the test subject based on the received pulse signal and the exposure output of the imaging device.

[0007] Based on the multiple images to be tested, the trigger delay time difference between the trigger time of the lighting device and the trigger time of the shooting device is determined; the trigger delay time difference is used to match the working period of the lighting device and the working period of the shooting device.

[0008] In one example of the first aspect, the step of outputting the first pulse signal to the first device in a fixed timing sequence includes: sequentially outputting the first pulse signal to the first device at fixed time intervals, so that the duration of each first pulse signal is equal;

[0009] The step-time output of the second pulse signal to the second device includes: sequentially outputting the second pulse signal to the second device according to the step time interval, so that the duration of each second pulse signal increases sequentially according to the time sequence.

[0010] In one example of the first aspect, the control pulse unit outputs a first pulse signal to the first device in a fixed timing sequence and outputs a second pulse signal to the second device in a stepped timing sequence, further comprising:

[0011] The pulse unit is controlled to output a first pulse signal to the first device according to the fixed timing sequence, and to output a second pulse signal to the second device according to the fixed timing sequence, so that the duration of each first pulse signal and each second pulse signal is equal.

[0012] In one example of the first aspect, the step time interval corresponding to the second pulse signal output according to the kth step timing sequence is expressed as: Δt k = kT / n, where k and n are positive integers, k is not greater than n, and T is the duration of the second pulse signal output according to the fixed timing sequence.

[0013] In one example of the first aspect, determining the trigger delay time difference between the triggering time of the lighting device and the triggering time of the imaging device based on the plurality of images to be tested includes:

[0014] Determine the intensity feature values ​​of the multiple images to be tested respectively;

[0015] The target image with the highest intensity feature value is determined from the intensity feature values ​​of the multiple images to be tested, and the target second pulse signal that triggers exposure to output the target image is determined.

[0016] Based on the step time interval corresponding to the second pulse signal of the target, the trigger delay time difference between the triggering time of the lighting device and the triggering time of the shooting device is determined.

[0017] In one example of the first aspect, the lighting device is triggered by a target level, and the shooting device is triggered by a pulse edge; the duration of the target level in the pulse signal received by the lighting device is equal to the exposure time of the shooting device.

[0018] In one example of the first aspect, the method further includes:

[0019] Determine the target intensity feature value corresponding to the target image, and compare the target intensity feature value with a preset intensity threshold to obtain a comparison result;

[0020] Based on the comparison results, the duration and / or amplitude of the target level in the pulse signal output to the lighting device are adjusted.

[0021] In a second aspect, the present invention also proposes a mixed reality head-mounted surgical navigation system, the system comprising an illumination device, an imaging device, a pulse unit, a control unit, and an analysis unit;

[0022] The control unit is used to control the pulse unit to output a first pulse signal to the first device in a fixed timing sequence, and to output a second pulse signal to the second device in a stepped timing sequence; the first device and the second device are respectively one of the lighting device and the shooting device.

[0023] The lighting device is used to trigger lighting operation based on a received pulse signal;

[0024] The imaging device is used to trigger exposure based on the received pulse signal;

[0025] The analysis unit is used to acquire multiple test images output by the imaging device based on the received pulse signal; and to determine the trigger delay time difference between the trigger time of the lighting device and the trigger time of the imaging device based on the multiple test images; the trigger delay time difference is used to match the working period of the lighting device and the working period of the imaging device.

[0026] In a third aspect, the present invention also proposes a terminal comprising a processor, a memory, a controller, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the method described in the first aspect above.

[0027] In a fourth aspect, the present invention also provides a storage medium, which is a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method described in the first aspect above.

[0028] The beneficial effects of this invention are as follows: The control pulse unit outputs a first pulse signal to the first device according to a fixed timing sequence, and outputs a second pulse signal to the second device according to a stepped timing sequence; the first device and the second device are respectively one of an illumination device and an imaging device, the illumination device is used to trigger illumination work based on the received pulse signal, and the imaging device is used to trigger exposure work based on the received pulse signal; based on the multiple images to be tested exposed by the imaging device based on the received pulse signal, the trigger delay time difference between the trigger time of the illumination device and the trigger time of the imaging device can be measured, so as to achieve precise matching of the working time periods of the imaging device and the illumination device, and solve a series of problems and defects caused by the inability to completely match the exposure time period of the imaging device and the illumination time period of the illumination device due to the different trigger delays of the imaging device and the illumination device. Attached Figure Description

[0029] Figure 1 This is a simplified schematic diagram of a mixed reality head-mounted surgical navigation system provided in an embodiment of this application;

[0030] Figure 2 This is a flowchart illustrating the method for obtaining the pulse trigger delay time difference provided in an embodiment of this application;

[0031] Figure 3 This is a schematic diagram of the initial timing of the first pulse signal and the second pulse signal provided in the embodiments of this application;

[0032] Figure 4 This is a timing diagram showing the sequence after both the lighting device and the shooting device provided in the embodiments of this application are triggered;

[0033] Figure 5 This is a timing diagram of a first pulse signal output in a fixed timing sequence and a second pulse signal output in a step timing sequence, provided in an embodiment of this application.

[0034] Figure 6 This is a simplified schematic diagram of a terminal for obtaining the pulse trigger delay time difference provided in an embodiment of this application.

[0035] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Detailed Implementation

[0036] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0037] It should also be understood that the term “and / or” as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0038] Furthermore, in the description of this invention and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0039] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of the invention include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0040] The mixed reality head-mounted surgical navigation system (i.e., head-mounted device) provided in this application can be a highly integrated product with limited installation space and heat dissipation capacity, and can be composed of multiple devices / units, such as... Figure 1 As shown, the mixed reality head-mounted surgical navigation system of this application may include devices / units such as an illumination device 01, an imaging device 02, a pulse unit 03, an analysis unit 04, and a control unit 05.

[0041] The pulse unit 03 can be a pulse transmitter built into the head-mounted device to generate pulse signals. The pulse unit 03 is connected to the I / O interface (signal input / output interface) of the lighting device 01 and the shooting device 02 respectively.

[0042] The control unit 05 may be a timing controller built into the head-mounted device, used to control the pulse unit 03 to output a first pulse signal to the first device in a fixed timing sequence, and to output a second pulse signal to the second device in a step timing sequence; the first device and the second device are respectively one of the lighting device 01 and the shooting device 02, the lighting device 01 is used to trigger the lighting operation based on the received pulse signal, and the shooting device 02 is used to trigger the exposure operation based on the received pulse signal.

[0043] This application embodiment is illustrated by taking the example of sending the generated first pulse signal to the lighting device 01 and the generated second pulse signal to the shooting device 02.

[0044] The illumination device 01 can be a pulse-triggered light source installed on the head-mounted device. The illumination device 01 is triggered by the pulse level (high level / low level) of the first pulse signal. When the first pulse signal is received, the system calls the control unit 05 to control the illumination device 01 to turn on the illumination work so as to illuminate the imaging target.

[0045] The shooting device 02 can be a pulse-triggered camera installed on a head-mounted device. The shooting device 02 is triggered by the pulse edge (rising edge / falling edge) of the second pulse signal. When the second pulse signal is received, the system calls the control unit 05 to control the shooting device 02 to expose the imaging target illuminated by the light source and output an image related to the imaging target.

[0046] The analysis unit 04 can be an integrated circuit chip built into the head-mounted device. It has strong computing power and is used to analyze multiple images to be tested output by the imaging device 02. It can complete the analysis of at least one frame of image within the imaging cycle of the imaging device 02. Based on the analysis results, it obtains the trigger delay time difference between the trigger time of the lighting device 01 and the trigger time of the imaging device 02. By using the trigger delay time difference, it can achieve precise matching of the working time periods of the imaging device 02 and the lighting device 01, thereby making full use of the resources of the lighting device 01 and the imaging device 02, and ensuring that the lighting device 01 and the imaging device 02 do not perform any extra work beyond the requirements.

[0047] Furthermore, it should be noted that in other embodiments, an external terminal can be connected to the mixed reality head-mounted surgical navigation system of this embodiment. The analysis unit of the external terminal can be used to analyze the multiple images output by the imaging device 02, thereby accurately measuring the trigger delay time difference between the lighting device 01 and the imaging device 02, matching the working periods of the lighting device 01 and the imaging device 02, and making full use of resources.

[0048] The information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and the resulting technical effects, please refer to the method embodiments section below.

[0049] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units is used as an example. In practical applications, the above functions can be assigned to different functional units or modules as needed, that is, the internal structure can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. The specific working process of the units and devices in the above system can be referred to the corresponding process in the following method embodiments, and will not be repeated here.

[0050] based on Figure 1 The mixed reality head-mounted surgical navigation system shown in this application provides a method for obtaining the pulse trigger delay time difference, such as... Figure 2 As shown, the method in this embodiment includes the following steps:

[0051] Step S10: The control pulse unit outputs a first pulse signal to the first device according to a fixed timing sequence, and outputs a second pulse signal to the second device according to a step timing sequence; the first device and the second device are one of the lighting device and the other of the shooting device, respectively. The lighting device is used to trigger the lighting operation based on the received pulse signal, and the shooting device is used to trigger the exposure operation based on the received pulse signal.

[0052] Step S20: Acquire multiple images of the test to be exposed by the imaging device based on the received pulse signal.

[0053] It should be noted that the executing entity of the method in this application can be a system for obtaining the pulse trigger delay time difference, such as a mixed reality head-mounted surgical navigation system, or an external device connected to the system. This embodiment uses the system for obtaining the pulse trigger delay time difference as an example for illustration. The system for obtaining the pulse trigger delay time difference also includes a lighting device, an imaging device, a pulse unit, and a processor. In some embodiments, the processor further includes a control unit (e.g., a timing controller) and an analysis unit. The timing controller controls the pulse unit to generate at least two pulse signals (i.e., a first pulse signal and a second pulse signal). The first pulse signal acts on a first device, and the second pulse signal acts on a second device. The first device and the second device are one of the lighting device and the imaging device, respectively. That is, when the first pulse signal is sent to the lighting device, the second pulse signal will be sent to the imaging device; or, when the first pulse signal is sent to the imaging device, the second pulse signal will be sent to the lighting device.

[0054] In this embodiment, taking the first pulse signal sent to the lighting device and the second pulse signal sent to the imaging device as an example, when the lighting device is triggered by the first pulse signal, the lighting device is controlled to turn on the lighting operation; when the imaging device is triggered by the second pulse signal, the imaging device is controlled to perform exposure processing on the imaging target.

[0055] It should be noted that the lighting device and the shooting device can be triggered by the level of the pulse signal (i.e., target level triggering) or by the pulse edge triggering; preferably, in order to achieve better image exposure effect, the triggering mode of the lighting device can be set to level triggering and the triggering mode of the shooting device can be set to pulse edge triggering; the duration of the level (i.e. target level) that triggers the operation of the pulse signal received by the lighting device is equal to the exposure time of the shooting device.

[0056] In this embodiment, taking the lighting device as being triggered by a high-level trigger and the shooting device as being triggered by a rising edge trigger as an example, when the lighting device is triggered by a high-level first pulse signal, the lighting device is controlled to turn on the lighting operation; when the shooting device is triggered by a rising edge of a second pulse signal, the shooting device is controlled to perform exposure processing on the imaging target.

[0057] Figure 3 This is a schematic diagram of the initial timing of the first pulse signal and the second pulse signal provided in an embodiment of this application. The initial timing can be the triggering timing of the pulse signal within a period before the pulse trigger delay time difference is obtained. The period before the pulse trigger delay time difference is a period during which the mixed reality head-mounted surgical navigation system is working normally, such as during surgical navigation. The period during which the pulse trigger delay time difference is obtained can be a period during which the system is being tested. Figure 3As shown, during the normal operating period of the system, both channels of the pulse unit output continuous pulse signals with the same period T (i.e., duration) and the same high-level duration V according to the initial timing sequence (i.e., fixed timing sequence). The continuous pulse signal output in one channel contains multiple first pulse signals, and the continuous pulse signal output in the other channel contains multiple second pulse signals. That is, during this period, the period T (i.e., duration) of the second pulse signal is equal to the period T (i.e., duration) of the first pulse signal, and the high-level duration in the pulse signal received by the lighting device is also equal to the exposure time of the shooting device.

[0058] In this embodiment, during the normal operating period of the system, the two pulse signals within the same period T are staggered according to a fixed time interval ΔT. That is, within the same period, the time interval ΔT between the first pulse signal and the second pulse signal remains constant. Here, ΔT can be 0s or greater than 0s.

[0059] like Figure 4 As shown, in this embodiment, the lighting device can be set to work when triggered by the high level of the first pulse signal. When the lighting device is triggered by the high level of the first pulse signal, the lighting device is controlled to turn on the lighting operation (due to the processing error caused by the manufacturing process of the lighting device, i.e., the light source, the lighting device will be delayed by a first time Δt1 before it officially enters the working state in the formal working process), and the lighting duration is set to V; and the shooting device is set to expose the imaging target when triggered by the rising edge of the second pulse signal (due to the processing error caused by the manufacturing process of the shooting device, i.e., the camera, the shooting device will be delayed by a second time Δt2 before it officially enters the working state in the formal working process), and the exposure duration of the shooting device is also set to V.

[0060] It should be noted that the specific duration of the first time Δt1 depends on the hardware characteristics of the lighting device, and the specific duration of the second time Δt2 depends on the hardware characteristics of the shooting device. There is no direct relationship between the first time Δt1 and the second time Δt2. The purpose of this application is to solve the problem of obtaining the pulse trigger delay time difference through the technical solution of the embodiments of this application when the first time Δt1 and the second time Δt2 are unknown, thereby ensuring that the lighting device and the shooting device work simultaneously.

[0061] In its specific implementation, step S10, "outputting the first pulse signal to the first device according to a fixed timing sequence," includes: sequentially outputting the first pulse signal to the first device at fixed time intervals so that the duration of each first pulse signal is equal, that is, the time interval between the rising edges of any two adjacent first pulse signals is equal. The fixed time interval can refer to the difference between the times corresponding to the rising edges of two adjacent first pulse signals. It should be noted that the fixed timing sequence during the test period is the same as the fixed timing sequence during the normal working period; that is, the duration of the first pulse signal output during the test period is equal to the duration T of the first pulse signal output during the normal working period.

[0062] Step S10, "outputting the second pulse signal to the second device in a stepped timing sequence," includes: sequentially outputting the second pulse signal to the second device in a stepped time interval, so that the duration of each second pulse signal increases sequentially according to the time sequence, that is, the time interval between the rising edges of each adjacent second pulse signal increases sequentially. The stepped time interval corresponding to each generated second pulse signal is different, and the stepped time interval corresponding to each generated second pulse signal can refer to the difference between the duration of the previously generated second pulse signal and the duration T of the second pulse signal output by the system in a fixed timing sequence during normal operation.

[0063] In this specific implementation, both the imaging device and the imaging target are fixed in a stable environment, and continuous illumination imaging is performed on the imaging target. One channel of the pulse unit is configured to output a stable timing sequence of trigger pulses (i.e., output according to a fixed timing sequence), while the other channel's trigger pulse timing is sequentially delayed by k·T / n (k = 1, 2, 3…n) (i.e., output according to a stepped timing sequence). The images Qi (i = 1, 2, 3…n) output by the imaging device are sequentially saved, that is:

[0064] During the process of the imaging device continuously imaging the target, while keeping the time interval between the rising edges of the first pulse signal corresponding to the illumination device equal, the time interval between the rising edges of the second pulse signal corresponding to the imaging device is sequentially increased according to a preset delay method (k·T / n, k=1,2,3…n). Specifically, the second pulse signal is delayed n times, and the step time interval corresponding to the kth output second pulse signal is expressed as: △t k = k·T / n, where k and n are positive integers, k is not greater than n, and T is the duration of the second pulse signal output according to a fixed timing sequence.

[0065] Understandably, such as Figure 5 As shown, Figure 5The diagram illustrates the pulse timing of a first pulse signal output with a fixed timing sequence, the pulse timing of a second pulse signal output with a stepped timing sequence, and the operating timing of the lighting device and the imaging device under these conditions. The nth delay in the stepped timing sequence (i.e., the last delay) is the maximum delay among the "n-step delays." To avoid the last delay exceeding the duration T of the second pulse signal output with the fixed timing sequence, this embodiment sets a step time interval Δt corresponding to the nth output second pulse signal in the stepped timing sequence. n =n·T / n, which is equal to the duration T of the second pulse signal output according to a fixed timing sequence.

[0066] Step S30: Based on multiple images to be tested, determine the trigger delay time difference between the trigger time of the lighting device and the trigger time of the shooting device; the trigger delay time difference is used to match the working period of the lighting device and the working period of the shooting device.

[0067] It should be noted that the triggering time in step S30 refers to the moment when the corresponding device is triggered by the received pulse signal.

[0068] In a specific implementation, this application can obtain the intensity feature values ​​of multiple test images of the exposure output in step S20 according to a preset pixel value method, then determine the target image with the highest intensity feature value from the intensity feature values ​​of these multiple test images, and determine the target second pulse signal that triggers the exposure output of the target image. Based on the step time interval corresponding to the target second pulse signal, determine the trigger delay time difference between the triggering time of the lighting device and the triggering time of the shooting device.

[0069] In some embodiments, a target timing value i and a target intensity feature value W corresponding to the target image can be determined, where the target timing value is the number of times the second pulse signal triggers the exposure to output the target image. Finally, based on the duration T of the second pulse signal output at a fixed timing and the target timing value i, the trigger delay time difference between the triggering time of the illumination device and the triggering time of the shooting device is determined, i.e., the second pulse signal corresponding to the shooting device is further delayed for a certain duration. At that time, the utilization rate of the lighting device is the highest, that is, the trigger delay difference between the lighting device and the shooting device is . This allows for the determination of the timing relationship between the trigger pulses of the lighting device and the shooting device, achieving precise matching between the light source and the camera's operation, and making full use of resources.

[0070] It should be noted that, as an example, the preset pixel value method can be by calculating the average pixel value of the target area of ​​a single image, the proportion of high-brightness pixels with the maximum pixel value, etc.

[0071] Furthermore, in other embodiments, after obtaining the intensity feature values ​​of the n images according to a preset pixel value method, if there are m images out of the n images to be tested whose intensity feature values ​​are continuously consistent (typically, the intensity values ​​of these m images are the highest among the n images to be tested), then the middle time series value is selected as the final target time series value i. For example, when m is odd, the middle time series value is... For example, when m is even, the intermediate timing values ​​can be... or

[0072] The beneficial effects of this embodiment are as follows: The control pulse unit outputs a first pulse signal to the first device in a fixed timing sequence and outputs a second pulse signal to the second device in a stepped timing sequence; the first device and the second device are respectively one of the lighting device and the imaging device. The lighting device is used to trigger the lighting operation based on the received pulse signal, and the imaging device is used to trigger the exposure operation based on the received pulse signal; based on the multiple test images exposed by the imaging device based on the received pulse signal, the trigger delay time difference between the trigger time of the lighting device and the trigger time of the imaging device can be measured, so as to achieve precise matching of the working time of the imaging device and the lighting device, and solve a series of problems caused by the inability to completely match the working time of the camera exposure time and the lighting device due to the different trigger delays of the imaging device and the lighting device.

[0073] This application is applicable to terminal equipment products with high requirements for imaging performance and power consumption, especially to systems with near-infrared illumination imaging installed in head-mounted devices in the medical field. By using the method for obtaining pulse trigger delay time difference proposed in this application, the light source efficiency can be fully utilized, the imaging quality can be guaranteed, the optimal effect of the illumination imaging system can be achieved under limited conditions, and the working accuracy of the head-mounted device can be guaranteed.

[0074] Based on the method for obtaining pulse trigger delay time difference in the above embodiments, another embodiment is proposed. This embodiment can adjust or correct the relevant parameters that have been set in the above embodiments (these parameters may include the duration of the target level, the amplitude of the target level, the exposure time of the shooting device, the illumination time of the lighting device, and the trigger delay time difference between the triggering time of the lighting device and the shooting device).

[0075] For example, if the user readjusts their photo quality requirements, this embodiment can adjust device parameters such as the duration and amplitude of the target level, thereby correspondingly adjusting the working duration and light intensity of the lighting device. Specifically, adjusting the duration of the target level adjusts the working duration of the lighting device. Preferably, the exposure time of the shooting device should also be adjusted simultaneously to ensure consistency with the working duration of the lighting device. Adjusting the amplitude of the target level adjusts the light intensity of the lighting device. This satisfies different photo needs of the user while ensuring precise matching of the working periods of the shooting device and the lighting device, guaranteeing full utilization of the lighting device. Furthermore, this embodiment can also detect the image output by the shooting device in real time. If the image output by the shooting device does not meet the user's needs, the system can adaptively adjust relevant parameters to meet the user's photo shooting requirements.

[0076] The execution subject of the method in this embodiment can be a system that obtains the pulse trigger delay time difference, that is, the system that obtains the pulse trigger delay time difference can adjust or correct relevant parameters based on the relevant data it obtains.

[0077] In other embodiments, the execution subject of the method in this embodiment can also be an external device. The external device establishes an external connection with the system that obtains the pulse trigger delay time difference to obtain the relevant data collected by the system that obtains the pulse trigger delay time difference, and then can adjust or correct the relevant parameters of the lighting imaging system based on the relevant data obtained from the lighting imaging system.

[0078] Specifically, after step S40, the method further includes:

[0079] Step S51: Compare the target intensity feature value with the preset intensity threshold to obtain the comparison result.

[0080] Step S52: Based on the comparison result, adjust the duration and / or amplitude of the target level in the pulse signal output to the lighting device.

[0081] Specifically, when the output to the lighting device is a first pulse signal, the output to the imaging device is a second pulse signal, and the lighting device is triggered by a high-level trigger while the imaging device is triggered by a rising edge trigger, step S52 further includes:

[0082] Step S521: If the comparison result shows that the target intensity feature value is greater than the preset intensity threshold, then the control pulse unit reduces the high-level duration and / or reduces the high-level amplitude of the first pulse signal until the target intensity feature value reaches the preset desired image intensity. Preferably, while reducing the high-level duration of the first pulse signal, the exposure time of the imaging device can also be shortened simultaneously to make it equal to the adjusted high-level duration of the first pulse signal.

[0083] or

[0084] Step S522: If the comparison result shows that the target intensity feature value is less than a preset intensity threshold, then the control pulse unit increases the high-level duration of the first pulse signal and / or increases the high-level amplitude of the first pulse signal until the target intensity feature value reaches the preset desired image intensity. Preferably, when increasing the high-level duration of the first pulse signal, the exposure time of the imaging device can also be increased simultaneously to make it equal to the adjusted high-level duration of the first pulse signal.

[0085] Understandably, the preset intensity threshold is an image threshold range or single-point value that meets the current usage needs of the user (such as a doctor or staff using a medical head-mounted device). The preset intensity threshold can be set by the user according to their needs. For example, if the medical head-mounted device has a human-computer operation device or human-computer interaction interface, the relevant staff can set the preset intensity threshold as needed through the human-computer operation device or human-computer interaction interface.

[0086] The system then compares the highest intensity feature value W of the acquired image with a preset intensity threshold. If the highest intensity feature value W is higher than the preset intensity threshold, the system controls the pulse unit to reduce the high-level duration V of the light source and / or reduce the high-level amplitude of the light source. If the highest intensity feature value W is lower than the preset intensity threshold, the system controls the pulse unit to increase the high-level duration V of the light source and / or increase the high-level amplitude of the light source until the high-performance imaging required by the camera is achieved (i.e., the preset desired image intensity is reached to meet the user's requirements; the "preset desired image intensity" can be equivalent to the "preset intensity threshold" mentioned above, or it can be different from the "preset intensity threshold" mentioned above, and relevant personnel can set it according to their needs). All updated parameters are then saved.

[0087] The beneficial effects of this embodiment are: by comparing the imaging brightness with the preset intensity threshold, the relevant parameters of the lighting device and the imaging device are adaptively adjusted, so as to make full use of the light source efficiency and achieve the required high-performance imaging, which helps medical personnel to improve their work efficiency when using head-mounted equipment.

[0088] Please see Figure 6 , Figure 6 A schematic diagram of an embodiment of a terminal for executing a method for obtaining pulse trigger delay time difference provided in this application is shown below. Figure 6 As shown, the terminal of the present invention includes: at least one processor 10 ( Figure 6Only one is shown in the diagram), memory 11, and computer program 12 stored in memory 11 and executable on at least one processor 10. When processor 10 executes computer program 12, it implements the steps in the method embodiment of this application for obtaining pulse trigger delay time difference.

[0089] The terminal of this invention can be a computer device equipped with a pulse (generating) unit, an illumination device (such as a pulse-triggered light source), and an imaging device (such as a pulse-triggered light source). Figure 1 The mixed reality head-mounted surgical navigation system shown is applicable to the medical field, such as medical head-mounted devices. It is understood that the terminal of this invention suffers from limitations in installation space and heat dissipation capacity, similar to head-mounted devices. Therefore, it needs to fully utilize the resources of the lighting device (light source) and the imaging device (camera) to ensure that the light source and camera do not perform any additional work beyond their required capacity.

[0090] In other embodiments, the terminal of the present invention may also be externally connected to... Figure 1 Other external terminals of the mixed reality head-mounted surgical navigation system shown, such as the external terminal in this embodiment connected to the head-mounted device, will execute the method for obtaining the pulse trigger delay time difference as described in the first aspect above.

[0091] Figure 6 The terminal of the present invention shown may include, but is not limited to, a processor 10 and a memory 11. Those skilled in the art will understand that... Figure 6 The examples of the terminals of this invention are merely illustrative and do not constitute a limitation on the terminals of this invention. They may include more or fewer components than those shown in the figures, or combinations of certain components, or different components, such as input / output devices, network access devices, etc.

[0092] The processor 10 may be a central processing unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0093] In some embodiments, memory 11 may be an internal storage unit of the terminal of the present invention, such as a hard disk or memory of the terminal. In other embodiments, memory 11 may be an external storage device of the terminal of the present invention, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the terminal of the present invention. Furthermore, memory 11 may include both internal storage units and external storage devices of the terminal of the present invention. Memory 11 is used to store operating system, application programs, bootloader, data, and other programs, such as program code of computer programs. Memory 11 may also be used to temporarily store data that has been output or will be output.

[0094] In this embodiment, the processor 10 of the terminal of the present invention may further include a timing controller and an analysis unit. The timing controller precisely controls the pulse unit to generate at least two pulse signals (the first pulse signal is used to trigger the lighting device to work, and the second pulse signal is used to trigger the shooting device to work). The shooting device outputs multiple images to be tested when the two pulse signals are in sync. The analysis unit processes and analyzes these images to measure the trigger delay time difference between the triggering time of the lighting device (light source) and the shooting device (camera) to synchronously adjust the timing of the two pulse signals, so as to achieve precise matching of the working time periods of the lighting device (light source) and the shooting device (camera). This allows for full utilization of the resources of the lighting device (light source) and the shooting device (camera), and ensures that the lighting device and the shooting device do not perform any extra work beyond their requirements. This solves a series of problems and defects caused by the inability to fully match the exposure time of the pulse camera with the working time of the light source.

[0095] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the various method embodiments above.

[0096] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. A computer-readable medium can include at least: any entity or device capable of carrying computer program code to a photographic device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0097] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0098] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for obtaining pulse trigger delay time difference, characterized in that, The method includes: The control pulse unit outputs a first pulse signal to the first device in a fixed timing sequence, and outputs a second pulse signal to the second device in a stepped timing sequence; the first device and the second device are respectively one of an illumination device and an imaging device, the illumination device is used to trigger illumination operation based on the received pulse signal, and the imaging device is used to trigger exposure operation based on the received pulse signal; The imaging device acquires multiple images of the test subject based on the received pulse signal and the exposure output of the imaging device. Based on the multiple images to be tested, the trigger delay time difference between the trigger time of the lighting device and the trigger time of the shooting device is determined; the trigger delay time difference is used to match the working period of the lighting device and the working period of the shooting device.

2. The method as described in claim 1, characterized in that: The step of outputting the first pulse signal to the first device according to a fixed timing sequence includes: sequentially outputting the first pulse signal to the first device at fixed time intervals, so that the duration of each first pulse signal is equal; The step-time output of the second pulse signal to the second device includes: sequentially outputting the second pulse signal to the second device according to the step time interval, so that the duration of each second pulse signal increases sequentially according to the time sequence.

3. The method as described in claim 2, characterized in that, Before the control pulse unit outputs a first pulse signal to the first device in a fixed timing sequence and outputs a second pulse signal to the second device in a stepped timing sequence, it further includes: The pulse unit is controlled to output a first pulse signal to the first device according to the fixed timing sequence, and to output a second pulse signal to the second device according to the fixed timing sequence, so that the duration of each first pulse signal and each second pulse signal is equal.

4. The method as described in claim 3, characterized in that, The step time interval corresponding to the second pulse signal output in the kth step timing sequence is expressed as: Δt k = kT / n, where k and n are positive integers, k is not greater than n, and T is the duration of the second pulse signal output according to the fixed timing sequence.

5. The method as described in claim 4, characterized in that, The step of determining the trigger delay time difference between the triggering time of the lighting device and the triggering time of the imaging device based on the multiple images to be tested includes: Determine the intensity feature values ​​of the multiple images to be tested respectively; The target image with the highest intensity feature value is determined from the intensity feature values ​​of the multiple images to be tested, and the target second pulse signal that triggers exposure to output the target image is determined. Based on the step time interval corresponding to the second pulse signal of the target, the trigger delay time difference between the triggering time of the lighting device and the triggering time of the shooting device is determined.

6. The method as described in claim 5, characterized in that, The lighting device is triggered by a target level, and the shooting device is triggered by a pulse edge; the duration of the target level in the pulse signal received by the lighting device is equal to the exposure time of the shooting device.

7. The method as described in claim 6, characterized in that, The method further includes: Determine the target intensity feature value corresponding to the target image, and compare the target intensity feature value with a preset intensity threshold to obtain a comparison result; Based on the comparison results, the duration and / or amplitude of the target level in the pulse signal output to the lighting device are adjusted.

8. A mixed reality head-mounted surgical navigation system, characterized in that, The system includes a lighting device, a shooting device, a pulse unit, a control unit, and an analysis unit; The control unit is used to control the pulse unit to output a first pulse signal to the first device in a fixed timing sequence, and to output a second pulse signal to the second device in a stepped timing sequence; the first device and the second device are respectively one of the lighting device and the shooting device. The lighting device is used to trigger lighting operation based on a received pulse signal; The imaging device is used to trigger exposure based on the received pulse signal; The analysis unit is used to acquire multiple images to be tested output by the imaging device based on the received pulse signal exposure. Based on the multiple images to be tested, determine the trigger delay time difference between the triggering time of the lighting device and the triggering time of the shooting device; The trigger delay time difference is used to match the working period of the lighting device with the working period of the shooting device.

9. A terminal, characterized in that, It includes a processor, a memory, a controller, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method as claimed in any one of claims 1 to 7.

10. A storage medium, said storage medium being a computer-readable storage medium, said computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 7.

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