Surgical microscope device and system

Abstract

The application provides a surgical microscope device and system, the surgical microscope body comprises: left and right lenses, the left and right lenses have focal plane differences; the surgical microscope body collects original images of the left and right lenses through the left and right lenses; an image acquisition module synchronizes the original images of the left and right lenses to obtain left and right frame digital images; an image preprocessing module pre-processes the left and right frame digital images; an image registration module registers the pre-processed left and right frame digital images; a focal plane difference analysis module determines a focal plane difference analysis result based on the registered left and right frame digital images; an image fusion module performs high dynamic range fusion on the registered left and right frame digital images based on the focal plane difference analysis result to obtain a high dynamic range image; and an image output module outputs the high dynamic range image to an external display terminal. The real-time performance can be significantly improved, the imaging quality can be greatly optimized, and the device cost is low and the utilization rate is high.

Description

Technical Field

[0001] This invention relates to the field of medical image processing technology, and in particular to a surgical microscope device and system. Background Technology

[0002] Surgical microscopes are an indispensable core piece of equipment in modern microsurgery (such as neurosurgery, ophthalmology, otolaryngology, etc.). Their imaging quality directly determines the precision and success rate of surgery. Doctors need to clearly observe the fine structures of the surgical site (such as blood vessels and nerve endings) through the microscope, which places extremely high demands on the dynamic range, clarity and detail of the images.

[0003] HDR (High Dynamic Range) imaging technology can overcome the dynamic range limitations of traditional images, simultaneously revealing details in both extremely bright and extremely dark areas of a scene. This effectively solves the problems of overexposure in bright areas (such as reflections from surgical instruments) and underexposure in dark areas (such as shadows in tissue spaces) in surgical scenarios, improving the visual depth and detail of the image. Currently, HDR imaging in surgical microscopes mainly employs a multi-exposure shooting and synthesis method. This involves adjusting the exposure parameters of a single lens to capture multiple frames at different exposures, and then synthesizing the HDR image using algorithms.

[0004] Existing surgical microscopes typically employ multi-imaging system synthesis and micromirror array adjustment to enhance depth of field, obtaining HDR imaging through multiple exposures. However, existing multi-imaging systems are complex and bulky, micromirror schemes are difficult to control, and multi-exposure synthesis requires multiple adjustments to exposure parameters and the capture of multiple digital images, resulting in time delays. This cannot meet the real-time imaging requirements during surgery, easily leading to image stuttering and affecting the continuity of surgical procedures. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a surgical microscope device and system that utilizes the focal plane difference between the binocular lenses (left and right lenses) of a surgical microscope to achieve real-time HDR synthesis of a single frame without adjusting exposure parameters or taking multiple shots, thereby eliminating time delay and meeting the real-time imaging requirements of surgery. By combining the clear imaging areas corresponding to the focal plane difference of the binocular lenses, an optimized algorithm is used to synthesize HDR images, thereby improving the dynamic range and clarity of the images and solving the blurring problems caused by overexposure of highlights, underexposure of shadows, and inconsistency of focal planes.

[0006] In a first aspect, embodiments of the present invention provide a surgical microscope device, comprising: a surgical microscope body, an image acquisition module, an image preprocessing module, an image registration module, a focal plane difference analysis module, an image fusion module, and an image output module; the surgical microscope body includes a left lens and a right lens, the left and right lenses having a focal plane difference; the surgical microscope body is used to acquire the surgical object within the observation area corresponding to the left lens to obtain the original image of the left lens, and to acquire the surgical object within the observation area corresponding to the right lens to obtain the original image of the right lens; the image acquisition module is used to synchronize the original image of the left lens with the original image of the right lens. The system extracts the original images from the left and right lenses to obtain left and right frame digital images; an image preprocessing module preprocesses the left and right frame digital images; an image registration module registers the preprocessed left and right frame digital images; a focal plane difference analysis module determines the focal plane difference analysis results based on the registered left and right frame digital images; an image fusion module performs high dynamic range fusion on the registered left and right frame digital images based on the focal plane difference analysis results to obtain a high dynamic range image; and an image output module outputs the high dynamic range image to an external display terminal.

[0007] In an optional embodiment of this application, the focal plane difference value between the left and right lenses is adjusted by an optical adjustment mechanism, and the focal plane difference value is adapted to the tissue depth range of the surgical scene.

[0008] In an optional embodiment of this application, the image acquisition module described above is used to synchronize the original image of the left lens and the original image of the right lens through the charge-coupled device photosensitive chip to obtain a left frame digital image and a right frame digital image.

[0009] In an optional embodiment of this application, the above focal plane difference analysis results include: the sharp area and grayscale response difference corresponding to the focal plane difference.

[0010] In an optional embodiment of this application, the surgical microscope body further includes a zoom system and an objective lens. The imaging optical path of the surgical microscope body includes a left imaging subsystem and a right imaging subsystem. The left imaging subsystem includes a left image sensor, a left lens, a zoom system, and an objective lens. The right imaging subsystem includes a right image sensor, a right lens, a zoom system, and an objective lens.

[0011] In optional embodiments of this application, the preprocessing includes: Gaussian filtering for noise reduction, distortion correction, and grayscale normalization.

[0012] In an optional embodiment of this application, the image registration module described above is used to register the preprocessed left frame digital image and the right frame digital image by using scale-invariant feature transformation feature point matching.

[0013] In an optional embodiment of this application, the aforementioned focal plane difference analysis module is used to determine the grayscale response difference by statistically analyzing the grayscale histogram based on the sharp regions of the registered left frame digital image and the sharp regions of the right frame digital image using the Laplacian operator.

[0014] In optional embodiments of this application, the high dynamic range fusion includes: weight allocation, pixel fusion, color correction, and compression mapping.

[0015] Secondly, embodiments of the present invention also provide a surgical microscope system, the surgical microscope system comprising: a display terminal and the aforementioned surgical microscope device; the display terminal being configured to receive and display high dynamic range images output by the surgical microscope device.

[0016] The embodiments of the present invention bring the following beneficial effects: This invention provides a surgical microscope device and system that utilizes the focal plane difference between the binocular lenses (left and right lenses) of a surgical microscope to achieve real-time HDR synthesis of a single frame without adjusting exposure parameters or taking multiple shots, eliminating time delay and meeting the real-time imaging requirements of surgery. By combining the clear imaging areas corresponding to the focal plane difference between the two lenses, an optimized algorithm synthesizes HDR images, simultaneously improving the dynamic range and clarity of the image and solving blurring problems caused by overexposure in highlights, underexposure in shadows, and inconsistent focal planes. It fully utilizes the inherent optical characteristics of binocular lenses, eliminating the need for additional shooting equipment or optical components, reducing equipment modification costs, and improving the optical utilization rate of the surgical microscope. The optimized HDR synthesis algorithm simplifies the calculation process, reduces hardware resource consumption, ensures a real-time and stable synthesis process, and produces synthesized images with realistic colors and low noise, adapting to the high-definition display requirements of surgical scenarios.

[0017] Other features and advantages of this disclosure will be set forth in the following description, or some features and advantages may be inferred from the description or determined without doubt, or may be learned by practicing the techniques described above.

[0018] To make the above-mentioned objects, features and advantages of this disclosure more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0019] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1This is a schematic diagram of the overall structure of a surgical microscope device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a surgical microscope body provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the processing flow of a surgical microscope device provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of a surgical microscope system provided in an embodiment of the present invention.

[0021] Icons: 1-Surgical microscope device; 11-Surgical microscope body; 12-Image acquisition module; 13-Image preprocessing module; 14-Image registration module; 15-Focal plane difference analysis module; 16-Image fusion module; 17-Image output module; 2-Display terminal; 100-Objective lens; 200-Zoom system; 301-Right lens; 302-Left lens; 401-Right image sensor; 402-Left image sensor; 10-Surgical microscope system. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Currently, existing surgical microscopes generally employ multi-imaging system synthesis and micromirror array adjustment to achieve depth-of-field enhancement, obtaining HDR imaging through multiple exposure synthesis. However, existing multi-imaging systems are complex in structure and large in size, micromirror schemes are difficult to control, and multi-exposure synthesis methods require multiple adjustments of exposure parameters and capture of multiple frames of digital images, resulting in time delays. This cannot meet the real-time imaging requirements during surgery, and is prone to image stuttering, thus affecting the continuity of surgical operations.

[0024] Based on this, the present invention provides a surgical microscope device and system, specifically a method for improving HDR imaging quality by utilizing the focal plane difference of the binocular lenses of a surgical microscope and synthesizing it through algorithms, which can be applied to high-definition image acquisition and display scenarios in microsurgery.

[0025] To facilitate understanding of this embodiment, a surgical microscope device disclosed in this embodiment of the invention will first be described in detail.

[0026] Example 1: This invention provides a surgical microscope device, see [link to relevant documentation]. Figure 1 The diagram shows an overall structure of a surgical microscope device. The surgical microscope device 1 includes: a surgical microscope body 11, an image acquisition module 12, an image preprocessing module 13, an image registration module 14, a focal plane difference analysis module 15, an image fusion module 16, and an image output module 17. The main body 11 of the surgical microscope includes a left lens and a right lens, which have a focal plane difference. The main body 11 of the surgical microscope is used to acquire the original image of the surgical object in the observation area corresponding to the left lens through the left lens, and to acquire the original image of the surgical object in the observation area corresponding to the right lens through the right lens.

[0027] In this embodiment, the microscope body can observe the surgical object in its respective area through the left and right lenses, and obtain the original image from the left lens and the original image from the right lens, respectively.

[0028] In some embodiments, the focal plane difference value between the left and right lenses can be adjusted by an optical adjustment mechanism, and the focal plane difference value can be adapted to the tissue depth range of the surgical scene.

[0029] The surgical microscope in this embodiment may include binocular lenses (left lens and right lens), and the focal plane difference value of the left and right lenses can be preset through the optical adjustment mechanism. For example, the focal plane distance difference is 0.1-1mm, which is suitable for the tissue depth range of the surgical scene.

[0030] Image acquisition module 12 is used to synchronize the original image of the left lens and the original image of the right lens to obtain the left frame digital image and the right frame digital image.

[0031] In this embodiment, the image acquisition module can simultaneously acquire the original images output by the left and right lenses to obtain the left frame digital image and the right frame digital image.

[0032] In some embodiments, the image acquisition module is used to synchronize the original images of the left lens and the right lens through the charge-coupled device (CCD) photosensitive chip to obtain a left frame digital image and a right frame digital image.

[0033] In this embodiment, the image acquisition module can be connected to a binocular lens and uses a CCD (Charge-Coupled Device) photosensitive chip to simultaneously acquire the original images output from the left and right lenses.

[0034] Image preprocessing module 13 is used to preprocess the left frame digital image and the right frame digital image.

[0035] The image preprocessing module in this embodiment can preprocess the left frame digital image and the right frame digital image output by the image acquisition module.

[0036] The image registration module 14 is used to register the preprocessed left frame digital image and the right frame digital image.

[0037] In this embodiment, the image registration module can register the preprocessed left-frame digital image and the right-frame digital image output by the image registration module.

[0038] The focal plane difference analysis module 15 is used to determine the focal plane difference analysis results based on the registered left frame digital image and right frame digital image.

[0039] In this embodiment, the focal plane difference analysis module can receive the registered left-frame digital image and right-frame digital image output by the image registration module, and analyze the focal plane difference between the left-frame digital image and the right-frame digital image to obtain the focal plane difference analysis result.

[0040] In some embodiments, the above focal plane difference analysis results include: the sharp area and grayscale response difference corresponding to the focal plane difference.

[0041] The focal plane difference analysis module in this embodiment can analyze the sharp areas and grayscale response differences corresponding to the focal plane differences between the left and right frame digital images as focal plane difference analysis results.

[0042] The image fusion module 16 is used to perform high dynamic range fusion on the registered left frame digital image and right frame digital image based on the focal plane difference analysis results to obtain a high dynamic range image.

[0043] In this embodiment, the image fusion module can use the optimized weighted fusion algorithm to perform HDR synthesis on the left frame digital image and the right frame digital image based on the focal plane difference analysis results output by the focal plane difference analysis module, and obtain the HRD image.

[0044] Image output module 17 is used to output high dynamic range images to an external display terminal 2.

[0045] In this embodiment, the image output module can receive the HDR image output by the image fusion module and transmit the HDR image to the display terminal of the surgical microscope.

[0046] This invention provides a surgical microscope device that utilizes the focal plane difference between the binocular lenses (left and right lenses) of a surgical microscope to achieve real-time HDR synthesis of a single frame without adjusting exposure parameters or taking multiple shots, eliminating time delay and meeting the real-time imaging requirements of surgery. By combining the clear imaging areas corresponding to the focal plane differences of the binocular lenses, an optimized algorithm synthesizes HDR images, simultaneously improving the dynamic range and clarity of the image and solving blurring problems caused by overexposure in highlights, underexposure in shadows, and inconsistent focal planes. It fully utilizes the inherent optical characteristics of binocular lenses, eliminating the need for additional shooting equipment or optical components, reducing equipment modification costs, and improving the optical utilization rate of the surgical microscope. The optimized HDR synthesis algorithm simplifies the calculation process, reduces hardware resource consumption, ensures a real-time and stable synthesis process, and produces synthesized images with realistic colors and low noise, adapting to the high-definition display requirements of surgical scenarios.

[0047] In existing surgical microscopes, the binocular lenses (left and right) inherently have slight differences in their focal planes to achieve stereoscopic vision (this difference can be preset and fixed through optical adjustments). When the left and right lenses simultaneously acquire images of the surgical area, the two frames differ in their sharpness and exposure response due to the different focal planes: one frame shows sharpness in near-focus areas with good highlight detail, while the other shows sharpness in far-focus areas with good shadow detail. This embodiment uses an algorithm to preprocess, register, and fuse these two original images based on their focal plane differences, ultimately synthesizing a high dynamic range, high-definition HDR image without requiring multiple shots and exposure adjustments.

[0048] Example 2: This invention provides another surgical microscope device, implemented based on the foregoing embodiments. The focus is on describing the structure of the main body of the surgical microscope. (See attached image.) Figure 2 The diagram shows a schematic of the main body of a surgical microscope. The main body of the surgical microscope also includes: a zoom system 200 and an objective lens 100. The imaging optical path of the main body of the surgical microscope includes: a left imaging subsystem and a right imaging subsystem; the left imaging subsystem includes: a left image sensor 402, a left lens 302, a zoom system 200 and an objective lens 100; the right imaging subsystem includes: a right image sensor 401, a right lens 301, a zoom system 200 and an objective lens 100.

[0049] like Figure 2 As shown, the main imaging optical path of the microscope in this embodiment includes a left imaging subsystem (i.e., a near-field imaging system) and a right imaging subsystem (i.e., a far-field imaging system). The object plane of the far-field imaging system and the object plane of the near-field imaging system are different. The right lens 301 is the imaging lens of the far-field imaging system, the left lens 302 is the imaging lens of the near-field imaging system, the right image sensor 401 is the image sensor of the far-field imaging system, and the left image sensor 402 is the image sensor of the near-field imaging system.

[0050] like Figure 2 As shown, the right image sensor 401 and the left image sensor 402 can simultaneously acquire images of distant and near views. After passing through the image preprocessing module, image registration module, focal plane difference analysis module, and image fusion module, based on the focal plane difference analysis results, an optimized weighted fusion algorithm is used to perform HDR synthesis on the registered left frame digital image and right frame digital image; and quickly output high-definition, large depth-of-field HDR images to the display terminal of the surgical microscope.

[0051] Example 3: This invention provides another processing flow for a surgical microscope device, implemented based on the foregoing embodiments. The focus is on describing the processing flow of the surgical microscope device. See [link to relevant documentation]. Figure 3 The schematic diagram shown illustrates the processing flow of a surgical microscope device, including: Step 1, preset the focal plane difference between the two lenses: adjust the focal plane difference between the left and right lenses by 0.1-1mm, with the left lens in close focus and the right lens in telephoto focus.

[0052] Step 2, Simultaneous Image Acquisition: Simultaneously acquire the original images from the left lens and the right lens, keeping the exposure parameters consistent.

[0053] Step 3, Image preprocessing: noise reduction, distortion correction, and grayscale normalization.

[0054] In some embodiments, the preprocessing described above includes: Gaussian filtering for noise reduction, distortion correction, and grayscale normalization.

[0055] Step 4, Image Registration: SIFT (Scale-Invariant Feature Transform) feature extraction, matching, and alignment.

[0056] In some embodiments, the image registration module described above is used to register the preprocessed left-frame digital image and the right-frame digital image using a scale-invariant feature transform feature point matching method.

[0057] Step 5, Focal plane difference analysis: Laplace sharpness calculation, grayscale histogram analysis.

[0058] In some embodiments, the aforementioned focal plane difference analysis module is used to determine grayscale response differences by statistically analyzing grayscale histograms based on the sharp regions of the registered left-frame digital image and the sharp regions of the right-frame digital image using the Laplacian operator.

[0059] Step 6, HDR fusion and compositing: adaptive weighted fusion, color correction, and piecewise linear compression mapping.

[0060] In some embodiments, the high dynamic range fusion described above includes: weight allocation, pixel fusion, color correction, and compression mapping.

[0061] Step 7, Image Output: Real-time display and storage to complete HDR imaging.

[0062] In summary, the processing flow of the surgical microscope device provided in this embodiment of the invention can significantly improve real-time performance: it eliminates the need to adjust exposure parameters and take multiple shots, simultaneously acquiring two frames of images using the focal plane difference of the binocular lenses, and achieving real-time HDR synthesis of a single frame through a simplified fusion algorithm, with a synthesis delay of ≤10ms; it can also greatly optimize image quality: by combining the sharp areas corresponding to the focal plane difference of the binocular lenses, the synthesized HDR image simultaneously retains the highlight details in the near-focus area and the shadow details in the far-focus area, improving the dynamic range by more than 40% and the sharpness by more than 30%; it also has the advantages of low equipment cost and high utilization rate: it fully utilizes the inherent focal plane difference of the binocular lenses of the surgical microscope, without adding other hardware costs, and achieves HDR enhancement through algorithm optimization.

[0063] Example 4: This invention provides another processing flow for a surgical microscope device, implemented based on the aforementioned embodiments. The focus is on describing a surgical microscope device applied to ophthalmic surgery, and the specific implementation process is as follows: 1. Preset focal plane difference: Adjust the focal plane distance difference between the left and right binocular lenses to 0.2mm to adapt to the tissue depth (different layers such as cornea and lens) of ophthalmic surgery (such as cataract surgery). The left lens focuses on the corneal area (near focus) and the right lens focuses on the lens area (far focus).

[0064] 2. Synchronous image acquisition: A CCD acquisition module with a resolution of 4K and a frame rate of 60fps is used to synchronously acquire the original images from the left and right lenses. The exposure parameters are fixed (exposure time 1 / 200s, ISO sensitivity 200) to ensure image clarity and real-time performance.

[0065] 3. Image preprocessing: After noise reduction and distortion correction using a 3×3 Gaussian filter, grayscale normalization is performed to obtain the preprocessed left and right frame digital images.

[0066] 4. Image registration: The SIFT feature point matching algorithm is adopted to ensure that the registration error is ≤1 pixel, thus ensuring that the left and right frame digital images are aligned.

[0067] 5. Focal plane difference analysis: The sharp areas of the left and right frame digital images are determined by the Laplacian operator, and the gray-level histograms are statistically analyzed to clarify the distribution of highlights and shadow details.

[0068] 6. HDR Fusion and Composition: The weight allocation is adjusted as follows: for highlight areas (grayscale value ≥ 200), the weight is 0.8 for the left frame and 0.2 for the right frame; for dark areas (grayscale value ≤ 50), the weight is 0.2 for the left frame and 0.8 for the right frame; the adaptive weight for the middle grayscale area is 0.4-0.6; the inflection points of the piecewise linear mapping are y1=40 and y2=210, and the coefficients are adjusted according to the grayscale characteristics of ophthalmic surgery to ensure that details such as cornea and lens are clearly displayed.

[0069] 7. Image Output: Transmits HDR images to a dedicated ophthalmic surgical display terminal, while also supporting virtual reality device connections. Doctors can wear lightweight virtual reality devices to view HDR images, freeing up their operating posture, reducing fatigue during long surgeries, and improving surgical comfort.

[0070] The processing flow of the surgical microscope device for ophthalmic surgery provided in this embodiment improves the dynamic range of the synthesized HDR image by 45%, the clarity by 35%, and the synthesis delay by 6ms. It can clearly display corneal texture and lens details without overexposure or underexposure, and the colors are realistic, which meets the high precision requirements of ophthalmic surgery. At the same time, the virtual reality display improves the flexibility and comfort of the surgical operation.

[0071] Example 5: This invention provides another processing flow for a surgical microscope device, implemented based on the aforementioned embodiments. The focus is on describing a surgical microscope device applied in neurosurgery, and the specific implementation process is as follows: 1. Preset focal plane difference: By adjusting the optical adjustment mechanism of the surgical microscope, the focal planes of the left and right binocular lenses are adjusted, and the focal plane distance difference is set to 0.5mm. The left lens focuses on the near-focus area (surface tissue of the surgical site), and the right lens focuses on the far-focus area (deep tissue of the surgical site), which is adapted to the tissue depth requirements of neurosurgery. 2. Synchronous image acquisition: A CCD acquisition module with a resolution of 1080P and a frame rate of 30fps is used to synchronously acquire the original images of the surgical area output by the left and right lenses. The exposure parameters are fixed (exposure time 1 / 100s, sensitivity ISO 400) to obtain the left frame digital image (sharp in close focus, with good preservation of highlight details) and the right frame digital image (sharp in distant focus, with good preservation of shadow details). 3. Image preprocessing: The original images of the left and right lenses are preprocessed by using a 3×3 Gaussian filter for noise reduction, correcting distortion based on lens intrinsic calibration data, and mapping grayscale values ​​to the range of 0-255 to obtain the preprocessed digital images of the left and right frames, eliminating the effects of noise and distortion. 4. Image registration: The SIFT feature point matching algorithm is used to extract feature points from the left and right frame digital images. The matching accuracy reaches 99%. Image registration is achieved by feature point alignment. The registration error is ≤1 pixel, ensuring the spatial consistency of corresponding areas in the left and right frame digital images. 5. Focal plane difference analysis: The sharpness values ​​of each pixel in the left and right frame digital images were calculated using a 3×3 Laplacian operator to determine the sharp areas (near-focus areas, sharpness value ≥80) in the left frame digital image and the sharp areas (far-focus areas, sharpness value ≥80) in the right frame digital image. Statistical analysis of the grayscale histogram revealed that the highlight areas (grayscale value ≥200) in the left frame digital image accounted for 15%, while the shadow areas (grayscale value ≤50) in the right frame digital image accounted for 20%, clearly demonstrating the detail advantages of the left and right frame digital images. 6. HDR fusion and compositing: (1) Weight allocation: Highlight areas (grayscale value ≥ 200) are assigned a weight of 0.7 for the left frame and 0.3 for the right frame; Dark areas (grayscale value ≤ 50) are assigned a weight of 0.3 for the left frame and 0.7 for the right frame; Intermediate grayscale areas (50 < grayscale value < 200) are assigned an adaptive weight (adjusted according to the sharpness value, ranging from 0.4 to 0.6). (2) Pixel blending: according to the formula hdr i =0.7×Z 1i +0.3×Z 2i (Highlight areas), HDR i =0.3×Z 1i +0.7×Z 2i (Dark areas), HDR i =w1×Z 1i +w2×Z 2i (Middle region) Calculate the composite pixel values; where hdr i Z is the pixel value of the i-th pixel in the HDR image. 1i Z is the pixel value of the i-th pixel in the left frame digital image. 2i Let w1 be the pixel value of the i-th pixel in the right frame digital image, and w2 be the preset weight values.

[0072] (3) Color correction: The grayscale balance algorithm is used to correct the color deviation between the left and right frame digital images so that the color of the synthesized image is consistent with the actual color of the surgical site; (4) Compression mapping: A three-segment piecewise linear model is adopted, with inflection points y1=50, y2=200, and coefficients a=2, b=4, c=2, d=4, e=10, f=2, g=5 (the denominator coefficients are all powers of 2). The fused high dynamic range image is mapped to the range of 0-255 to ensure a natural display effect. 7. Image Output: The synthesized HDR image is transmitted to the external high-definition display (1080P resolution) of the surgical microscope to display the details of the surgical area in real time. At the same time, the image is stored to the local hard drive for surgical recording. Doctors can switch between the original binocular image and the HDR image flexibly using the switch button to adapt to the needs of the surgical operation.

[0073] The processing flow of the surgical microscope device for neurosurgery provided in this embodiment achieves a dynamic range of 120dB (compared to 85dB for traditional images), representing a 41.2% improvement in dynamic range; a sharpness (modulation transfer function MTF value) of 0.85 (compared to 0.65 for traditional images), representing a 30.8% improvement in sharpness; a synthesis delay of 8ms, meeting the requirements for real-time imaging; no overexposure in highlight areas, clear details in shadow areas, and realistic colors, clearly displaying fine structures such as nerve endings and microvessels, effectively improving the precision and safety of neurosurgery.

[0074] Example 6: This invention provides a surgical microscope system, see [link to relevant documentation]. Figure 4 The diagram shows a structural schematic of a surgical microscope system 10, which includes a display terminal 2 and a surgical microscope device 1 provided in the aforementioned embodiments. The display terminal 2 is used to receive and display high dynamic range images output by the surgical microscope device.

[0075] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the surgical microscope system described above can be referred to the corresponding process in the embodiments of the aforementioned surgical microscope device, and will not be repeated here.

[0076] Furthermore, in the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0077] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0078] Finally, it should be noted that the above embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, 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 the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A surgical microscope device, characterized in that, The surgical microscope device includes: a surgical microscope body, an image acquisition module, an image preprocessing module, an image registration module, a focal plane difference analysis module, an image fusion module, and an image output module; The main body of the surgical microscope includes a left lens and a right lens, wherein the left lens and the right lens have a focal plane difference; the main body of the surgical microscope is used to acquire the original image of the left lens by acquiring the surgical object in the observation area corresponding to the left lens, and to acquire the original image of the right lens by acquiring the surgical object in the observation area corresponding to the right lens. The image acquisition module is used to synchronize the original image of the left lens and the original image of the right lens to obtain a left frame digital image and a right frame digital image. The image preprocessing module is used to preprocess the left frame digital image and the right frame digital image; The image registration module is used to register the preprocessed left frame digital image and the right frame digital image; The focal plane difference analysis module is used to determine the focal plane difference analysis result based on the registered left frame digital image and the right frame digital image. The image fusion module is used to perform high dynamic range fusion on the registered left frame digital image and right frame digital image based on the focal plane difference analysis results to obtain a high dynamic range image; The image output module is used to output the high dynamic range image to an external display terminal.

2. The surgical microscope apparatus according to claim 1, characterized in that, The focal plane difference value between the left and right lenses is adjusted by an optical adjustment mechanism, and the focal plane difference value is adapted to the tissue depth range of the surgical scene.

3. The surgical microscope apparatus according to claim 1, characterized in that, The image acquisition module is used to synchronize the original image of the left lens and the original image of the right lens through the charge-coupled device (CCD) photosensitive chip to obtain the left frame digital image and the right frame digital image.

4. The surgical microscope apparatus according to claim 1, characterized in that, The results of the focal plane difference analysis include: the sharp area and grayscale response difference corresponding to the focal plane difference.

5. The surgical microscope apparatus according to claim 1, characterized in that, The main body of the surgical microscope also includes: a zoom system and an objective lens, and the imaging optical path of the main body of the surgical microscope includes: a left imaging subsystem and a right imaging subsystem; The left imaging subsystem includes: a left image sensor, a left lens, a zoom system, and an objective lens; the right imaging subsystem includes: a right image sensor, a right lens, a zoom system, and an objective lens.

6. The surgical microscope apparatus according to claim 1, characterized in that, The preprocessing includes: Gaussian filtering for noise reduction, distortion correction, and grayscale normalization.

7. The surgical microscope apparatus according to claim 1, characterized in that, The image registration module is used to register the preprocessed left frame digital image and the right frame digital image using a scale-invariant feature transform feature point matching method.

8. The surgical microscope apparatus according to claim 4, characterized in that, The focal plane difference analysis module is used to determine the gray-level response difference by statistically analyzing the gray-level histogram based on the sharp regions of the registered left frame digital image and the sharp regions of the right frame digital image using the Laplacian operator.

9. The surgical microscope apparatus according to claim 1, characterized in that, The high dynamic range fusion includes: weight allocation, pixel fusion, color correction, and compression mapping.

10. A surgical microscope system, characterized in that, The surgical microscope system includes: a display terminal and the surgical microscope device according to any one of claims 1-9; The display terminal is used to receive and display the high dynamic range image output by the surgical microscope device.

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