Automatic alignment equipment

Abstract

The embodiment of the utility model relates to the field of medical equipment, in particular to automatic alignment equipment, which comprises a positioning laser, a treatment laser, a first image acquisition device, a processor and an adjusting device, the positioning laser is used for emitting two beams of alignment laser with a laser emission path having an intersection point; the first image acquisition device is fixedly connected with the positioning laser, and the first image acquisition device acquires an image of the pupil after the alignment laser is emitted to the pupil; the processor is used for determining position offset information according to the position of the light spot in the image and the position of the pupil center, and the position offset information is used for indicating the position offset of the spatial position where the intersection point is located relative to the spatial position where the pupil center is located when the image is collected; the adjusting device is used for adjusting the spatial position of the positioning laser according to the position offset information so that the intersection point can coincide with the center of the pupil; the treatment laser begins to emit treatment laser after the intersection point coincides with the center of the pupil. According to the scheme, the operation effect of the eye cornea cross-linking operation is optimized.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of medical equipment, and in particular to an automatic alignment device. Background Art

[0002] Corneal cross-linking surgery is a procedure that uses therapeutic lasers to irradiate the center of the patient's pupil to treat the patient's eyes. Corneal cross-linking surgery is generally performed using an alignable device.

[0003] The alignable device includes a treatment laser and a support frame. When performing corneal cross-linking surgery, the alignable device will first be moved near the patient so that the laser emission point of the treatment laser is directed toward the patient's pupil. The position of the treatment laser is then manually adjusted relative to the support frame until the laser emission direction of the treatment laser roughly passes through the patient's pupil center and the distance between the laser emission point of the treatment laser and the patient's pupil center is roughly a preset distance. At this time, the treatment laser can be turned on to emit the treatment laser so that the treatment laser performs laser treatment on the patient's eyes.

[0004] However, during the treatment process, the treatment laser is manually adjusted to align with the pupil center, so the alignment accuracy is low, which may cause the treatment laser to irradiate non-treatment areas of the patient's eyes, resulting in insufficient irradiation of the patient's pupil center with the treatment laser, thereby making the effect of the corneal cross-linking surgery less effective. Utility Model Content

[0005] In view of this, an embodiment of the present application provides an automatic alignment device to at least partially solve the above-mentioned problem.

[0006] According to a first aspect of an embodiment of the present application, there is provided an automatic alignment device, including a positioning laser, a treatment laser, a first image acquisition device, a processor and an adjustment device; the positioning laser is fixedly connected to the treatment laser, and the positioning laser is used to emit two alignment laser beams with an intersection at a laser emission path, the intersection is in the laser emission direction of the treatment laser, and the distance between the intersection and the laser emission point of the treatment laser is a preset distance; the first image acquisition device is fixedly connected to the positioning laser, and the first image acquisition device is used to acquire the pupil after the alignment laser is emitted to the pupil. an image, wherein the pupil in the image has a light spot formed by the alignment laser; the processor is used to determine position offset information according to the position of the light spot in the image and the position of the pupil center, wherein the position offset information is used to indicate the position offset of the spatial position of the intersection relative to the spatial position of the pupil center when acquiring the image; the adjustment device is used to adjust the spatial position of the positioning laser according to the position offset information so that the intersection coincides with the pupil center; the treatment laser is used to start emitting treatment laser to the pupil after the intersection coincides with the pupil center.

[0007] In a first possible implementation, in combination with the first aspect above, the positioning laser includes a beam splitter; any one of the two alignment lasers is a first alignment laser, the first alignment laser is formed by being refracted by the beam splitter to the outside of the positioning laser, and the laser emission path of the positioning laser to emit the first alignment laser is a first laser emission path; the treatment laser is located outside the positioning laser, and on the reverse extension line of the first laser emission path, at least part of the treatment laser passes through the beam splitter, and the part of the treatment laser passing through the beam splitter coincides with the first laser emission path.

[0008] In a second possible implementation manner, in combination with the above-mentioned first possible implementation manner, the first image acquisition device is connected to the positioning laser, and the first image acquisition device is located close to the first laser emission path.

[0009] In a third possible implementation manner, in combination with the first aspect, the first possible implementation manner or the second possible implementation manner, the light spots formed by different alignment lasers have different shapes or sizes.

[0010] In a fourth possible implementation manner, in combination with the above-mentioned first aspect, the first possible implementation manner or the second possible implementation manner, the first image acquisition device is a monocular image acquisition device.

[0011] In a fifth possible implementation, in combination with the first aspect above, the automatic alignment device also includes a support frame; the adjustment device is connected to the support frame, and the positioning laser is connected to the adjustment device, and the adjustment device is used to adjust the spatial position of the positioning laser relative to the support frame according to the position offset information, so as to adjust the spatial position of the positioning laser according to the position offset information.

[0012] In a sixth possible implementation, in combination with the fifth possible implementation, a second image acquisition device is connected to the support frame, and the second image acquisition device is used to acquire an image of the pupil; the processor is used to determine the first spatial position of the center of the pupil according to the image acquired by the second image acquisition device before the alignment laser is emitted toward the pupil, and determine a second spatial position whose distance from the laser emission point of the treatment laser in the laser emission direction of the treatment laser is the preset distance, so as to determine position difference information, wherein the position difference information is used to indicate the position offset of the second spatial position relative to the first spatial position; the adjustment device is also used to adjust the spatial position of the positioning laser relative to the support frame according to the position difference information, so that the spatial position of the intersection is close to the spatial position of the center of the pupil, and the alignment laser is emitted toward the pupil at this time.

[0013] In a seventh possible implementation, in combination with the fifth possible implementation, a second image acquisition device is connected to the support frame, and the second image acquisition device is used to acquire the image of the pupil; the processor is used to determine position change information according to the first image and the second image sequentially acquired by the second image acquisition device after the intersection coincides with the pupil center, wherein the position change information is used to indicate the position offset of the fourth spatial position of the pupil center when acquiring the second image relative to the third spatial position of the pupil center when acquiring the first image; if it is determined according to the position change information that the intersection and the pupil center do not coincide, then according to the position change information, the spatial position of the positioning laser is adjusted relative to the support frame so that the spatial position of the intersection is close to the spatial position of the pupil center, and the alignment laser is emitted toward the pupil.

[0014] In an eighth possible implementation manner, in combination with the sixth possible implementation manner or the seventh possible implementation manner, the first image acquisition device is a binocular image acquisition device.

[0015] In a ninth possible implementation, in combination with the fifth possible implementation, the adjustment device includes a first drive member, a second drive member and a third drive member; the second drive member is connected to the support frame, the first drive member is connected to the second drive member, the third drive member is connected to the first drive member, and the positioning laser is connected to the third drive member; the second drive member is used to drive the first drive member, the third drive member and the positioning laser to move along the second direction, the first drive member is used to drive the third drive member and the positioning laser to move along the first direction, and the third drive member is used to drive the positioning laser to move along the third direction, and the first direction, the second direction and the third direction are perpendicular to each other.

[0016] It can be seen from the above technical scheme that the automatic alignment device includes a positioning laser, a treatment laser, a first image acquisition device, a processor and an adjustment device. When performing an eye corneal cross-linking surgery, the automatic alignment device can be adjusted first so that the positioning laser is roughly aligned with the patient's face, and then the positioning laser is turned on and coarse positioning is performed, that is, the spatial position of the positioning laser is adjusted so that the alignment laser emitted by the positioning laser is emitted to the patient's pupil, and then fine positioning is performed, that is, the processor determines the position offset information based on the image of the pupil captured by the first image acquisition device, and the adjustment device adjusts the spatial position of the positioning laser based on the position offset information so that the intersection of the laser paths of the two alignment lasers emitted by the positioning laser coincides with the center of the pupil. At this time, the treatment laser is turned on, and the treatment laser can emit the treatment laser to the center of the pupil, and the distance between the laser emission point of the treatment laser and the center of the pupil is a preset distance. Therefore, the above-mentioned intersection and the pupil center position are automatically aligned by positioning the laser and the first image acquisition device, so that the treatment laser is aligned with the pupil center, which improves the alignment accuracy, thereby reducing the possibility of the treatment laser irradiating non-treatment areas of the patient's eyes and the possibility of insufficient irradiation of the patient's pupil center by the treatment laser, thereby optimizing the effect of corneal cross-linking surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0018] Figure 1 is a schematic diagram of an automatic alignment device provided in an embodiment of the present application;

[0019] Figure 2is a schematic diagram of a working state of a positioning laser provided in an embodiment of the present application;

[0020] Figure 3 is another working state schematic diagram of the positioning laser provided in an embodiment of the present application;

[0021] Figure 4 This is another working state schematic diagram of the positioning laser provided in the embodiment of the present application;

[0022] Figure 5 This is another working state schematic diagram of the positioning laser provided in the embodiment of the present application;

[0023] Figure 6 It is a schematic diagram of a highlight adjustment device according to an embodiment of the present application.

[0024] Description of reference numerals:

[0025] 1. Positioning laser; 11. Spectroscope; 2. Treatment laser; 3. First image acquisition device; 4. Processor; 5. Adjustment device; 51. First driving member; 511. First fixed part; 512. First movable part; 52. Second driving member; 521. Second fixed part; 522. Second movable part; 53. Third driving member; 531. Third fixed part; 532. Third movable part; 6. Support frame; 7. Second image acquisition device. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the embodiments of the present application should fall within the scope of protection of the embodiments of the present application.

[0027] The automatic alignment device provided in the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0028] Figure 1 Schematic diagram of an automatic alignment device provided in an embodiment of the present application. Figure 1 As shown, the automatic alignment device provided in the embodiment of the present application includes a positioning laser 1, a treatment laser 2, a first image acquisition device 3, a processor 4 and an adjustment device 5;

[0029] The positioning laser 1 is fixedly connected to the treatment laser 2. The positioning laser 1 is used to emit two alignment laser beams with an intersection in the laser emission path. The intersection is in the laser emission direction of the treatment laser 2, and the distance between the intersection and the laser emission point of the treatment laser 2 is a preset distance. The specific size of the preset distance can be set according to actual needs, and the embodiment of the present application is not limited to this.

[0030] The first image acquisition device 3 is fixedly connected to the positioning laser 1, and is used to acquire an image of the pupil after the alignment laser is emitted to the pupil, wherein the pupil in the image has a light spot formed by the alignment laser;

[0031] The processor 4 is used to determine the position offset information according to the position of the light spot in the image and the position of the pupil center, wherein the position offset information is used to indicate the position offset of the spatial position of the intersection point relative to the spatial position of the pupil center when the image is collected;

[0032] The adjusting device 5 is used to adjust the spatial position of the positioning laser 1 according to the position offset information so that the intersection point coincides with the pupil center;

[0033] The treatment laser 2 is used to start emitting treatment laser toward the pupil after the intersection point coincides with the center of the pupil.

[0034] In an embodiment of the present application, an automatic alignment device is adopted, which includes a positioning laser 1, a treatment laser 2, a first image acquisition device 3, a processor 4 and an adjustment device 5. When performing corneal cross-linking surgery, the automatic alignment device can be adjusted first so that the positioning laser 1 is roughly aligned with the patient's face, and then the positioning laser 1 is turned on and coarse positioning is performed, that is, the spatial position of the positioning laser 1 is adjusted so that the alignment laser emitted by the positioning laser 1 is emitted to the patient's pupil, and then fine positioning is performed, that is, the processor 4 determines the position offset information according to the image of the pupil captured by the first image acquisition device 3, and the adjustment device 5 adjusts the spatial position of the positioning laser 1 according to the position offset information so that the intersection of the laser paths of the two alignment lasers emitted by the positioning laser 1 coincides with the center of the pupil. At this time, the treatment laser 2 is turned on, and the treatment laser 2 can emit the treatment laser to the center of the pupil, and the distance between the laser emission point of the treatment laser 2 and the center of the pupil is a preset distance. Therefore, the above-mentioned intersection and the pupil center position are automatically aligned by positioning the laser 1 and the first image acquisition device 3, so that the treatment laser 2 is aligned with the pupil center, thereby improving the alignment accuracy, thereby reducing the possibility of the treatment laser irradiating the non-treatment area of ​​the patient's eye, and reducing the possibility of insufficient irradiation of the patient's pupil center by the treatment laser, thereby optimizing the effect of the corneal cross-linking surgery.

[0035] The laser emission path of the laser is the emission path of the laser when the emission of the laser is not blocked in any way. The intersection of the laser emission paths of the two aiming laser beams emitted by the positioning laser 1 is a virtual intersection (i.e., the intersection of the two aiming laser beams when the emission of the two aiming laser beams is not blocked in any way). When there is an opaque object close to the laser emission point of the positioning laser 1, the aiming laser emitted by the positioning laser 1 will be emitted to the opaque object and blocked by the opaque object from continuing to be emitted, which will result in the two aiming laser beams having no actual intersection. At this time, the virtual intersection is located outside the side of the opaque object away from the positioning laser 1. When the two aiming laser beams have an actual intersection, the virtual intersection coincides with the actual intersection.

[0036] The first image acquisition device 3 can be connected to the positioning laser 1 in a detachable fixed connection manner. For example, the first image acquisition device 3 can be connected to the positioning laser 1 by bolts or screws.

[0037] When the aiming laser is emitted to the pupil, a light spot formed by the aiming laser will exist on the pupil. At this time, the light spot exists in the pupil of the image captured by the first image acquisition device 3. The position offset information may include a first offset, a second offset, and a third offset. The first offset is the offset between the virtual intersection and the center of the pupil along the first direction when the image is captured, the second offset is the offset between the virtual intersection and the center of the pupil along the second direction when the image is captured, and the third offset is the offset between the virtual intersection and the center of the pupil along the third direction when the image is captured, wherein any two of the first direction, the second direction, and the third direction are perpendicular to each other. Based on this, after the first image acquisition device 3 captures the image, the first offset, the second offset, and the third offset can be determined according to the relative position of the light spot and the center of the pupil in the image. If it is determined that there is a light spot on the image, it means that one of the two treatment laser beams is emitted to the pupil, and the other treatment laser beam is emitted outside the pupil. At this time, the processor 4 can determine the first offset, the second offset, and the third offset according to the relative position of the light spot and the center of the pupil to obtain the position offset information. If it is determined that there are two light spots on the image, it means that both beams of treatment lasers are emitted to the pupil. At this time, the processor 4 can determine the first offset, the second offset and the third offset according to the relative positions of the two light spots and the center of the pupil to obtain position offset information.

[0038] like Figure 1 As shown, the first image acquisition device 3 can be a camera or a still camera, etc. The first image acquisition device 3 can automatically acquire pupil images periodically.

[0039] In one possible implementation, Figure 1 As shown, the positioning laser 1 includes a beam splitter 11;

[0040] Any one of the two alignment laser beams is a first alignment laser, the first alignment laser is formed by being refracted by the beam splitter 11 to the outside of the positioning laser 1, and the laser emission path of the positioning laser 1 emitting the first alignment laser is the first laser emission path;

[0041] The treatment laser 2 is located outside the positioning laser 1 and on the reverse extension line of the first laser emission path. At least part of the treatment laser passes through the beam splitter 11, and the part of the treatment laser passing through the beam splitter 11 coincides with the first laser emission path.

[0042] In the embodiment of the present application, the setting of the spectroscope 11 can make the emission path of the first alignment laser coincide with the emission path of the treatment laser, thereby minimizing the width of the automatic calibration device in the direction perpendicular to the treatment laser, saving space for the automatic alignment device, and making it easier for medical staff to operate and use the automatic alignment device.

[0043] The alignment laser other than the first alignment laser in the two alignment laser beams is the second alignment laser, and the laser emission path of the second alignment laser is the second laser emission path. In order to make the space occupied by the automatic alignment device as small as possible, the angle between the first laser emission path and the second laser emission path can be an acute angle; the laser emission points of the first alignment laser and the second alignment laser in the positioning laser 1 are different, the light spot formed by the first alignment laser is the first light spot, and the light spot formed by the second alignment laser is the second light spot.

[0044] Based on the structure that the automatic alignment device adopts "the portion of the treatment laser passing through the beam splitter 11 coincides with the first laser emission path", if the third direction is the direction parallel to the treatment laser, the specific processing of determining the first offset, the second offset and the third offset according to the relative positions of the light spot and the pupil center in the image may include:

[0045] If the center point of the first light spot coincides with the center point of the second light spot, and the coincident point does not coincide with the center of the pupil, it means that the virtual intersection point is offset relative to the center of the pupil in either the first direction or the second direction:

[0046] If the virtual intersection point is offset relative to the pupil center along the first direction, the first offset is determined according to the distance between the coincident point and the pupil center, and the second offset and the third offset are both 0. In one example, Figure 2 As shown, Figure 2 Part A in FIG. 1 is a schematic diagram of the relative position of the positioning laser 1 and the pupil when the virtual intersection point is offset relative to the pupil center in the positive direction of the first direction. Figure 2 Part B in the figure is a schematic diagram of an image captured by the first image acquisition device 3 when the positioning laser 1 and the pupil are in the state shown in part A, and then based on Figure 2Part B in can determine the first offset which is a positive number, the second offset which is 0, and the third offset. In another example, Figure 2 Part C in FIG. 1 is a schematic diagram of the relative position of the positioning laser 1 and the pupil when the virtual intersection point is offset in the opposite direction of the pupil center along the first direction. Figure 2 Part D in the figure is a schematic diagram of an image captured by the first image acquisition device 3 when the positioning laser 1 and the pupil are in the state shown in part C, and then based on Figure 2 The D part in can determine the first offset which is a negative number, the second offset which is 0, and the third offset.

[0047] Among them, Figure 2 In the figure, the dotted lines in parts A and B are the first alignment laser and the second alignment laser, the cross-shaped dotted lines in parts C and D are the first light spot, the cross-shaped solid lines are the second light spot, and the circular solid lines are the schematic diagrams of the pupil edge. Figure 3 , Figure 4 and Figure 5 The same is true for the embodiments of the present application, and the embodiments of the present application will not be described in detail later.

[0048] If the virtual intersection point is offset relative to the pupil center along the second direction, the second offset is determined according to the distance between the coincident point and the pupil center, and the first offset and the third offset are determined to be 0. In one example, Figure 3 As shown, Figure 3 Part A in FIG. 1 is a schematic diagram of the relative position of the positioning laser 1 and the pupil when the virtual intersection point is offset relative to the pupil center in the positive direction of the second direction. Figure 3 Part B in the figure is a schematic diagram of an image captured by the first image acquisition device 3 when the positioning laser 1 and the pupil are in the state shown in part A, and then based on Figure 3 Part B in can determine the second offset which is a positive number, the first offset which is 0, and the third offset. In another example, Figure 3 Part C in FIG. 1 is a schematic diagram of the relative position of the positioning laser 1 and the pupil when the virtual intersection point is offset in the opposite direction of the pupil center along the second direction. Figure 3 Part D in the figure is a schematic diagram of an image captured by the first image acquisition device 3 when the positioning laser 1 and the pupil are in the state shown in part C, and then based on Figure 3 The D part in can determine the second offset which is a negative number, the first offset which is 0, and the third offset.

[0049] If the center point of the first light spot does not coincide with the center point of the second light spot, and the center point of the first light spot coincides with the center of the pupil, it means that the virtual intersection point is offset relative to the center of the pupil along the third direction. At this time, the third offset is determined according to the distance between the coincident point and the center point of the second light spot, and the first offset and the second offset are determined to be 0. In an example, if Figure 4 As shown, Figure 4 Part A in FIG. 1 is a schematic diagram showing the relative positions of the positioning laser 1 and the pupil when the virtual intersection point is offset relative to the pupil center in the positive direction of the third direction. Figure 4 Part B in the figure is a schematic diagram of an image captured by the first image acquisition device 3 when the positioning laser 1 and the pupil are in the state shown in part A, and then based on Figure 4 Part B in can determine the third offset which is a positive number, the first offset which is 0, and the second offset. In another example, Figure 4 Part C in FIG. 1 is a schematic diagram showing the relative positions of the positioning laser 1 and the pupil when the virtual intersection point is offset in the opposite direction of the pupil center along the third direction. Figure 4 Part D in the figure is a schematic diagram of an image captured by the first image acquisition device 3 when the positioning laser 1 and the pupil are in the state shown in part C, and then based on Figure 4 The D part in can determine the third offset which is a negative number, the first offset which is 0, and the second offset.

[0050] If any two of the center points of the first light spot, the second light spot and the pupil center do not coincide, it means that the virtual intersection point is offset relative to the pupil center in at least two directions of the first direction, the second direction and the third direction. In this case, the first offset, the second offset and the third offset are determined according to the relative positions of the center points of the first light spot, the second light spot and the pupil center. In an example, Figure 5 As shown, Figure 5 Part A in FIG. 1 is a schematic diagram of the relative position of the positioning laser 1 and the pupil when the virtual intersection is offset relative to the pupil center along the positive direction of the first direction and the positive direction of the third direction. Figure 5 Part B in the figure is a schematic diagram of an image captured by the first image acquisition device 3 when the positioning laser 1 and the pupil are in the state shown in part A, and then based on Figure 5 Part B in can determine the first offset and the third offset which are positive numbers, and the second offset which is 0. In another example, Figure 5 Part C in FIG. 1 is a schematic diagram of the relative position of the positioning laser 1 and the pupil when the virtual intersection is offset relative to the pupil center in both the opposite direction of the first direction and the opposite direction of the third direction. Figure 5 Part D in the figure is a schematic diagram of an image captured by the first image acquisition device 3 when the positioning laser 1 and the pupil are in the state shown in part C, and then based on Figure 5 The D part in can determine the first offset and the third offset which are negative numbers, and the second offset which is 0.

[0051] In one possible implementation, Figure 1 As shown, the first image acquisition device 3 is connected to the positioning laser 1, and the first image acquisition device 3 is located close to the first laser emission path. Optionally, the axis of the acquisition range of the first image acquisition device 3 is parallel to the first laser emission path.

[0052] Since the first image acquisition device 3 is connected to the positioning laser 1, the treatment laser 2 can drive the first image acquisition device 3 to move synchronously with the positioning laser 1 during the process of adjusting the spatial position of the positioning laser 1. Since the first image acquisition device 3 is located close to the first laser emission path, the first image acquisition device 3 can be as close to the pupil as possible during the corneal cross-linking surgery, so that the image acquired by the first image acquisition device 3 is clearer and the accuracy of the alignment between the virtual intersection and the center of the pupil is improved. The axis of the acquisition range of the first image acquisition device 3 can be Figure 1 The dotted line Q in the figure.

[0053] like Figure 1 As shown, the first image acquisition device 3 can be fixedly connected or detachably fixedly connected to the positioning laser 1. For example, the first image acquisition device 3 is connected to the positioning laser 1 by bolts.

[0054] In a possible implementation, the light spots formed by different alignment lasers have different shapes or sizes. For example, the first light spot and the second light spot are both cross-shaped light spots, but the cross lines of the first light spot and the second light spot have different line thicknesses or angles. This makes it easier to distinguish the first light spot from the second light spot, reduces the possibility of misidentifying the first light spot and the second light spot, and improves the accuracy of the position offset information.

[0055] In one possible implementation, Figure 1 As shown, the first image acquisition device 3 is a monocular image acquisition device.

[0056] In one possible implementation, Figure 1 As shown, the automatic alignment device also includes a support frame 6;

[0057] The adjusting device 5 is connected to the supporting frame 6, and the positioning laser 1 is connected to the adjusting device 5. The adjusting device 5 is used to adjust the spatial position of the positioning laser 1 relative to the supporting frame 6 according to the position offset information, so as to adjust the spatial position of the positioning laser 1 according to the position offset information.

[0058] In the embodiment of the present application, when the above-mentioned rough positioning is performed, the spatial position of the support frame 6 can be adjusted, and then the support frame 6 can drive the adjustment device 5 and the positioning laser 1 to move, so that the aiming laser emitted by the positioning laser 1 is emitted to the patient's pupil, which is convenient for medical staff to observe and operate.

[0059] The processor 4 can be fixedly connected to the support frame 6 .

[0060] The first image acquisition device 3 is used to acquire the image of the pupil after the alignment laser is emitted to the pupil. The second image acquisition device 7 is fixedly connected to the support frame 6. The second image acquisition device 7 is used to acquire the image of the pupil. The specific process of determining that the alignment laser has been emitted to the pupil can be as follows:

[0061] In one possible implementation, Figure 1 As shown, the processor 4 is used to determine the first spatial position of the pupil center according to the image captured by the second image capture device 7 before the aiming laser is emitted to the pupil, and determine the second spatial position which is a preset distance away from the laser emission point of the treatment laser 2 in the laser emission direction of the treatment laser, so as to determine the position difference information, wherein the position difference information is used to indicate the position offset of the second spatial position relative to the first spatial position;

[0062] The adjustment device 5 is also used to adjust the spatial position of the positioning laser 1 relative to the support frame 6 according to the position difference information, so that the spatial position of the intersection is close to the spatial position of the pupil center, and the aiming laser is emitted to the pupil.

[0063] In the embodiment of the present application, the coarse positioning can be automatically performed by the second image acquisition device 7, the processor 4 and the adjustment device 5 to improve the efficiency of the coarse positioning.

[0064] like Figure 1 As shown, the second image acquisition device 7 can be a camera or a still camera, etc. The second image acquisition device 7 can automatically acquire pupil images periodically.

[0065] The position difference information may include a first difference amount, a second difference amount and a third difference amount. The first difference amount is used to indicate the offset of the second spatial position relative to the first spatial position along a first direction, the second difference amount is used to indicate the offset of the second spatial position relative to the first spatial position along a second direction, and the third difference amount is used to indicate the offset of the second spatial position relative to the first spatial position along a third direction.

[0066] Since the second image acquisition device 7 is connected to the support frame 6, during the movement of the positioning laser 1 relative to the support frame 6, there is a situation where the second image acquisition device 7 is far away from the pupil, and thus the error of the position difference information determined according to the image acquired by the second image acquisition device 7 is generally large, so that after the adjustment device 5 adjusts the spatial position of the positioning laser 1 according to the position difference information, the spatial position of the virtual intersection is generally close to the spatial position of the pupil center, and the possibility that the spatial position of the virtual intersection is the same as the spatial position of the pupil center is small.

[0067] In another possible implementation, after the virtual intersection coincides with the pupil center, the virtual intersection and the pupil center may not coincide again due to problems such as pupil rotation or translation. At this time, coarse positioning and fine positioning may be re-performed. The following is a detailed description of the process of re-performing coarse positioning:

[0068] like Figure 1 As shown, the processor 4 is used to determine the position change information according to the first image and the second image sequentially acquired by the second image acquisition device 7 after the intersection coincides with the pupil center, wherein the position change information is used to indicate the position offset of the fourth spatial position where the pupil center is located when the second image is acquired relative to the third spatial position where the pupil center is located when the first image is acquired;

[0069] If it is determined based on the position change information that the intersection point does not coincide with the pupil center, the spatial position of the positioning laser 1 is adjusted relative to the support frame 6 based on the position change information so that the spatial position of the intersection point is close to the spatial position of the pupil center. At this time, the aiming laser is emitted toward the pupil.

[0070] In an embodiment of the present application, after the virtual intersection coincides with the pupil center, if the virtual intersection and the pupil center do not coincide again due to problems such as pupil rotation or translation, the third spatial position and the fourth spatial position are different, and coarse positioning can be performed again through the position change information, thereby reducing the possibility of the therapeutic laser irradiating the non-treatment area of ​​the eye due to problems such as human eye rotation during the fine positioning process and the operation, thereby optimizing the effect of corneal cross-linking surgery.

[0071] The specific process of determining whether the intersection coincides with the pupil center according to the position change information may be to determine whether the distance between the third spatial position and the fourth spatial position is less than or equal to the preset spatial distance according to the position change information, if so, the intersection coincides with the pupil center, otherwise, the intersection does not coincide with the pupil center. The preset spatial distance may be 1 mm, 0.5 mm, or 0.1 mm, etc.

[0072] The position change information may include a first change amount, a second change amount and a third change amount. The first change amount is used to indicate the offset of the fourth spatial position relative to the third spatial position along the first direction, the second change amount is used to indicate the offset of the fourth spatial position relative to the third spatial position along the second direction, and the third change amount is used to indicate the offset of the fourth spatial position relative to the third spatial position along the third direction.

[0073] After re-performing the coarse positioning, the first image acquisition device 3 needs to re-perform the fine positioning. The specific fine positioning process is the same as the aforementioned fine positioning process, and the embodiment of the present application will not be described in detail here.

[0074] In one possible implementation, Figure 1 As shown, the first image acquisition device 3 is a binocular image acquisition device, which can make the detection result of the offset in the third direction more accurate.

[0075] Figure 6 is a schematic diagram of a highlight display adjustment device provided in an embodiment of the present application, Figure 6 The first image acquisition device 3 is hidden in FIG. In a possible implementation, as Figure 6 As shown, the adjustment device 5 includes a first driving member 51, a second driving member 52 and a third driving member 53;

[0076] The second driving member 52 is connected to the support frame 6, the first driving member 51 is connected to the second driving member 52, the third driving member 53 is connected to the first driving member 51, and the positioning laser 1 is connected to the third driving member 53;

[0077] The second driving member 52 is used to drive the first driving member 51, the third driving member 53 and the positioning laser 1 to move along the second direction, the first driving member 51 is used to drive the third driving member 53 and the positioning laser 1 to move along the first direction, and the third driving member 53 is used to drive the positioning laser 1 to move along the third direction.

[0078] In the embodiment of the present application, by setting the first driving member 51, the second driving member 52 and the third driving member 53, the first driving member 51, the second driving member 52 and the third driving member 53 can be adjusted at the same time, so that the position adjustment of the positioning laser 1 can be performed more quickly based on the position offset information, the position change information or the position difference information, thereby improving the adjustment efficiency of the adjustment device 5.

[0079] Specifically, Figure 6 As shown, the first driving member 51, the second driving member 52 and the third driving member 53 can all be cylinders or motors that perform reciprocating motion, etc., and this embodiment of the present application is not limited to this.

[0080] like Figure 6As shown, the first driving member 51 includes a first fixed portion 511 and a first movable portion 512, and the first movable portion 512 is slidably connected to the first fixed portion 511 along the first direction; the second driving member 52 includes a second fixed portion 521 and a second movable portion 522, and the second movable portion 522 is slidably connected to the second fixed portion 521 along the second direction; the third driving member 53 includes a third fixed portion 531 and a third movable portion 532, and the third movable portion 532 is slidably connected to the third fixed portion 531 along the third direction;

[0081] The second fixed part 521 is fixedly connected to the support frame 6 , the first fixed part 511 is fixedly connected to the second movable part 522 , the third fixed part 531 is fixedly connected to the first movable part 512 , and the first laser is fixedly connected to the third movable part 532 .

[0082] In a possible implementation, the laser cross-section of the aiming laser is cross-shaped. Compared with a non-therapeutic laser with a circular cross-section, the aiming laser with a cross-shaped cross-section can make the first light spot and the second light spot easier to identify.

[0083] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the existence of other identical factors in the process, method, article or device including the elements.

[0084] Finally, it should be noted that the above are only preferred embodiments of the present invention, which are only used to illustrate the technical solution of the present invention, and are not used to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. An automatic alignment device, characterized in that: It comprises a positioning laser (1), a treatment laser (2), a first image acquisition device (3), a processor (4) and an adjustment device (5); The positioning laser (1) is fixedly connected to the treatment laser (2), and the positioning laser (1) is used to emit two alignment laser beams having an intersection at a laser emission path, the intersection being in the laser emission direction of the treatment laser (2), and the distance between the intersection and the laser emission point of the treatment laser (2) is a preset distance; The first image acquisition device (3) is fixedly connected to the positioning laser (1), and the first image acquisition device (3) is used to acquire an image of the pupil after the alignment laser is emitted to the pupil, wherein the pupil in the image has a light spot formed by the alignment laser; The processor (4) is used to determine position offset information according to the position of the light spot and the position of the pupil center in the image, wherein the position offset information is used to indicate the position offset of the spatial position of the intersection relative to the spatial position of the pupil center when the image is collected; The adjustment device (5) is used to adjust the spatial position of the positioning laser (1) according to the position offset information so that the intersection coincides with the pupil center; The therapeutic laser (2) is used to start emitting therapeutic laser toward the pupil after the intersection coincides with the center of the pupil.

2. The automatic alignment device according to claim 1, characterized in that The positioning laser (1) comprises a beam splitter (11); Any one of the two alignment laser beams is a first alignment laser, the first alignment laser is formed by being refracted by the beam splitter (11) to the outside of the positioning laser (1), and the laser emission path of the positioning laser (1) emitting the first alignment laser is a first laser emission path; The treatment laser (2) is located outside the positioning laser (1), and on the reverse extension line of the first laser emission path, at least part of the treatment laser passes through the beam splitter (11), and the part of the treatment laser that passes through the beam splitter (11) coincides with the first laser emission path.

3. The device according to claim 2, characterized in that The first image acquisition device (3) is connected to the positioning laser (1), and the first image acquisition device (3) is located close to the first laser emission path.

4. The device according to any one of claims 1 to 3, characterized in that The light spots formed by different aiming lasers have different shapes or sizes.

5. The device according to any one of claims 1 to 3, characterized in that The first image acquisition device (3) is a monocular image acquisition device.

6. The device according to claim 1, characterized in that Also includes a support frame (6); The adjustment device (5) is connected to the support frame (6), and the positioning laser (1) is connected to the adjustment device (5). The adjustment device (5) is used to adjust the spatial position of the positioning laser (1) relative to the support frame (6) according to the position offset information, so as to adjust the spatial position of the positioning laser (1) according to the position offset information.

7. The device according to claim 6, characterized in that The support frame (6) is connected to a second image acquisition device (7), and the second image acquisition device (7) is used to acquire an image of the pupil; The processor (4) is used to determine, before the aiming laser is emitted toward the pupil, a first spatial position of the pupil center based on the image captured by the second image acquisition device (7), and to determine a second spatial position whose distance from the laser emission point of the treatment laser (2) in the laser emission direction of the treatment laser is the preset distance, so as to determine position difference information, wherein the position difference information is used to indicate a position offset of the second spatial position relative to the first spatial position; The adjustment device (5) is also used to adjust the spatial position of the positioning laser (1) relative to the support frame (6) based on the position difference information, so that the spatial position of the intersection is close to the spatial position of the pupil center, and the alignment laser is emitted towards the pupil.

8. The device according to claim 6, characterized in that The support frame (6) is connected to a second image acquisition device (7), and the second image acquisition device (7) is used to acquire an image of the pupil; The processor (4) is used to determine position change information based on the first image and the second image sequentially acquired by the second image acquisition device (7) after the intersection coincides with the pupil center, wherein the position change information is used to indicate a position offset of a fourth spatial position of the pupil center when acquiring the second image relative to a third spatial position of the pupil center when acquiring the first image; If it is determined based on the position change information that the intersection point does not coincide with the center of the pupil, then the spatial position of the positioning laser (1) is adjusted relative to the support frame (6) based on the position change information so that the spatial position of the intersection point is close to the spatial position of the center of the pupil, and the alignment laser is then emitted toward the pupil.

9. The device according to claim 7 or 8, characterized in that The first image acquisition device (3) is a binocular image acquisition device.

10. The device according to claim 6, characterized in that The adjusting device (5) comprises a first driving member (51), a second driving member (52) and a third driving member (53); The second driving member (52) is connected to the support frame (6), the first driving member (51) is connected to the second driving member (52), the third driving member (53) is connected to the first driving member (51), and the positioning laser (1) is connected to the third driving member (53); The second driving member (52) is used to drive the first driving member (51), the third driving member (53) and the positioning laser (1) to move along a second direction; the first driving member (51) is used to drive the third driving member (53) and the positioning laser (1) to move along a first direction; the third driving member (53) is used to drive the positioning laser (1) to move along a third direction; the first direction, the second direction and the third direction are perpendicular to each other.

Images