Image acquisition device and navigation system

Abstract

Embodiments of the present application relate to an image acquisition device and a navigation system. The image acquisition device comprises one or more image acquisition components, each of which comprises at least a lens, an image sensor configured to convert an optical image focused by the lens into an electrical signal, a base comprising at least a cavity and a first opening portion configured to be coupled with the lens, and the cavity configured to accommodate at least the image sensor, a light supplementing device comprising one or more light emitting units configured in a predetermined area of the image acquisition device and configured to emit white light or visible light in a predetermined wavelength range, and a master control chip configured to receive the electrical signal from the image sensor. Thus, the image acquisition quality in oral surgery can be effectively improved.

Description

Technical Field

[0001] The embodiments of this application generally relate to the field of oral medical devices, and more specifically to an image acquisition device and a navigation system. Background Technology

[0002] Oral surgery navigation systems, as a typical representative product of digital implant navigation technology in the field of oral implantology, have been widely used. The principle is to unify the patient's surgical area and surgical instruments under the navigation device, and output the relative position of the surgical instruments and the patient's surgical area, so as to provide precise and visual navigation for oral surgery.

[0003] Traditional oral surgery navigation systems use image acquisition devices to collect images of surgical instruments and surgical areas during surgery. However, the oral environment may have problems such as insufficient lighting, which can affect the quality of image acquisition. As a result, the image recognition model carried by the surgical navigation system may have difficulty accurately identifying teeth and gums, thus affecting the quality and efficiency of surgical navigation.

[0004] In summary, the shortcomings of traditional image acquisition devices used in oral surgery navigation systems are: difficulty in obtaining stable, high-quality image acquisition, which affects the image recognition quality of the navigation system. Summary of the Invention

[0005] To address the aforementioned issues, this application provides an image acquisition device and a navigation system, incorporating a supplementary lighting device to improve the image acquisition quality during oral surgery. This enhances the image recognition quality of the navigation system, thereby improving the efficiency, stability, and reliability of tooth and gum recognition.

[0006] According to a first aspect of this application, an image acquisition device is provided, comprising: one or more image acquisition components, each image acquisition component including at least: a lens; an image sensor configured to convert an optical image focused by the lens into an electrical signal; a base including at least a cavity and a first opening, the first opening being configured to be coupled to the lens, and the cavity being configured to at least accommodate the image sensor; a supplementary lighting device including one or more light-emitting units, the light-emitting units being disposed in a predetermined area of ​​the image acquisition device and emitting white light or visible light within a predetermined wavelength range; and a main control chip configured to receive electrical signals from the image sensor.

[0007] In some embodiments, the number of image acquisition components is at least two, and the base of each image acquisition component includes a lateral protrusion. The image acquisition device further includes a connector, the ends of which are configured to couple to the lateral protrusions of the base of the corresponding image acquisition component.

[0008] In some embodiments, the connector is made of carbon fiber and is configured as a hollow structure.

[0009] In some embodiments, the image acquisition device further includes a fixing component, which includes a fixing structure and a flexible damping part, wherein the flexible damping part is at least partially housed in the fixing structure, and a connector passes through the flexible damping part.

[0010] In some embodiments, the image acquisition device further includes a support motherboard, with a first side of the fixed structure fixedly connected to the support motherboard.

[0011] In some embodiments, the visible light within the predetermined wavelength range is any one of green light, blue light, and blue-violet light.

[0012] In some embodiments, the image sensor is a monochrome image sensor.

[0013] In some embodiments, each image acquisition component further includes a filter mounted in front of the lens and configured to filter light outside a predetermined wavelength range.

[0014] In some embodiments, the light-emitting unit is configured to operate at a frequency greater than 24 Hz.

[0015] In some embodiments, the light-emitting unit is configured in any of the following ways: surrounding the lens; along the edge of the lens; in a region between multiple lenses; on one side of the lens; or on multiple sides of the lens respectively.

[0016] In some embodiments, multiple light-emitting units constitute at least one set of supplementary light sources, and the shape of the set of supplementary light sources is configured as ring, disk, array, strip, or square.

[0017] According to a second aspect of this application, a navigation system is provided, comprising: an image acquisition device according to any embodiment of this application; a connection control member configured to be connected to a first end of a folding arm and the image acquisition device for adjusting the posture of the image acquisition device and adjusting the angle of the folding arm; a folding arm, a second end of which is connected to a column; a column for supporting at least a control device and the folding arm; and a control device configured to be communicatively connected to the image acquisition device.

[0018] In some embodiments, the navigation system further includes: a support platform disposed on a column for supporting control equipment; and a communication line extending along the interior of the folding arm and the interior of the column to enable communication connection between the image acquisition device and the control equipment.

[0019] In some embodiments, the connection control includes: a ball joint assembly configured to make the connection angle between the connection control and the folding arm variable; and a control arm configured to adjust the posture of the image acquisition device and adjust the angle of the folding arm.

[0020] In some embodiments, the folding arm includes: an inter-segment connection configured to adjust the rotation or folding angle between segments of the folding arm; and a rotatable connector configured to adjust the angle between the folding arm and the column.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0022] The above and other features, advantages, and aspects of the embodiments of this application will become more apparent from the accompanying drawings and the following detailed description. In the drawings, the same or similar reference numerals denote the same or similar elements.

[0023] Figure 1 A cross-sectional schematic diagram of an image acquisition device provided in an embodiment of this application is shown.

[0024] Figure 2 A partial structural wireframe diagram of an image acquisition device provided in an embodiment of this application is shown.

[0025] Figure 3 This illustration shows a support and fixing structure for an image acquisition device provided in an embodiment of this application.

[0026] Figure 4 This diagram illustrates another angle of the support and fixing structure of an image acquisition device provided in an embodiment of this application.

[0027] Figure 5 This illustration shows a structural diagram of a fixed component of an image acquisition device provided in an embodiment of this application.

[0028] Figure 6 A schematic diagram of another image acquisition device provided in an embodiment of this application is shown.

[0029] Figure 7 This illustration shows a structural diagram of the housing of an image acquisition device provided in an embodiment of this application.

[0030] Figure 8 This illustration shows a structural diagram of a navigation system provided by an embodiment of this application.

[0031] Figure 9This illustration shows a folded state diagram of a navigation system provided by an embodiment of this application. Detailed Implementation

[0032] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of this application, including various details to aid understanding. These should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0033] The term "comprising" and its variations as used in this application indicate an open-ended inclusion, meaning "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "at least partially based on". The terms "one example embodiment" and "one embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0034] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an indirect connection through an intermediate medium, or the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0035] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and 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 this application.

[0036] As described above, traditional navigation illumination devices used in oral surgery navigation systems have the following drawbacks: they struggle to achieve stable, high-quality image acquisition, which negatively impacts the image recognition quality of the navigation system.

[0037] To at least partially address one or more of the aforementioned problems and other potential issues, exemplary embodiments of this application propose an image acquisition device and a navigation system equipped with the image acquisition device. This application provides an image acquisition device for navigation in oral surgery, comprising: one or more image acquisition components; a supplementary lighting device including one or more light-emitting units configured in a predetermined area of ​​the image acquisition device and emitting white light or visible light within a predetermined wavelength range; and a main control chip configured to receive electrical signals from an image sensor. The aforementioned image acquisition device, equipped with a supplementary lighting device, can provide supplementary lighting to the surgical area, improving the image acquisition quality during oral surgery. This enhances the image recognition quality of the navigation system, improving the efficiency, stability, and reliability of tooth and gum recognition.

[0038] Figure 1 A cross-sectional schematic diagram of an image acquisition device 100 provided in an embodiment of this application is shown. Figure 2 A partial structural wireframe diagram of an image acquisition device 100 provided in an embodiment of this application is shown. Figure 6 A schematic diagram of another image acquisition device 200 provided in an embodiment of this application is shown.

[0039] Please refer to Figure 1 and Figure 2 and Figure 6 Image acquisition device 100 or image acquisition device 200, used for navigation in oral surgery, includes: multiple image acquisition components (10, 20), each image acquisition component including at least: a lens (11, 21); an image sensor (not shown in the figure); and a base (13, 23). The image sensor is configured to convert the optical image focused by the lens into an electrical signal. The base (13, 23) includes at least a cavity and a first opening (131, 231), the first opening (131, 231) being configured to be coupled to the lens (11, 21), and the cavity (132, 232) being configured to at least accommodate the image sensor. Image acquisition device 100 also includes a supplementary lighting device (12, 22), which includes one or more light-emitting units, the light-emitting units being disposed in a predetermined area of ​​image acquisition device 100 and emitting white light or visible light within a predetermined wavelength range; and a main control chip (70) configured to receive electrical signals from the image sensor.

[0040] In the above scheme, by adding a supplementary lighting device, supplementary lighting can be provided to the surgical area during oral surgery to improve the image quality of the image acquisition device, provide high-quality input data for subsequent image recognition and image segmentation, and obtain more accurate, stable and reliable image processing results, thereby making surgical navigation more precise and efficient.

[0041] In some embodiments, the image acquisition device may include only one image acquisition component, or n image acquisition components, where n≥2. Figure 1-6 The example uses two image acquisition components.

[0042] The light-emitting unit can be, for example, an LED light bead, or other light-emitting device.

[0043] In some embodiments, the number of image acquisition components is at least two; please refer to [reference needed]. Figures 1-6 The illustrated image acquisition device includes two image acquisition components (10, 20), each of which has a base with a lateral protrusion, such as a protrusion (133, 233) corresponding to the base (13, 23). The image acquisition device also includes a connector, such as a connector 50 of the image acquisition device 100.

[0044] In some embodiments, the ends of the connector are configured to couple with the lateral protrusions of the bases of the corresponding image acquisition components, respectively; for example, some ends (51, 52) of the connector 50 are configured to couple with the lateral protrusions (133, 233) of the bases (13, 23) of the corresponding image acquisition components, respectively. For example, when the image acquisition device includes n image acquisition components, the connector includes at least n ends coupled with the lateral protrusions of the n bases of the n image acquisition components. It should be understood that the connector shown in the schematic diagram of the image acquisition device 100 provided in the embodiments of the specification is rod-shaped and has two ports for coupling the bases of two image acquisition components. In other embodiments, if there are more ports, the shape of the connector can be adjusted as needed.

[0045] In the above scheme, the image acquisition component can form a rigid connection with the connecting rod. After the lateral protrusion of the base is coupled with the port of the connecting rod, the two can be fixedly connected by various methods such as glue injection and screw connection.

[0046] In some embodiments, the connector is made of carbon fiber and is configured as a hollow structure. Therefore, the low coefficient of thermal expansion and high strength of carbon fiber make the connector more stable and less prone to deformation; while the hollow structure design allows for a lighter connector.

[0047] Figure 3 This diagram illustrates a support and fixing structure for an image acquisition device 100 provided in an embodiment of this application. Figure 4 This diagram illustrates another angle of the support and fixing structure of an image acquisition device 100 provided in an embodiment of this application. Figure 5 This illustration shows a structural diagram of a fixing component of an image acquisition device 100 provided in an embodiment of this application.

[0048] Please refer to Figures 1-6 In some embodiments, the image acquisition device 100 or image acquisition device 200 further includes a fixing component 60 and a supporting main board 70. The fixing component 60 includes a fixing structure 61 and a flexible damping part 62. The flexible damping part 62 is at least partially accommodated in the fixing structure 61, and the connector 50 passes through the flexible damping part 62. A first side of the fixing structure 61 is fixedly connected to the supporting main board 70. For example, see reference... Figures 3-6 The bottom of the fixed structure 61 is fixedly connected to the supporting motherboard 70, for example, by forming an interference fit. The frame of the fixed structure 61 is provided with a flexible shock-absorbing part 62, which is filled with a damping material such as rubber, so that when the connector 50 passes through the fixed component 60, its displacement can be restricted, so that the image acquisition component can be stably damped during operation, the lens can be stabilized, and the image acquisition quality can be improved.

[0049] For example, the connector 50 also includes a locating pin 53, configured to prevent the connector 50 from rotating when it is inserted into the fixing assembly 60, thereby stabilizing the lens angle.

[0050] In some embodiments, the visible light within the predetermined wavelength range is any one of green, blue, and blue-violet light. For example, the visible light within the predetermined wavelength range is green light, with a wavelength range of 520nm-530nm. For instance, under green light supplementary illumination, teeth and gums are well imaged. Gum tissue absorbs green light more strongly, and green light illuminating the gums appears blackish. Tooth tissue reflects green light strongly, and green light illuminating the gums appears whitish. Therefore, under green light, the contrast between teeth and gum tissue is higher, effectively improving the contrast of the acquired images. The resulting images have better imaging effects, leading to more stable image recognition and segmentation results. Furthermore, accurate tooth contour information is beneficial for extracting tooth boundaries, providing more stable input data for subsequent algorithms in surgical navigation. In addition, the surgical environment is usually white light. With the superposition of white light and supplementary green light, the green supplementary light is almost invisible to the naked eye, and green light has good comfort, no radiation hazards, and will not cause discomfort to surgical staff.

[0051] In some embodiments, the visible light within a predetermined wavelength range is blue or violet light. Under a blue-violet light source, the "identification code" or "QR code" on the surgical instrument is imaged more clearly, thereby improving the feature recognition effect of the image.

[0052] In some embodiments, the image sensor is a monochrome image sensor. Therefore, using a monochrome image sensor eliminates the need for color calibration, enabling image acquisition with improved efficiency, stability, and reduced costs.

[0053] In some embodiments, each image acquisition component further includes a filter mounted in front of the lens and configured to filter light outside a predetermined wavelength range. For example, a filter with a high cutoff rate is selected. Thus, interfering light can be filtered out by the filter, improving image acquisition quality.

[0054] In some embodiments, the light-emitting unit is configured to operate at a frequency greater than 24 Hz. For example, an operating frequency of approximately 83 Hz is used; another example is an operating frequency of 75 Hz to 90 Hz. An operating frequency greater than 24 Hz can reduce flicker, avoid affecting surgical personnel, and achieve a flicker-free effect. However, an operating frequency that is too high will result in excessive heat radiation from the light source. For example, the image acquisition frequency is 4 flickers per image capture, with a single image acquisition time of 500-1000 μs.

[0055] In some embodiments, the light-emitting units are configured in any of the following ways: surrounding the lens; along the edge of the lens; in a region between multiple lenses; on one side of the lens; or on multiple sides of the lens respectively. For example... Figure 1 and Figure 2 The image illustrates the setup that surrounds the lens. Figure 3-6 The location is not indicated. Regarding the area between multiple lenses, for example, it could be placed between two lenses, such as... Figure 6 The second side of the fixing component 60 in the middle.

[0056] In some embodiments, multiple light-emitting units constitute at least one set of supplementary light sources, and the shape of the set of supplementary light sources is configured as ring, disk, array, strip, or square.

[0057] For example, an image acquisition device can have multiple sets of supplementary light sources. The shape of each set of supplementary light sources can be the same or different, and the position of each set of supplementary light sources can be the same or different.

[0058] In the above scheme, the light-emitting unit can support multiple light source forms and multiple positions, thereby providing better supplementary lighting and improving image acquisition quality.

[0059] For example, the image acquisition device also includes a housing that at least houses the main control chip, partially or entirely houses the support motherboard, partially or entirely houses the image acquisition components, partially or entirely houses the supplementary lighting device, and partially or entirely houses the support components. The housing is configured to connect to a navigation system for image acquisition during oral surgery.

[0060] Figure 7 This illustration shows a structural diagram of the housing of an image acquisition device provided in an embodiment of this application. Figure 8This illustration shows a structural diagram of a navigation system provided by an embodiment of this application. Figure 9 This illustration shows a folded state diagram of a navigation system provided by an embodiment of this application.

[0061] Please refer to Figure 7-9 The navigation system 1000 is equipped with any of the image acquisition devices described in this application embodiment, such as image acquisition device 100. The navigation system 1000 also includes a connection control 300 configured to connect to a first end of the folding arm 90 and the image acquisition device 100 for adjusting the posture of the image acquisition device 100 and adjusting the angle of the folding arm 90; the folding arm 90 has a second end connected to a column 120; the column 120 is used to at least support a control device 150 and the folding arm 90; and the control device 120 is configured to communicate with the image acquisition device 100, with a base 130 supporting the column 120.

[0062] For example, please refer to Figure 7 Each component of the image acquisition device 100 is enclosed by a housing 80, which is connected to the first end of a connecting control member 300 via a connecting device 303. The connecting control member 300 also includes a ball joint assembly 301 and a control arm 302. The ball joint assembly 301 is configured to allow the connection angle between the connecting control member 300 and the folding arm 90 to be variable. The control arm 302 is configured to adjust the posture of the image acquisition device 100 and the angle of the folding arm. For example, in actual use, the operator can adjust the angle and position of the connecting control member to change the position and angle of the image acquisition device 100, and can also adjust the folding arm connected to it. Thus, the image acquisition device can support 360° rotation and adjustment of its height and spatial position.

[0063] In some embodiments, the folding arm includes multiple segments, for example Figures 8-9 The folding arm 90 includes two ends (91, 92). The folding arm also includes inter-segment connectors configured to adjust the rotation or folding angle between segments of the folding arm; the folding arm also includes a swivel connector configured to adjust the angle between the folding arm and the column. For example, Figure 8 and Figure 9 In the middle section, the inter-segment connection 93 is configured to adjust the rotation or folding angle between the segments of the folding arm; the rotating connector 901 is configured to adjust the angle between the folding arm 90 and the column 120.

[0064] In the above solution, the multi-segment design makes the folding arm easier to adjust and more flexible, and saves more space when folded and stored; the rotating connector allows the navigation system to fold the arm when not in use (for example, by folding and rotating the arm so that it is close to the column) to save space.

[0065] The navigation system 1000 also includes a support platform 140, which is mounted on the column 120 to support the control device 150. The control device is equipped with a surgical navigation system configured to process images acquired by an image acquisition device, control the operation of the image acquisition device, provide navigation during surgery, and have an operating interface for interactive operation by the operator. For example, the control device may be a computer, a host computer, and may include a CPU, storage media, input / output units, etc.

[0066] The navigation system 1000 also includes communication lines extending inside the folding arm 90 and the column 120 to enable communication between the image acquisition device 100 and the control device 150. The navigation system 1000 also includes a power module, for example, integrated into the base 130.

[0067] In the above scheme, the various components of the navigation system can achieve communication connection through concealed wiring of the communication lines, while saving space.

[0068] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technological improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. An image acquisition device, characterized in that, Navigation for oral surgery includes: One or more image acquisition components, each image acquisition component including at least: Lens; An image sensor is configured to convert an optical image focused by a lens into an electrical signal; The base includes at least a cavity and a first opening, the first opening being configured to couple with a lens, and the cavity being configured to at least accommodate an image sensor; A supplementary lighting device, comprising one or more light-emitting units, wherein the light-emitting units are disposed in a predetermined area of ​​the image acquisition device and emit white light or visible light within a predetermined wavelength range; The main control chip is configured to receive electrical signals from the image sensor.

2. The image acquisition device according to claim 1, characterized in that, The image acquisition components are at least two in number, and the base of each image acquisition component includes a lateral protrusion. The image acquisition device also includes: A connector, the ends of which are configured to couple with the lateral protrusions of the base of the corresponding image acquisition component.

3. The image acquisition device according to claim 2, characterized in that, The connector is made of carbon fiber and is configured as a hollow structure.

4. The image acquisition device according to claim 2, characterized in that, Also includes: A fixing component, the fixing component including a fixing structure and a flexible damping part, the flexible damping part being at least partially housed in the fixing structure, and the connector passing through the flexible damping part.

5. The image acquisition device of claim 4, wherein, Also includes: The supporting motherboard is fixedly connected to the first side of the fixed structure.

6. The image acquisition device according to claim 1, characterized in that, Visible light within the predetermined wavelength range is any one of green, blue, and blue-violet light.

7. The image acquisition device of claim 1, wherein, The image sensor is a monochrome image sensor.

8. The image acquisition device according to claim 1, characterized in that, Each image acquisition component also includes: A filter, which is mounted in front of the lens and configured to filter light outside the predetermined wavelength range.

9. The image acquisition device according to claim 1, characterized in that, The light-emitting unit is configured to operate at a frequency greater than 24 Hz.

10. The image acquisition device of claim 1, wherein, The light-emitting unit is configured in any of the following ways: Surrounding the lens setup; Set along the edge of the lens; The area set between multiple lenses; Set on one side of the lens; They are set on multiple sides of the lens.

11. The image acquisition device according to claim 1, characterized in that, Multiple light-emitting units form at least one set of supplementary light sources, and the shape of a set of supplementary light sources is configured as ring, disk, array, strip, or square.

12. A navigation system, characterized in that, include: The image acquisition device according to any one of claims 1-11; A connection control element is configured to connect to a first end of the folding arm and the image acquisition device for adjusting the posture of the image acquisition device and adjusting the angle of the folding arm. A folding arm, the second end of which is connected to a column; The support column is used to at least support the control equipment and the folding arm; as well as The control device is configured to communicate with the image acquisition device.

13. The navigation system according to claim 12, characterized in that, Also includes: A support platform, which is mounted on a column, is used to support the control device; as well as A communication line extends along the interior of the folding arm and the interior of the column to enable communication between the image acquisition device and the control device.

14. The navigation system of claim 12, wherein, The connection control component includes: The ball joint assembly is configured such that the connection angle between the connection control and the folding arm is variable; and The control arm is configured to adjust the posture of the image acquisition device and the angle of the folding arm.

15. The navigation system according to claim 14, characterized in that, The folding arm includes: an inter-segment connection configured to adjust a rotation or folding angle between segments of the folding arm; and a rotational connection configured to adjust an angle between the folding arm and the upright.

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