A head-mounted device with a headlamp coaxially integrated with a camera on a multi-axis gimbal

Abstract

The utility model relates to medical equipment technical field especially, more particularly to a head lamp and camera coaxial integration on the head -wearing equipment of multi -shaft holder, including head -wearing ring, set up on head -wearing ring holder, and camera and head lamp, inertial measurement unit and microcontroller, the holder includes first motor, connecting frame, second motor, fixed frame, third motor and mounting bracket, and first motor controls the pitch direction, and second motor controls the roll direction, and third motor controls the yaw direction. The utility model has realized the synchronous operation of the illumination auxiliary and the camera shooting angle, the device has certain anti -shaking function in the process of shooting and illumination, thereby can promote the stable performance of illumination and shooting, the utility model selects the material of skin -friendly and has elasticity, and the buffer design is matched, can alleviate the oppression feeling brought by the doctor long -time wearing, and still can adjust in certain range, and then can adapt to different head profile.

Description

Technical Field

[0001] This utility model relates to the field of medical equipment technology, and in particular to a head-mounted device in which a headlamp and a camera are coaxially integrated on a multi-axis gimbal. Background Technology

[0002] In medical settings, teaching delicate procedures such as surgery often requires the coordinated use of lighting and imaging functions.

[0003] Existing head-mounted devices mostly only have one function: lighting or shooting. If both functions need to be met simultaneously, multiple devices are required, which can easily lead to incoordination between the two. In addition, during surgical procedures, even slight head movements can cause lighting deviation and blurry images, making it difficult to meet the stringent precision requirements of medical operations. In view of this, we provide a head-mounted device in which the headlamp and camera are coaxially integrated on a multi-axis gimbal. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides a head-mounted device that integrates a headlamp and a camera coaxially on a multi-axis gimbal. This solves the technical problems in existing head-mounted devices where the lighting device and camera angle shooting cannot be synchronized, and where shooting and lighting are prone to shaking. It achieves synchronized shooting and lighting assistance that aligns with the wearer's perspective, and realizes three-axis gimbal angle adjustment and anti-shake function, thereby improving stability.

[0005] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a head-mounted device with a headlamp and camera coaxially integrated on a multi-axis gimbal, including a headband, a gimbal, a camera, a headlamp, an inertial measurement unit, and a microcontroller. The gimbal is fixed on the headband and includes a first motor, a connecting frame, a second motor, a fixed frame, a third motor, and a mounting bracket. The connecting frame is mounted on the output shaft of the first motor and can drive the connecting frame to rotate in the pitch direction. A second motor is provided on the end of the connecting frame away from the first motor, and a fixed frame is mounted on the output shaft of the second motor, which can drive the fixed frame to rotate in the roll direction. A third motor is provided on the end of the fixed frame away from the second motor, and a mounting bracket is mounted on the output shaft of the third motor, which can drive the mounting bracket to rotate in the yaw direction. The camera and headlamp are fixed on the mounting bracket along the same axis. The inertial measurement unit detects the attitude data of the camera and headlamp and transmits it to the microcontroller. The microcontroller is electrically connected to and controls the rotation of the first motor, the second motor, and the third motor.

[0006] Preferably, the headband includes a rear fastener, a front fastener, and two sets of headband components. The two sets of headband components can be spliced ​​together to form a ring structure suitable for wearing. The rear fastener and the front fastener are respectively connected to the two splicing points of the two sets of headband components.

[0007] Preferably, the headband further includes a reinforcing member, the two ends of which are telescopically adjustable and connected to the rear fixing member and the front fixing member, respectively.

[0008] Preferably, the headband is made of medical-grade elastic silicone material, and the area on the inner side of the headband that fits against the head is provided with a removable medical sponge cushioning pad.

[0009] Preferably, the camera and the headlamp are both fixed to the mounting bracket by bolts, and the camera and the headlamp are on the same vertical plane, and the framing direction of the camera is the same as the light emission direction of the headlamp.

[0010] Preferably, the headlamp is an adjustable brightness LED lamp assembly, and a focusing lens is provided on the outer side of the lamp assembly.

[0011] Preferably, the mounting bracket includes a main body and an extension arm. A mounting groove is formed on one side surface of the main body to mount and fix the camera. One end of the extension arm is connected to the main body, and the headlamp and the camera are spaced apart on the end of the extension arm away from the main body.

[0012] Preferably, the inertial measurement unit includes a gyroscope sensor, an accelerometer sensor, and a magnetometer sensor to collect attitude data from the camera and headlamp.

[0013] By employing the above technical solution, this utility model provides a head-mounted device in which the headlamp and camera are coaxially integrated on a multi-axis gimbal, which has at least the following beneficial effects:

[0014] 1. This utility model realizes the synchronous operation of lighting assistance and camera shooting angle. Furthermore, the device has automatic adjustment capability through the cooperation of multi-axis gimbal and microcontroller, which can adapt to different usage scenarios. This enables the device to have a certain anti-shake function during shooting and lighting, thereby improving the stability of lighting and shooting.

[0015] 2. This utility model uses skin-friendly and elastic materials, combined with a cushioning design, which can reduce the pressure caused by doctors wearing it for a long time. It can also be adjusted within a certain range to adapt to different head contours, thus having certain practical performance. Attached Figure Description

[0016] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0017] In the attached diagram:

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a side view of the structure of this utility model;

[0020] Figure 3 This is a schematic diagram of the gimbal structure of this utility model;

[0021] Figure 4 This is a schematic diagram of the headgear structure of this utility model;

[0022] Figure 5 This is a schematic diagram of the installation structure of the inertial measurement unit of this utility model;

[0023] Figure 6 This is a schematic diagram of the inertial measurement unit of this utility model.

[0024] In the diagram: 1. Rear fastener; 2. Front fastener; 3. Headgear; 4. First motor; 5. Connecting frame; 6. Second motor; 7. Fixing frame; 8. Third motor; 9. Mounting frame; 10. Camera; 11. Headlamp; 12. Gyroscope sensor; 13. Accelerometer sensor; 14. Magnetometer sensor; 15. Reinforcing component. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] To address the issues of asynchronous lighting and camera angle capture in existing head-mounted devices, and the resulting camera shake during both shooting and lighting, this embodiment provides a head-mounted device where the headlamp and camera are coaxially integrated on a multi-axis gimbal. This allows for synchronized lighting to assist camera shooting, and the three-axis gimbal enables angle adjustment and image stabilization, thereby improving the stability of both lighting and video recording. Please refer to... Figure 1 - Figure 6 The head-mounted device, which integrates a multi-axis gimbal and a coaxial headlamp, includes a headband, a gimbal, a camera 10, a headlamp 11, an inertial measurement unit, and a microcontroller. The gimbal is fixed on the headband, and the camera 10 and the headlamp 11 are coaxially arranged and mounted on the headband via the gimbal.

[0027] The headband includes a rear fastener 1, a front fastener 2, and two sets of headbands 3. The two sets of headbands 3 can be spliced ​​together to form a ring structure suitable for wearing. The rear fastener 1 and the front fastener 2 are respectively connected to the two splicing points of the two sets of headbands 3.

[0028] In this embodiment, the headband also includes an adjustable arc-shaped reinforcement 15, which is roughly C-shaped. Its opposite ends are connected to the rear fixing member 1 and the front fixing member 2 respectively along the direction perpendicular to the plane where the two sets of headband members 3 are located, so as to fit the top of the head. In addition, the opposite ends of the adjustable reinforcement 15 can be extended and adjusted to the required length to adapt to different head shapes. This design can not only connect the two headband members 3 to strengthen the overall structure of the headband and prevent the device from becoming loose when worn, but also fit the top of the head, increase the contact points with the head to distribute pressure and reduce the feeling of pressure. It can also be adjusted to adapt to different head contours to ensure that the device does not shift during surgery and to ensure the stability of lighting and imaging.

[0029] In this embodiment, the headband 3 is made of medical-grade elastic silicone material. Silicone material is skin-friendly and elastic, which can adapt to different head contours and meet medical and hygiene standards to avoid skin discomfort. In addition, the area on the inside of the headband 3 that fits the head is provided with a removable medical sponge cushioning pad, which can distribute the wearing pressure, reduce the pressure of wearing for a long time, and is also easy to clean and replace, ensuring hygiene.

[0030] The gimbal includes a first motor 4, a connecting frame 5, a second motor 6, a fixing frame 7, a third motor 8, and a mounting frame 9, which are connected and fixed in sequence. The camera 10 and the headlamp 11 are fixed on the mounting frame 9 with the same axis (the optical axes of the two are in the same vertical plane), so that the camera 10 and the headlamp 11 can offset the wearer's shaking through the linkage adjustment of the three motors, ensuring that the camera 10 and the headlamp 11 are always pointed at the surgical site, thereby achieving image stabilization.

[0031] Specifically, a first motor 4 is mounted on the front fixed component 2, and a connecting frame 5 is mounted on the output shaft of the first motor 4 to drive the connecting frame 5 to rotate in the pitch direction; a second motor 6 is mounted on the end of the connecting frame 5 away from the first motor 4, and a fixed frame 7 is mounted on the output shaft of the second motor 6 to drive the fixed frame 7 to rotate in the roll direction; a third motor 8 is mounted on the end of the fixed frame 7 away from the second motor 6, and a mounting frame 9 is mounted on the output shaft of the third motor 8 to drive the mounting frame 9 to rotate in the yaw direction. A camera 10 and a headlamp 11 are movably mounted on the mounting frame 9, and the optical axis of the camera 10 and the optical axis of the headlamp 11 are in the same vertical plane, that is, the camera 10 and the headlamp 11 are coaxially set to ensure that they are synchronously aligned with the operating area, avoid lighting offset or misalignment of the captured image and light, and ensure accurate lighting assistance and clear image corresponding to the target. In addition, the camera 10 and headlamp 11 mounted on the mounting bracket 9 can compensate for the offset caused by the wearer's shaking through the linkage adjustment of the first motor 4, the second motor 6 and the third motor 8 on three different axes, thereby achieving the anti-shake function.

[0032] In this embodiment, the optical axis of the camera 10 and the optical axis of the headlamp 11 are not only in the same vertical plane, but the framing direction of the camera 10 is the same as the light emission direction of the headlamp 11, ensuring that the two can be synchronously aligned with the operating area, so as to ensure the consistency of lighting and video recording during the surgical teaching process.

[0033] The headlamp 11 is an adjustable LED light bulb assembly that can flexibly adjust the light intensity according to different medical operation scenarios (such as delicate surgery and routine examinations) to avoid being too bright and dazzling or too dark and affecting the field of vision. The outer cover of the light bulb assembly is equipped with a focusing lens, which can converge the light, reduce scattering, and allow the light to be precisely focused on the operation area, improving the clarity of local lighting and helping doctors see details clearly.

[0034] The head-mounted device also includes an electrically connected inertial measurement unit (IMU) and a microcontroller. The IMU is housed within the mounting frame 9 and measures the attitude data of the mounting frame 9 (as well as the camera 10 and headlamp 11), transmitting the data to the IMU. The IMU is electrically connected to each motor, calculating and controlling the rotation of each set of motors based on the attitude data received (in real time) from the IMU. This allows the three motors to move in tandem along three different axes, thereby driving the mounting frame 9 to maintain its original position and eliminating the effects of jitter.

[0035] In this embodiment, the mounting bracket 9 includes a main body and an extension arm. A mounting groove is formed on one side surface of the main body. The size of the mounting groove matches that of the camera 10 for mounting and fixing the camera 10. One end of the extension arm is connected to the main body. The headlamp 11 and the camera 10 are fixed to the end of the extension arm away from the main body and are spaced apart to ensure that the headlamp 11 does not obstruct the shooting angle of the camera 10.

[0036] In one embodiment, the extension arm and the bottom of the main body are arranged to extend away from the gimbal, so that the headlamp 11 is offset from the camera 10 in the vertical height direction.

[0037] In another embodiment, the extension arm and the side of the main body are arranged to extend away from the gimbal, so that the headlamp 11 is misaligned with the camera 10 in the horizontal direction.

[0038] In this embodiment, the inertial measurement unit is located inside the mounting frame 9 and includes a gyroscope sensor 12, an accelerometer sensor 13, and a magnetometer sensor 14. These sensors collect attitude data of the mounting frame 9. The core function of the gyroscope sensor 12 is to monitor the angular velocity changes of each frame in real time, capturing the rotational speed and direction of the device around the horizontal, rotational, and vertical directions (e.g., the left-right rotation, forward-backward pitch, and rotation around the axis caused by slight head movements of the doctor). The core function of the accelerometer sensor 13 is to capture the linear acceleration and gravitational acceleration data of each frame, sensing both the linear motion of the device (e.g., slight forward-backward translation and up-down movement of the doctor's head) and the tilting attitude of the device through gravitational acceleration. The core function of the magnetometer sensor 14 is to provide an absolute direction reference, determining the azimuth angle of each frame relative to the Earth's magnetic field (similar to an "electronic compass"), used to calibrate the measurement errors of the gyroscope sensor 12 and the accelerometer sensor 13.

[0039] The device first achieves wearing fixation by connecting the rear fixation member 1, the front fixation member 2 and two sets of headband members 3 in series to form a headband. The adjustable reinforcement members 15 at the top of the rear fixation member 1 and the front fixation member 2 reinforce the top of the doctor's head, thereby further enhancing the wearing stability.

[0040] In this embodiment, the microcontroller is mounted on the front fixing component 2, serving as the control core of the entire head-mounted device. On one hand, it receives operation commands to control the first motor 4 to drive the connecting frame 5 for horizontal adjustment, the second motor 6 to drive the fixing frame 7 for rotational adjustment, and the third motor 8 to drive the mounting frame 9 for vertical adjustment. The camera 10 and headlamp 11, fixed to the mounting frame 9 by bolts, are on the same vertical plane, simultaneously performing first-person perspective shooting and lighting assistance. The headlamp 11, as an adjustable brightness LED light group, has a focusing lens on its outer side that can concentrate light to improve lighting accuracy. On the other hand, the inertial measurement unit located below the camera 10 within the mounting frame 9 houses the gyroscope sensor 12. The system monitors the angular velocity change of the mounting frame 9, the accelerometer 13 captures the linear acceleration data of the device, and the magnetometer 14 provides directional reference data. The three sensors transmit the collected jitter attitude data to the microcontroller on the front fixing component 2 in real time. The microcontroller quickly analyzes and processes this data, accurately calculates the compensation amount, and sends control signals to the first motor 4, the second motor 6, and the third motor 8, respectively. This drives the three brushless motors to make reverse compensation movements in the horizontal, rotational, and vertical directions to counteract the offset of the mounting frame 9 caused by head shaking. This ensures the stability of the image captured by the camera 10 and the accuracy of the illumination by the headlamp 11, ultimately achieving synchronous and stable operation of lighting assistance and first-person perspective shooting.

[0041] The control method of this utility model is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art. The power supply is also common knowledge in the field. Since this utility model is mainly used to protect mechanical devices, the control method and circuit connection will not be explained in detail.

[0042] It should be noted that, in this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0043] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A head-mounted device with a headlamp and camera coaxially integrated on a multi-axis gimbal, comprising a headband, a gimbal, a camera (10), a headlamp (11), an inertial measurement unit, and a microcontroller, wherein the gimbal is fixed on the headband and comprises a first motor (4), a connecting frame (5), a second motor (6), a fixing frame (7), a third motor (8), and a mounting frame (9), characterized in that: A connecting frame (5) is mounted on the output shaft of the first motor (4), and the connecting frame (5) can be driven to rotate in the pitch direction; a second motor (6) is provided on the end of the connecting frame (5) away from the first motor (4), and a fixed frame (7) is mounted on the output shaft of the second motor (6), which can be driven to rotate in the roll direction; a third motor (8) is provided on the end of the fixed frame (7) away from the second motor (6), and a mounting frame (9) is mounted on the output shaft of the third motor (8), which can be driven to rotate in the yaw direction; the camera (10) and the headlamp (11) are fixed on the mounting frame (9) with the same axis; the inertial measurement unit detects the attitude data of the camera (10) and the headlamp (11) and transmits it to the microcontroller; the microcontroller is electrically connected to and controls the rotation of the first motor (4), the second motor (6), and the third motor (8).

2. The head-mounted device according to claim 1, wherein the headlamp and camera are coaxially integrated on a multi-axis gimbal, characterized in that: The headband includes a rear fastener (1), a front fastener (2), and two sets of headbands (3). The two sets of headbands (3) can be spliced ​​together to form a ring structure suitable for wearing. The rear fastener (1) and the front fastener (2) are respectively connected to the two splicing points of the two sets of headbands (3).

3. A head-mounted device according to claim 2, wherein the headlamp and camera are coaxially integrated on a multi-axis gimbal, characterized in that: The headband also includes a reinforcing member (15), the two ends of which are telescopically adjustable and connected to the rear fixing member (1) and the front fixing member (2) respectively.

4. A head-mounted device according to claim 2, wherein the headlamp and camera are coaxially integrated on a multi-axis gimbal, characterized in that: The headgear (3) is made of medical-grade elastic silicone material, and the area of ​​the headgear (3) that fits the head is provided with a removable medical sponge cushion.

5. A head-mounted device according to claim 1, wherein the headlamp and camera are coaxially integrated on a multi-axis gimbal, characterized in that: The camera (10) and headlamp (11) are both fixed to the mounting bracket (9) by bolts, and the camera (10) and headlamp (11) are on the same vertical plane, and the framing direction of the camera (10) is the same as the light emission direction of the headlamp (11).

6. A head-mounted device according to claim 1, wherein the headlamp and camera are coaxially integrated on a multi-axis gimbal, characterized in that: The headlamp (11) is an adjustable brightness LED lamp group, and a focusing lens is provided on the outer side of the lamp group.

7. A head-mounted device according to claim 1, wherein the headlamp and camera are coaxially integrated on a multi-axis gimbal, characterized in that: The mounting bracket (9) includes a main body and an extension arm. A mounting groove is formed on one side surface of the main body to mount and fix the camera (10). One end of the extension arm is connected to the main body. The headlamp (11) and the camera (10) are spaced apart on the end of the extension arm away from the main body.

8. A head-mounted device according to claim 1, wherein the headlamp and camera are coaxially integrated on a multi-axis gimbal, characterized in that: The inertial measurement unit includes a gyroscope sensor (12), an accelerometer sensor (13), and a magnetometer sensor (14) to collect attitude data of the camera (10) and the headlamp (11).

Images